CN207010998U - Real-time positioning apparatus in a kind of quick high accuracy room - Google Patents
Real-time positioning apparatus in a kind of quick high accuracy room Download PDFInfo
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- CN207010998U CN207010998U CN201720457755.3U CN201720457755U CN207010998U CN 207010998 U CN207010998 U CN 207010998U CN 201720457755 U CN201720457755 U CN 201720457755U CN 207010998 U CN207010998 U CN 207010998U
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Abstract
The utility model discloses real-time positioning apparatus in a kind of quick high accuracy room, it includes label, label is connected with clock synchronous radio route base station radio, and clock synchronous radio route base station is connected with interchanger, and interchanger is connected by LAN with control terminal and server；Solve solve prior art indoor positioning technologies low precision, antijamming capability be poor and the technical problem such as the limitation in space.
Description
Technical field
The utility model belongs to real-time positioning apparatus in indoor positioning technologies, more particularly to a kind of quick high accuracy room.
Background technology
The technology used in indoor locating system has WiFi, RFID, Zigbee, UWB, bluetooth, earth magnetism, ultrasonic wave, red at present
Outside, light etc..
WiFi positioning is to be easier to realize a kind of also less expensive method.Because the WiFi in the building of public arena
Coverage rate is higher, and mobile terminal largely all carries WiFi module, it is possible to cost is substantially reduced, as long as from calculation
It is improved above method and can be carried out simple indoor positioning.But because WiFi is easily by the interference of human body and more
Interference between individual WiFi network channel, so often there is certain limitation in actual applications；Zigbee positioning needs are taken
Base station and mobile module are built, difficulty is bigger than WiFi, and positioning precision is good unlike WiFi；Bluetooth positioning has positioning cost
The features such as low, deployment facilitates, but its positioning precision is about 3 meters, antijamming capability is poor.
RFID positioning is the swiping card mode used, and carrying out section property to swipe the card people or equipment according to the position of card machine determines
Position.Its advantage has：Contactless operation, easy to use, environmental suitability are strong, information is variable etc. in RFID label tag.Shortcoming has：Nothing
Method is accurately positioned in real time.The methods of earth magnetism, ultrasonic wave, infrared, light position has the limitation of its own.Earth magnetism, light
The methods of line positions is also in the row of research, but its precision is inadequate, does not reach a decimeter rank, Centimeter Level is other position without using this two
Kind method.Ultrasonic wave positioning be limited in that the speed of the distance between acoustic velocity measutement mobile object and fixed station relative to
Electromagnetic wave is slower, and this results in its real-time and is not so good as the good of ultra-wide band.The infrared limitation that space is located, from high-precision interior
For the complexity in the space of positioning, the other accuracy Design requirement of Centimeter Level is extremely difficult to.
Utility model content：
The technical problems to be solved in the utility model is：Real-time positioning apparatus in a kind of quick high accuracy room is provided, with solution
Certainly indoor positioning technologies low precision, the antijamming capability of prior art be poor and the technical problem such as the limitation in space.
Technical solutions of the utility model：
Real-time positioning apparatus in a kind of quick high accuracy room, including label, label lead to clock synchronous radio route base station
Wireless connection is crossed, clock synchronous radio route base station is connected with interchanger, and interchanger passes through LAN and control terminal and service
Device connects.
The clock synchronous radio route base station is connected with clock synchronization unit.
The label includes Micro-processor MCV, UWB radio-frequency modules, WIFI module and LED light and Micro-processor MCV
Connection.
Clock synchronous radio route base station includes microcontroller, UWB radio-frequency modules, WiFi module, routing module and
LED light is connected with microcontroller.
At least three clock synchronous radio route base stations around each label.
The clock synchronous radio route base station is at least four, and all clock synchronous radio route base station composition clocks are same
Walk wireless routing base station array；Every 35 meters to 50 meters arrangements, one clock synchronous radio route base station.
The beneficial effects of the utility model：
The utility model arranges countless labels indoors, sets clock synchronous radio route base station array, by label and
Signal passing time between clock synchronous radio route base station array, the positional information of clock synchronous radio route base station is to carry
Before be stored in server, control terminal on can easily see that each label is real-time among wireless routing base station
Situation；Then the base station unit according to where label can accurately know label position, high-precision so as to realize
Degree positioning；Solve prior art indoor positioning technologies low precision, antijamming capability be poor and the technology such as the limitation in space
Problem.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the utility model label construction schematic diagram；
Fig. 3 is that the utility model clock synchronous radio route architecture of base station schematic diagram；
Fig. 4 is the utility model embodiment wireless routing base station array and single label construction schematic diagram；
Fig. 5 is base station connection and the clock distribution network diagram meaning of the utility model embodiment multi-tag indoor locating system
Figure；
Fig. 6 is that the utility model embodiment wireless routing base station clock distributes network diagram；
Workflow diagram between Fig. 7 embodiment label wireless routings base station；
Fig. 8 is that embodiment position resolves server data calculating and storage schematic diagram；
Fig. 9 is the control flow schematic diagram of embodiment entirety terminal.
Embodiment：
Real-time positioning apparatus in a kind of quick high accuracy room, it includes label, label and clock synchronous radio route base station
By wireless connection, clock synchronous radio route base station is connected with interchanger, and interchanger passes through LAN and control terminal kimonos
Business device connection.
Server resolves server using position.
The clock synchronous radio route base station is connected with clock synchronization unit.
The label includes Micro-processor MCV, UWB radio-frequency modules, WIFI module and LED light and Micro-processor MCV
Connection.
The power module of label is lithium battery, plays a part of voltage-stabilizing protection, overcurrent protection when charging, charging when
Wait and ensure modules energy normal work.Power module connects microcontroller, UWB radio-frequency modules, WiFi moulds by VCC with GND
Block, ensure the supply of modules power supply.The effect of lithium battery is to whole tag system in the case of not extraneous power supply
Power supply.There is LED of red etc. when charging as instruction.
The MCU of label carries out data exchange by SPI interface and UWB radio-frequency modules, and MCU is obtained from UWB moulds by MISO
The distance between label and clock synchronous radio that block transmits route base station (can abbreviation base station) data message；MCU simultaneously
By MOSI to information such as UWB modules sending mode controls.
The microcontroller of label enters the interaction of row information by UART Rx and Tx pins and WiFi module, and MCU passes through Rx
The control information from WiFi module is received, this control information is that control terminal is sent to WiFi module by WLAN
's；MCU can pass through wireless office by Tx to the position data where WiFi module transmission label, these final positional informations
Domain net is sent to position and resolves server；System where label can be given to add temperature humidity sensor module if desired, MCU can
So that the change information of the humiture of environment etc. is sent into WiFi module by UART Tx, then WiFi module is sent to upper
Machine, realize the scalability of system.
The UWB radio-frequency modules of described label are connected by SPI with MCU, the original number of the distance detected it is believed that
Breath is transferred to MCU, and microprocessor can be handled the primary data information (pdi) of these positions, while UWB modules will be received and
From MCU mode control information.
The WiFi module of the label carries out data exchange by UART RX and TX with MCU.WiFi module can obtain
The signal value of RSSI field strength between the WiFi module of base station, wireless routing base station is given if necessary to label transmitting information, this
The information data of oneself can be sent to that most strong wireless routing base station of signal by value as label decision, pass through LAN
Send position to and resolve server；The result of RSSI field intensity signal values is sent to MCU by WiFi module by serial ports, in MCU
Algorithm can be ranked up processing to these values, obtain a base station nearest apart from label and be used as reception and send control letter
Number.
It is by the mixed of WiFi module that the mode of operation and wireless network of label allocation, which are connected to the functions such as wireless routing base station,
AIRKISS functions under parasitic mode formula are realized.Specific method is that control terminal gives each label by wireless routing base station
The SSID and PASSWORD of itself are broadcasted, can be most strong according to signal after the label in promiscuous mode receives the information of broadcast
One be signally attached to wireless routing base station up, following can is by controlling terminal-pair label to enter the setting of row mode
With checking for electricity.
Host computer not only can obtain label position information, the information of ambient temperature and humidity and label by wireless routing base station
The information such as battery electric quantity, and control signal can also be sent to realize to label to the WiFi module of label by wireless router
The control of place system.
Clock synchronous radio route base station includes microcontroller, UWB radio-frequency modules, WiFi module, routing module and
LED light is connected with microcontroller.
Clock synchronous radio route base station power module support outer power voltage scope 5.0V to 12.0V it
Between, suitable, stable voltage can be transformed into during being powered to modules, power module mainly electrifies herein
Pressure conversion and the effect of overcurrent protection.Power module connected by VCC with GND microcontroller, UWB radio-frequency modules, WiFi module,
Routing module, it is therefore an objective to provide suitable voltage for modules.Because wireless routing base station movement is not strong, here without using
Built-in lithium battery module, if arranging that fixed system can be unified to come using POE (Power Over Ethernet) indoors
Power supply, dc source, movable power source power supply can be made by building temporary system.
The MCU of wireless routing base station is attached by SPI and UWB radio-frequency modules, obtains the base station that UWB modules are transmitted through coming
The distance between label information, while give UWB module transfer control information.
MCU is attached by UART RX and TX with WiFi module, is transmitted to WiFi module and is located between base station and label
The range data information managed.
UWB radio-frequency modules are connected by SPI with MCU, and UWB modules receive the control signal that MCU is sended over, UWB moulds
Block gives MCU processing the original data transmissions of the distance detected.
WiFi module carries out data exchange by UART TX and RX with MCU, receives the range data letter that MCU is transmitted
Cease and interchanger is sent to by routing module, be finally uniformly sent to position and resolve server.
The position of wireless base station module resolves server by position in advance and stored, and can be seen on control terminal software
To real-time positional information of each label among wireless routing base station.Base station unit according to where label can be accurate
Know the position that label is sitting in.
At least three clock synchronous radio route base stations around each label.
The clock synchronous radio route base station is at least four, and all clock synchronous radio route base station composition clocks are same
Walk wireless routing base station array；Every 35 meters to 50 meters arrangements, one clock synchronous radio route base station.
Realization principle of the present utility model：Clock synchronous radio route base station is a subelement, and the utility model introduces
The concept of base station array, basic model unit are made up of four base stations and several labels.If careat compares
It is small, a base station can be placed respectively at four angles, this just constitutes a basic base station array unit, and there is barrier interior
In the case of be spaced 35m-50m.In the case of careat is larger in factory, base station array can be expanded；Label exists
As long as there are three base stations of neighbour when being moved inside base station array, and communicate, can accurately just position
Position where label.
Description further is made in the application to scheme of the present utility model below, in order to which those skilled in the art grasp this
The above-mentioned technical proposal of utility model.
First, few label indoor locating system scheme
Wen Zhong：Clock synchronous radio route base station is referred to as：Wireless routing base station.
If indoor Area comparison is small, number of labels is fewer, required for the indoor locating system of required establishment
Hardware resource is relatively fewer, it is only necessary to which the label can of four wireless routing base stations and negligible amounts forms indoor positioning net
Network.In this case data volume is smaller, can serve as location resolution server using high performance computer, to be realized
Function is location resolution, data analysis, show map, terminal control etc..
Build few label indoor locating system.Small area, few label indoor locating system are suitable for family or worked
The real-time positioning of mobile robot either personnel, assets, pet etc. inside unit.
Place as high as possible indoors is placed in wireless routing base station, and four base stations are placed on same level height to increase
Add detection accuracy, distance is 2-3m from the ground, it is therefore an objective to reduces the interference of visual range barrier.If obtain determining for three-dimensional
Position information, it is necessary to place a wireless routing base station again on the horizontal plane that four base stations are formed, it is desirable to which the distance of placement will
More than 50cm, the coordinate information of Z-direction can be obtained by such a mode.
The positional information of the position of tag location personnel, the position of Indoor Robot, pet, fixed assets etc..Label is only
One system of self-contained, there is the advantages of small volume, low in energy consumption.This patent is arranged in pairs or groups using WiFi module in the label, is in order to logical
The communication pattern that WLAN directly adjusts label is crossed, adjusts message transmission rate, remote upgrade label firmware etc..Work as label
When remaining static, it is in sleep state；When the speed of label movement is slow, it can define longer
Time carries out the collection of a positional information；When label translational speed is very fast, adjusting position data sampling rate, with reality
Now high accuracy, the location requirement of high real-time.Due to being when label here is with establishing connection between wireless routing base station
Have no idea the IP address and password of route that input is wanted to connect, so Airkiss of this patent using WiFi module
Function is carried out label allocation module and is connected to away from being gone above his nearest wireless routing base station, to realize most fast maximally effective data
Transmission.Specific method is that the WiFi module of label can detect a most strong wireless routing base of WiFi signal around
Stand, can be connected automatically to receive extensively when SSID the and Password information of this wireless routing base station broadcast is received
Broadcast and gone above the wireless routing base station of signal.
Because the indoor locating system data volume of few label is smaller, in order to which control cost and the easy of increase system are built
Property, this patent directly can resolve server and control eventually using high performance desktop computer either notebook computer with alternative site
End, the host computer that computer operates above can not only check label in map and map constructed by the wireless routing base station of interior
Real-time position, but also the intelligent terminal system where label can be controlled by sending control signal.Simultaneously
Mobile phone either flat board can also connect the network of alignment system by network, so as to realize in the scenes such as family, company
The positional information of personnel or fixed assets etc. is checked.
The algorithm used for the indoor locating system of few label is bilateral double-pass symmetric location algorithm (Symmetric
Double Sided Two Way Ranging, SDS-TWR), anti-multipath transmission and the interference of noise can be effectively reduced, is carried
The precision of high ranging, label can also receive the signal of base station transmission, bottom physical layer information when sending data to base station
Arrow is two-way, and timestamp is from label physical layer to the time difference base station physical layer, and concrete implementation mode is as follows.
In order to calculate outgoing label the distance between to each base station, label can carry out signal to each base station respectively
Send and receive.This interactive mode is initiated by label.First, label can initiate a signal and mark beginning when
Between, labeled as TTXTA0, the structure and used processor of time started and label have relation；Signal from label to base station it
Between time be labeled as Tt1, the distance of this time and label to base station and the length of packet are relevant；Base station receive signal it
The data received can be handled afterwards, be then returned to label TTA, the structure and used processor of this processing time and base station
It is relevant；The measurement of the signal time between secondary base station and label is carried out below, labeled as Tt2, this time and base station and mark
The length of the distance between label and returned data bag has relation；Label receive base station transmission signal have one processing
Process, this time are labeled as TRXTA0, the structure and used processor of this time and label have relation；Last label can be
The distance between base station and label are calculated and then by being sent to host computer after Kalman filtering algorithm.Label can respectively and
The interaction of row information is entered so as to obtain label the distance between to each base station in each base station.In bilateral double-pass symmetric ranging
Label is the information that need not monitor base station among algorithm, so as to save the monitoring signal power consumption to be consumed.
Host computer receives label afterwards can be respectively using base station as center of circle base station to mark to the range information of each base station
The distance between label do circle for radius.Four base stations can draw four circles according to the method and come out, and this four circles can meet at one
Point, intersection point are exactly the position for the label to be positioned.The realization C language of algorithm, C++, MCU is downloaded to after algorithm is compiled,
Positional information can be obtained by gathering UWB range information.
Computer host computer receives label and can calculated specifically by algorithm afterwards to the range information of each base station
Position coordinates, positional information is shown in above screen by map, host computer can also carry out label position history note
Record and statistics display.If system adds camera, after some label being chosen in interface, host computer can be adjusted
The real-time position for entering row label with the camera inside this label region is checked.If limit the motion model of label
Enclose, a fence can be done, once the system where label is moved into will send control instruction outside fence
Fence or alarm.The application scenarios that label can be directed to do the exploitation of some upper microcomputer control terminals customized.
2nd, multi-tag indoor locating system
Multi-tag alignment system is in order to adapt to large area, the situation of multi-tag, for example, a large amount of moneys inside logistics system
The positioning and the positioning of merchandising machine people and the positioning of operating personnel of production；Large Exhibitions wear label personnel and show product
Distribution situation；The distribution situation of the cultivated animals of large-scale plant that raises；In a word, multi-tag indoor locating system is a large amount of in order to solve
Label and the alignment system that is formed of more wireless routing base stations caused by substantial amounts of position data a solution.
The establishment of the indoor locating system of multi-tag needs more hardware input, is set according to environment, algorithm, demand etc.
Meter scheme.System substantially by label, wireless routing base station, position resolve server, wireless routing base station clock synchronization system,
Interchanger, control terminal (computer, mobile phone, flat board, smart mobile phone etc.).Software aspects need each needed for real-time positioning system
Embedded OS, server data storage system, the software platform for controlling terminal of individual module.
Required label can make corresponding change according to different application scenarios.If needing what people wore, that
The form of chest card, safety cap, bracelet, key pendant etc. can be made；If the assets of particular surroundings are positioned just
Need to make the form of the Asset Tag such as waterproof, anti-electric, acid-proof, high temperature-proof；If the positioning for animal can make item
Circle, overbit label etc..Label will have small volume, small power consumption, steady performance.
Required locating base station network needs to connect into system by interchanger, and it is wireless to connect each by interchanger
Base station is route, interchanger does not transmit the function of data only, the function also with synchronous all wireless routing base stations.Position solves
The network that server, control terminal etc. access indoor locating system also by interchanger is calculated, WLAN constitutes information
Acquisition system and control system.Base station clock distribution system needs the input of a clock distribution unit, then passes through distribution
Interchanger is output to each wireless routing base station so as to synchronous to configure the clock of each base station.
Base station clock is synchronously to pay attention at moment the problem of, it is necessary to there is a clock synchronization distribution network network.Here divide
Inquired into terms of two.First, hardware configuration, the delay of line is the distribution nonsynchronous main cause of clock, so hard
Just this delay should be reduced as far as possible when part connects, the wireless either each wireless routing base of wired connection can be passed through
Stand, keep symmetrical when connection as far as possible, the clock control most started is completed by host computer, is then synchronously produced by clock
Raw module assignment gives following clock duplicator, finally distributes unitedly to each base station；Second, software feature, for fixed in real time
The function of the software of position system should have the function that detection distributed network starting point is delayed to each base station, and standard label gives each base
The synchronizing function for sending standard sync signal of standing and the function that each base station clock can be resetted simultaneously.The side that this patent uses
Method is to correct nonsynchronous base station clock using some corresponding labels, and interval can be touched by upper computer software at a fixed time
Send out a synchronizing process.Also a reason can influence the synchronization of the clock between base station, and that is exactly when resetting between base station
Starting clock.If it is intended to the clock originated between base station is the same, then needs to allow all clocks to start from scratch.
So also there is a signal for being synchronized to zero here along with synchronizing clock signals.
Label can be according to the continuous broadcast singal to the outside of translational speed of place carrier, because label position reaches
The distance of each wireless routing base station be it is different, so the time that broadcast singal reaches each wireless routing base station be
Different, can all there be a time difference arrival time between each two base station, and we term it reaching time-difference here
(Time Difference of Arrival,TDOA).Signal is unidirectional from label to base station, and base station receives label transmission
Timestamp information can be recorded after the signal to come over, timestamp information is sent into position resolves server.Wireless routing base
Arrival time information unification is sent to position and resolves server by standing-meeting, and position resolves these time differences of server by utilizing to calculate
The position of label.The result calculated can be stored, in case calling, or is shown in the boundary of host computer in real time
Face.
It is TDOA (Time Difference of Arrival) technology used in the indoor locating system of multi-tag.This
Technology is positioned using the signal time delay of different base station arrival labels.Specific method is that label is wide to all base stations
A signal is broadcast, the absolute time that can be calculated after base station receives signal between any two base station arrival label is poor,
This time difference can determine a hyperbola, and the position of a label then can be positioned by multiple hyperbolas.Due to base station
Absolute Complete Synchronization, optimal solution, such as least square method, linear restriction can be obtained by mathematical method.TDOA algorithms are most
The advantages of big is the quantity for not limiting label, and label is separate.Because wireless routing base station is via clock distribution list
The clock that member has carried out whole wireless road base station network is synchronous, the complex environment in face of interior, signal during transmission,
The stop for inevitably running into the barrier of non line of sight produces error, for this problem, is examined using Kalman filtering mistake
Method of determining and calculating eliminates transmission error.
Because the number of labels inside multi-tag alignment system is relatively more, a position is just needed this when to resolve clothes
Business device.Server is dismissed in position can carry out the solution of each label position according to the range information that wireless routing base station sends over
Calculate, and stored next positional information is obtained, control terminal can enter the real-time of row positional information by software
Check, concrete implementation method is shown by building three-dimensional map.
Application for position data can carry out the analysis of bulk properties and result is shown.Such as, it is desirable to know label
Overall distribution situation, by the analysis to overall label position data, the thermal map analytical effect of label position can be obtained.
Want to keep the density of the label of whole control range to be unlikely to too big, the label densities threshold value of control area can be set, such as
The label (can represent visit personnel, animal, assets, robot etc.) in some region of fruit is too intensive, has exceeded set
The threshold value of density, then will either be alarmed by highlighted high-density region to prompt.If it is intended to see the shifting of single label
Dynamic historical information, specificity analysis is carried out to single label.The historical information look facility window of terminal can controlled defeated
Enter to want that the ID for checking label either carries out right click mouse directly on map, historical track is checked in selection.Host computer can show
The motion track information of indicating label.If it is intended to being controlled to the system where some label, (this function is just for label
The situation of the dynamic device of place system), it is necessary to which into control interface, the ID of the label of control is wanted in input, it is possible to pass through
Operation and control interface is controlled.
Want to know label now real-time connection, can directly choose label, the position coordinates of display label and existing
Quantity situation in the base station of connection.The real-time tracing of any label, electric power detection, low capacity prompt.Map it is three-dimensional any
Angle is checked, pulled, switching, and mixes camera linkage, can be with the information of any label position of real time inspection, Ke Yi
Terminal is controlled to send an indicator lamp flash signal, the label checked is wanted in convenient identification.
Control terminal can import CAD, GIS warehouse chart, set forbidden zone, query analysis, employee, vehicle, fork truck, assets,
The mixed positionings such as merchandising machine people, Classification Management, accomplish M2M (Machine to Machine), logistics warehouse Internet of Things construction
Accurately, the link positioned efficiently, in real time.In terms of comprehensive commanding and decision-making, each floor, storehouse are shown with GIS/CAD Map Generalizations in real time
Area, long-range scheme is provided for more reservoir area centralized managements, mobility solution is provided for live interim management and control.It can make
With PC, flat board, smart mobile phone is checked and controlled to alignment system respectively.
Claims (5)
1. real-time positioning apparatus in a kind of quick high accuracy room, it includes label, it is characterised in that：Label and clock synchronous radio
Base station radio connection is route, clock synchronous radio route base station is connected with interchanger, and interchanger passes through LAN and control terminal
Connected with server；Server resolves server using position, and the label includes Micro-processor MCV, UWB radio-frequency modules,
WIFI module and LED light are connected with Micro-processor MCV；The MCU of label enters line number by SPI interface and UWB radio-frequency modules
According to exchange, MCU obtains the label to come from UWB module transfers by MISO and clock synchronous radio route the distance between base station
Data message；MCU gives UWB module sending mode control information by MOSI simultaneously；The Rx that the microcontroller of label passes through UART
Enter the interaction of row information with Tx pins and WiFi module, MCU receives the control information from WiFi module by Rx, this control
Information is that control terminal is sent to WiFi module by WLAN；Where MCU transmits label by Tx to WiFi module
Position data, these final positional informations are sent to position by WLAN and resolve server.
2. real-time positioning apparatus in a kind of quick high accuracy room according to claim 1, it is characterised in that：The clock is same
Step wireless routing base station is connected with clock synchronization unit.
3. real-time positioning apparatus in a kind of quick high accuracy room according to claim 1, it is characterised in that：Clock synchronization nothing
Circuit includes microcontroller, UWB radio-frequency modules, WiFi module, routing module and LED light and microcontroller by base station
MCU connections.
4. real-time positioning apparatus in a kind of quick high accuracy room according to claim 1, it is characterised in that：Each label
Surrounding at least three clock synchronous radios route base stations.
5. real-time positioning apparatus in a kind of quick high accuracy room according to claim 1, it is characterised in that：The clock is same
Step wireless routing base station is at least four, all clock synchronous radio route base station composition clock synchronous radio route base station battle arrays
Row；Every 35 meters to 50 meters arrangements, one clock synchronous radio route base station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720457755.3U CN207010998U (en) | 2017-04-27 | 2017-04-27 | Real-time positioning apparatus in a kind of quick high accuracy room |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720457755.3U CN207010998U (en) | 2017-04-27 | 2017-04-27 | Real-time positioning apparatus in a kind of quick high accuracy room |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107071899A (en) * | 2017-04-27 | 2017-08-18 | 贵州大学 | Real-time positioning system in a kind of quick high accuracy room |
| TWI676934B (en) * | 2018-10-03 | 2019-11-11 | 東元電機股份有限公司 | Expandable mobile platform |
| CN110992674A (en) * | 2018-09-15 | 2020-04-10 | 北京悠膳信息技术有限公司 | Supervision method, supervision device, positioning system, management system and storage medium |
| CN113660603A (en) * | 2021-08-13 | 2021-11-16 | 苏州真趣信息科技有限公司 | Positioning system architecture and positioning method based on UWB technology |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107071899A (en) * | 2017-04-27 | 2017-08-18 | 贵州大学 | Real-time positioning system in a kind of quick high accuracy room |
| CN110992674A (en) * | 2018-09-15 | 2020-04-10 | 北京悠膳信息技术有限公司 | Supervision method, supervision device, positioning system, management system and storage medium |
| TWI676934B (en) * | 2018-10-03 | 2019-11-11 | 東元電機股份有限公司 | Expandable mobile platform |
| CN113660603A (en) * | 2021-08-13 | 2021-11-16 | 苏州真趣信息科技有限公司 | Positioning system architecture and positioning method based on UWB technology |
| CN113660603B (en) * | 2021-08-13 | 2024-01-12 | 苏州真趣信息科技有限公司 | Positioning system architecture and positioning method based on UWB technology |
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