CN102854491A - A method and system for realizing positioning based on bluetooth technology - Google Patents
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及蓝牙定位技术领域，具体涉及一种基于蓝牙技术实现定位的方法及系统。The invention relates to the technical field of Bluetooth positioning, in particular to a method and system for realizing positioning based on Bluetooth technology.
背景技术Background technique
目前，室外定位系统有美国的GPS、俄罗斯的格洛纳斯系统、中国的北斗系统以及欧洲的伽利略。在室外采用卫星定位具有覆盖范围广、用户接入量大等优势。然而当用户进入到室内的时候，这些定位系统的定位精度就急剧下降。主要是因为室内阻隔对信号的影响。所以，为了解决室内定位的问题，衍生了多种室内定位系统和方法。At present, outdoor positioning systems include GPS in the United States, GLONASS in Russia, Beidou in China and Galileo in Europe. The use of satellite positioning outdoors has the advantages of wide coverage and large user access. However, when the user enters the room, the positioning accuracy of these positioning systems drops sharply. Mainly because of the influence of indoor barriers on the signal. Therefore, in order to solve the problem of indoor positioning, various indoor positioning systems and methods have been derived.
现有的定位方法是采用红外室内定位的方法，它包含多个红外接收器组成的两个红外接收条、四个分时发送红外检测信号的红外发射器与红外接收器电连接的定位处理装置。The existing positioning method is to use infrared indoor positioning, which includes two infrared receiving bars composed of multiple infrared receivers, four infrared transmitters that send infrared detection signals in time-sharing and a positioning processing device that is electrically connected to the infrared receiver .
利用红外作为室内定位，首先现行的移动终端采用红外通信的已经非常少了，特别是手机终端，几乎没有手机终端采用红外通信了；所以在移动终端中采用红外定位是不现实的。采用红外定位的局限性在于红外的短距离和红外的直线传输；当红外有物体遮挡时它的定位效果并不是很好，而处理多个移动物体时；根据所采用的定位算法其性能也相差很大；此外，该方法采用的本地定位装置是一种固化的装置，所以不能够做到多种定位方法选取和升级、改动等。Using infrared as indoor positioning, first of all, there are very few current mobile terminals that use infrared communication, especially mobile terminals, almost no mobile terminals use infrared communication; so it is unrealistic to use infrared positioning in mobile terminals. The limitation of using infrared positioning lies in the short distance of infrared and the straight line transmission of infrared; when the infrared is blocked by objects, its positioning effect is not very good, and when dealing with multiple moving objects; its performance varies according to the positioning algorithm used In addition, the local positioning device used in this method is a fixed device, so it is not possible to select, upgrade, and modify multiple positioning methods.
发明内容Contents of the invention
本发明提出一种基于蓝牙的室内定位系统和方法，能够利用蓝牙通信方式为手机等移动终端提供精准实时的室内定位。The present invention proposes a bluetooth-based indoor positioning system and method, which can provide accurate and real-time indoor positioning for mobile terminals such as mobile phones by using bluetooth communication.
为了实现发明目的，本发明公开了一种基于蓝牙技术实现定位的方法，所述方法包括：In order to achieve the purpose of the invention, the present invention discloses a method for realizing positioning based on Bluetooth technology, the method comprising:
蓝牙接入点广播自身接入点信息，包括ID信息和坐标信息；The Bluetooth access point broadcasts its own access point information, including ID information and coordinate information;
移动终端根据蓝牙接入点广播信息，基于接收信号强度RSSI完成对周围蓝牙接入点的排序；The mobile terminal sorts the surrounding Bluetooth access points based on the received signal strength RSSI according to the broadcast information of the Bluetooth access points;
移动终端将选取的蓝牙接入点、接入点信息和排序信息发送到应用服务器；The mobile terminal sends the selected Bluetooth access point, access point information and sorting information to the application server;
应用服务器基于蓝牙接入点信息、排序信息和接入点信息完成对移动终端的位置定位，并将定位信息发送到移动终端；The application server completes the positioning of the mobile terminal based on the Bluetooth access point information, sorting information and access point information, and sends the positioning information to the mobile terminal;
移动终端接收定位信息，并基于配置的电子地图显示当前的位置信息。The mobile terminal receives the location information, and displays the current location information based on the configured electronic map.
所述移动终端基于可扩展标识语言-远程过程调用XML-RPC协议实现与应用服务器之间的信息交互。The mobile terminal implements information interaction with the application server based on the Extensible Markup Language-Remote Procedure Call XML-RPC protocol.
所述应用服务器基于蓝牙接入点信息、排序信息和接入点信息完成对移动终端的位置定位包括：The application server's positioning of the mobile terminal based on the Bluetooth access point information, sorting information and access point information includes:
利用三角测距的方法实现对移动终端的位置定位。The location of the mobile terminal is realized by using the method of triangulation distance measurement.
相应的，本发明实施例还提供了一种基于蓝牙技术实现定位的系统，所述系统包括Correspondingly, the embodiment of the present invention also provides a system for positioning based on Bluetooth technology, the system includes
多个蓝牙接入点，用于广播自身信息，包括ID信息和坐标信息；Multiple Bluetooth access points for broadcasting their own information, including ID information and coordinate information;
移动终端，用于获取周围蓝牙接入点的广播信息，并根据接收信号强度RSSI完成对周围蓝牙接入点的排序，将排序相关的结果信息发送给应用服务器，并接收应用服务器根据排序的结果信息完成对移动终端的位置定位信息，并基于配置的电子地图显示当前的位置信息；The mobile terminal is used to obtain the broadcast information of the surrounding Bluetooth access points, complete the sorting of the surrounding Bluetooth access points according to the received signal strength RSSI, send the sorting-related result information to the application server, and receive the sorting results from the application server The information completes the position positioning information of the mobile terminal, and displays the current position information based on the configured electronic map;
应用服务器，用于根据排序相关的结果信息完成对移动终端的位置定位计算，并将结算出的位置定位信息发送到移动终端。The application server is configured to complete the location calculation of the mobile terminal according to the ranking-related result information, and send the calculated location location information to the mobile terminal.
所述移动终端与应用服务器之间通过XML-RPC协议实现通信。The communication between the mobile terminal and the application server is realized through the XML-RPC protocol.
所述应用服务器包括利用三角测距的方法实现对移动终端的位置定位。The application server implements location positioning of the mobile terminal by using a triangular ranging method.
本发明具有以下优点：通过蓝牙技术进行室内移动终端的定位能够很好的补足GPS等卫星定位系统在室内定位不精确等问题；蓝牙在手机等移动终端中一般都已经配有，所以不需要在进行过多的终端开发；本系统将定位计算放置到服务器中进行，优点在于可以选择不同的定位算法进行计算，对于后续的系统升级提供方便，并且在服务器中进行定位比在每个室内布置定位装置成本解决，可持续性升级和管理方便，同时服务器中还可以提供其他更为高层的基于位置服务的应用。The present invention has the following advantages: the positioning of indoor mobile terminals through Bluetooth technology can well complement the problems of inaccurate indoor positioning of GPS and other satellite positioning systems; Bluetooth is generally equipped in mobile terminals such as mobile phones, so it does not need to be installed in mobile terminals such as mobile phones. Excessive terminal development; this system puts the positioning calculation in the server. The advantage is that different positioning algorithms can be selected for calculation, which is convenient for subsequent system upgrades, and positioning in the server is better than positioning in each room. The device cost is solved, and the sustainable upgrade and management are convenient. At the same time, other higher-level location-based service applications can also be provided in the server.
附图说明Description of drawings
为了更清楚地说明本发明或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings according to these drawings without paying creative efforts.
图1为本发明实施例中的基于蓝牙技术实现定位的系统结构示意图；FIG. 1 is a schematic structural diagram of a system for positioning based on Bluetooth technology in an embodiment of the present invention;
图2为基于图1下的系统逻辑结构示意图；Figure 2 is a schematic diagram of the logical structure of the system based on Figure 1;
图3为本发明实施例中的应用服务器结构示意图；FIG. 3 is a schematic structural diagram of an application server in an embodiment of the present invention;
图4是本发明实施例中的基于蓝牙技术实现定位的方法流程图。Fig. 4 is a flowchart of a method for realizing positioning based on Bluetooth technology in an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明中的附图，对本发明中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。The technical solution in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
本发明基于蓝牙技术的室内定位系统包括移动终端、蓝牙接入点AP(Access Point)和应用服务器三大部分。如图1所示为系统的部署示意图。系统中需要定位的是移动终端，在室内环境中部署多个蓝牙接入点，例如3个或者更多。蓝牙接入点通过有线或者无线的方式和服务器进行通信连接。应用服务器是存储地图和计算位置的组成部分。The indoor positioning system based on the bluetooth technology of the present invention includes three parts: a mobile terminal, a bluetooth access point AP (Access Point) and an application server. Figure 1 is a schematic diagram of the deployment of the system. What needs to be positioned in the system is the mobile terminal, and multiple Bluetooth access points, such as 3 or more, are deployed in the indoor environment. The Bluetooth access point communicates with the server in a wired or wireless manner. The application server is an integral part of storing maps and computing positions.
系统的逻辑结构如图2所示，包含了移动终端上的客户端、中间件、应用服务器、网络和数据库服务器等。客户端主要是指手机等移动终端的应用程序。在移动终端中必须要有处理来自蓝牙接入点发送的RSSI（接收信号强度，Received Signal Strength）信息的客户端应用程序，这个客户端应用程序可以是定制的但必须满足一点就是具备Web访问能力。中间件主要是负责客户端和服务器之间的数据传输功能的，为了更好的实现客户端和服务器之间的透明传输，可以考虑现行的XML-RPC协议；该协议的特点就是采用HTTP的方式对XML文件进行打包封装和发送，同时为各种差异系统提供网络通信服务并且可以穿透防火墙。应用服务器和数据库服务器之间是网络连接，这主要是将应用和数据进行解耦的布置，现实在物理部署上可以在同一服务器，而逻辑上是独立的。服务器包含两个部分，级数据存储和应用逻辑。数据存储主要是用于存储地图，地图包括蓝牙接入点的位置标定以及信号强弱地图。应用采用一种并发的、分布式的和高容错的设计方式，主要包含三大模块：数据访问模块、定位服务器模块和XML-RPC服务模块。The logical structure of the system is shown in Figure 2, including the client, middleware, application server, network and database server on the mobile terminal. The client mainly refers to an application program of a mobile terminal such as a mobile phone. In the mobile terminal, there must be a client application program that processes RSSI (Received Signal Strength, Received Signal Strength) information sent from the Bluetooth access point. This client application program can be customized, but it must satisfy one thing that it has Web access capabilities. . The middleware is mainly responsible for the data transmission function between the client and the server. In order to better realize the transparent transmission between the client and the server, the current XML-RPC protocol can be considered; the feature of this protocol is the use of HTTP Package and send XML files, and provide network communication services for various different systems and can penetrate firewalls. There is a network connection between the application server and the database server, which mainly decouples the application and data. In reality, the physical deployment can be on the same server, but they are logically independent. The server consists of two parts, level data storage and application logic. Data storage is mainly used to store maps, which include location calibration of Bluetooth access points and signal strength maps. The application adopts a concurrent, distributed and highly fault-tolerant design method, which mainly includes three modules: data access module, location server module and XML-RPC service module.
在图2中提及的应用服务器中，包含三个模块：数据访问模块、定位计算模块和XML-RPC服务模块。它们的结构和关联如图3所示。数据访问模块主要负责和数据库之间的数据操作相关，包括访问接口的定义和访问操作的定义等，可以采用DAO(直接访问对象，DirectAccess Object)的方式；定位计算模块是采用数据库中的数据后根据相关定位算法来计算现行移动终端所处的位置，里面可以封装多种算法，可以持续的升级算法，这样的系统便于升级改造；XML-RPC服务模块是负责和客户端通信的模块，它采用Facade（外观模式）进行设计，使得外部对应用服务器的内部构造不需过多了解，简化了系统接口。应用服务器部件之间的逻辑流程具体如下：The application server mentioned in Figure 2 contains three modules: a data access module, a location calculation module and an XML-RPC service module. Their structures and associations are shown in Figure 3. The data access module is mainly responsible for the data operation between the databases, including the definition of the access interface and the definition of the access operation, etc., and can adopt the method of DAO (Direct Access Object, DirectAccess Object); the positioning calculation module uses the data in the database According to the relevant positioning algorithm to calculate the current location of the mobile terminal, which can encapsulate a variety of algorithms, and can continuously upgrade the algorithm, such a system is easy to upgrade and transform; the XML-RPC service module is responsible for communicating with the client. Facade (appearance mode) is designed so that the outside does not need to know too much about the internal structure of the application server, which simplifies the system interface. The logic flow between application server components is as follows:
Step1：数据访问模块利用DAO定义数据访问。当服务器收到客户端的请求时，首先需要通过数据访问模块对数据库中的地图等信息进行访问和提取；转Step2；Step1: The data access module uses DAO to define data access. When the server receives the request from the client, it first needs to access and extract information such as maps in the database through the data access module; turn to Step2;
Step2：利用数据选择定位算法和进行位置计算。从数据库中提取数据后将数据转发给定位计算模块，该模块封装了多种定位算法可供选择，可以选择一种更为精确或者更能够适应场景的算法进行位置的计算；转Step3；Step2: Use the data to select the positioning algorithm and perform position calculation. After extracting the data from the database, the data is forwarded to the positioning calculation module, which encapsulates a variety of positioning algorithms to choose from, and you can choose a more accurate or more adaptable algorithm to calculate the position; turn to Step3;
Step3：利用XML-RPC模式为客户端提供服务。这一步将计算得到的结果返回给客户端，在和客户端的通信中，采用XML-RPC这一层主要是便于跨平台和简化通信接口。Step3: Use the XML-RPC mode to provide services for the client. In this step, the calculated results are returned to the client. In the communication with the client, the use of the XML-RPC layer is mainly to facilitate cross-platform and simplify the communication interface.
采用蓝牙技术进行室内定位的定位流程步骤如图4所示，具体如下：The positioning process steps of indoor positioning using Bluetooth technology are shown in Figure 4, and the details are as follows:
S401：蓝牙接入点AP广播自身信息，包括ID，坐标；S401: The Bluetooth access point AP broadcasts its own information, including ID and coordinates;
S402：移动终端接收到一定量的蓝牙接入信息后，根据RSSI信息，信号强度来对蓝牙接入点AP进行排序，移动终端选取RSSI最大的几个AP来计算自身的位置信息；S402: After receiving a certain amount of Bluetooth access information, the mobile terminal sorts the Bluetooth access point APs according to the RSSI information and signal strength, and the mobile terminal selects several APs with the largest RSSI to calculate its own location information;
S403：手机等移动终端手机Ap信息、排序、选取；S403: Ap information, sorting, and selection of mobile terminals such as mobile phones;
S404：将和选取的AP之间的RSSI信息采用XML-RPC协议发送到应用服务器，该步骤需要经过蓝牙接入点，然后由蓝牙接入点将数据上传给服务器；S404: Send the RSSI information between the AP and the selected AP to the application server using the XML-RPC protocol. This step needs to go through the Bluetooth access point, and then the Bluetooth access point uploads the data to the server;
S405：服务器的XML-RPC服务模块对发送来的数据进行解析，因为传输采用的HTTP，而数据的格式是XML格式，所以具有跨平台和穿透防火墙的优势；S405: The XML-RPC service module of the server parses the sent data, because HTTP is used for transmission, and the data format is XML format, so it has the advantages of cross-platform and penetration through firewalls;
S406：数据访问模块通过DAO等方式对数据库进行访问，提取RSSI数据地图等相关信息；然后将信息推送到定位计算模块S406: The data access module accesses the database through DAO, etc., and extracts relevant information such as RSSI data maps; and then pushes the information to the positioning calculation module
S407：在定位模块中选取一种定位计算方法进行位置的计算，例如三角测距方法；S407: Select a positioning calculation method in the positioning module to calculate the position, such as a triangular ranging method;
S408：返回计算结果，采用XML格式封装利用HTTP传输，即通过XML-RPC来将结果返回给移动终端；S408: return the calculation result, encapsulate it in XML format and use HTTP transmission, that is, return the result to the mobile terminal through XML-RPC;
S409：移动终端得到自己的位置信息，这一部分在客户端软件中进行，客户端软件可以配置离线电子地图，然后在该地图上标记出自己的位置。S409: The mobile terminal obtains its own location information, and this part is performed in the client software. The client software can configure an offline electronic map, and then mark its own location on the map.
本发明主要蓝牙接入点广播自身接入点信息，包括ID信息和坐标信息；移动终端根据蓝牙接入点广播信息，基于接收信号强度RSSI完成对周围蓝牙接入点的排序；移动终端将选取的蓝牙接入点、接入点信息和排序信息发送到应用服务器；应用服务器基于蓝牙接入点信息、排序信息和接入点信息完成对移动终端的位置定位，并将定位信息发送到移动终端；移动终端接收定位信息，并基于配置的电子地图显示当前的位置信息。In the present invention, the main Bluetooth access point broadcasts its own access point information, including ID information and coordinate information; the mobile terminal completes the sorting of the surrounding Bluetooth access points based on the received signal strength RSSI according to the broadcast information of the Bluetooth access point; the mobile terminal will select The Bluetooth access point, access point information and sorting information sent to the application server; the application server completes the location positioning of the mobile terminal based on the Bluetooth access point information, sorting information and access point information, and sends the positioning information to the mobile terminal ; The mobile terminal receives the location information, and displays the current location information based on the configured electronic map.
本发明具有以下优点：通过蓝牙技术进行室内移动终端的定位能够很好的补足GPS等卫星定位系统在室内定位不精确等问题；蓝牙在手机等移动终端中一般都已经配有，所以不需要在进行过多的终端开发；本系统将定位计算放置到服务器中进行，优点在于可以选择不同的定位算法进行计算，对于后续的系统升级提供方便，并且在服务器中进行定位比在每个室内布置定位装置成本解决，可持续性升级和管理方便，同时服务器中还可以提供其他更为高层的基于位置服务的应用。The present invention has the following advantages: the positioning of indoor mobile terminals through Bluetooth technology can well complement the problems of inaccurate indoor positioning of GPS and other satellite positioning systems; Bluetooth is generally equipped in mobile terminals such as mobile phones, so it does not need to be installed in mobile terminals such as mobile phones. Excessive terminal development; this system puts the positioning calculation in the server. The advantage is that different positioning algorithms can be selected for calculation, which is convenient for subsequent system upgrades, and positioning in the server is better than positioning in each room. The device cost is solved, and the sustainable upgrade and management are convenient. At the same time, other higher-level location-based service applications can also be provided in the server.
以上对本发明所提供的一种基于蓝牙技术实现定位的方法及系统进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。The method and system for realizing positioning based on Bluetooth technology provided by the present invention have been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understanding The method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be construed as a limitation of the invention.
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| CN2012103068806APendingCN102854491A (en) | 2012-08-24 | 2012-08-24 | A method and system for realizing positioning based on bluetooth technology |
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| Country | Link |
|---|---|
| CN (1) | CN102854491A (en) |
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| CN104202728A (en)* | 2014-09-16 | 2014-12-10 | 孟凡琛 | RSSI (received signal strength indicator) based indoor navigation device and method |
| CN104284419A (en)* | 2014-10-20 | 2015-01-14 | 北京邮电大学 | An iBeacon-based indoor positioning and auxiliary navigation method, device and system |
| CN104486720A (en)* | 2014-12-03 | 2015-04-01 | 中国联合网络通信集团有限公司 | Positioning method and device |
| CN104486719A (en)* | 2014-11-26 | 2015-04-01 | 杭州优体科技有限公司 | Bluetooth frequency division positioning device |
| CN104680461A (en)* | 2015-03-13 | 2015-06-03 | 北京云迹科技有限公司 | Medical guidance method and device based on Bluetooth signals |
| CN104729499A (en)* | 2015-02-12 | 2015-06-24 | 北京云迹科技有限公司 | Bluetooth technology-based method for positioning mobile terminal by indoor robot |
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| CN105208551A (en)* | 2014-06-05 | 2015-12-30 | 阿里巴巴集团控股有限公司 | Method and device for transmitting and acquiring beacon data |
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| CN105427559A (en)* | 2015-12-14 | 2016-03-23 | 腾讯科技（深圳）有限公司 | Intelligent shoe and positioning system based on same |
| CN105763212A (en)* | 2016-04-11 | 2016-07-13 | 北京小米移动软件有限公司 | User behavior determining method and device |
| CN105827337A (en)* | 2015-01-06 | 2016-08-03 | 阿里巴巴集团控股有限公司 | Method, device and system for object behavior monitoring |
| CN105911578A (en)* | 2016-06-02 | 2016-08-31 | 武汉慧联无限科技有限公司 | Ultra-low power consumption indoor and outdoor hybrid positioning system |
| CN106412816A (en)* | 2016-12-19 | 2017-02-15 | 东软集团股份有限公司 | Positioning method, apparatus and server |
| CN106658709A (en)* | 2016-12-20 | 2017-05-10 | 宇龙计算机通信科技(深圳)有限公司 | Positioning method and device, electronic device and server |
| CN106646352A (en)* | 2017-01-17 | 2017-05-10 | 武汉联图时空信息科技有限公司 | Bluetooth positioning accuracy optimization method based on sensor spatial mode |
| CN103974410B (en)* | 2013-01-31 | 2017-05-31 | 西门子公司 | Method and apparatus for positioning |
| CN106820482A (en)* | 2017-02-13 | 2017-06-13 | 赵启明 | Bracelet based on BLE location technologies |
| CN107140549A (en)* | 2017-06-29 | 2017-09-08 | 上海海事大学 | Two-electron atom bridge crane pivot angle and rope length detection means and its measuring method |
| CN107153171A (en)* | 2016-03-04 | 2017-09-12 | 腾讯科技（深圳）有限公司 | Indoor orientation method, device and system |
| CN107172158A (en)* | 2017-05-23 | 2017-09-15 | 深圳天珑无线科技有限公司 | Information processing method, system and device |
| CN107462868A (en)* | 2017-10-09 | 2017-12-12 | 深圳市芯联锐创科技有限公司 | Indoor locating system based on bluetooth MESH |
| CN108226862A (en)* | 2016-12-15 | 2018-06-29 | 电信科学技术研究院 | A kind of portable equipment, beacon and navigation system |
| CN108259582A (en)* | 2017-12-29 | 2018-07-06 | 上海威惠智能科技有限公司 | Alignment system and method |
| CN108492546A (en)* | 2018-03-27 | 2018-09-04 | 北京摩拜科技有限公司 | Vehicle dispatching method, system, server and bluetooth scanning device |
| CN108566676A (en)* | 2018-01-17 | 2018-09-21 | 石化盈科信息技术有限责任公司 | A kind of bluetooth localization method |
| CN108616854A (en)* | 2017-03-28 | 2018-10-02 | 集速智能标签（上海）有限公司 | A kind of method and system of indoor positioning |
| CN108668246A (en)* | 2018-05-13 | 2018-10-16 | 索奇智能科技（北京）有限公司 | It is a kind of can be in the indoor orientation method of ultra-large type exhibition venue rapid deployment |
| CN108924787A (en)* | 2017-03-30 | 2018-11-30 | 北京智汇空间科技有限公司 | Localization method, apparatus and system |
| CN109283564A (en)* | 2018-08-06 | 2019-01-29 | 石化盈科信息技术有限责任公司 | A kind of localization method and system of mobile terminal |
| CN109511165A (en)* | 2018-12-19 | 2019-03-22 | 广州市捷众智能科技有限公司 | Method, terminal device and storage medium based on iBeacon bluetooth module indoor positioning |
| CN109525733A (en)* | 2018-12-27 | 2019-03-26 | 江苏恒宝智能系统技术有限公司 | A kind of intelligence arrival reminding method and system |
| US10299078B2 (en) | 2017-05-08 | 2019-05-21 | Shenzhen GOODIX Technology Co., Ltd. | BLE-based positioning method and apparatus |
| CN110025855A (en)* | 2018-01-12 | 2019-07-19 | 美尔敦股份有限公司 | A kind of drop detecting system and method |
| CN110383351A (en)* | 2017-02-10 | 2019-10-25 | 江苏宏宝工具有限公司 | The system and method for vehicle shared service |
| CN110401913A (en)* | 2019-07-18 | 2019-11-01 | 上海华虹集成电路有限责任公司 | A kind of indoor orientation method based on low-power consumption bluetooth |
| CN110456307A (en)* | 2019-07-31 | 2019-11-15 | 东南大学 | A terminal positioning method based on indoor pseudolite signal carrier-to-noise ratio |
| CN110514205A (en)* | 2018-05-22 | 2019-11-29 | 深圳先进技术研究院 | An indoor positioning method and system thereof |
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| CN113055838A (en)* | 2019-12-27 | 2021-06-29 | 深圳富泰宏精密工业有限公司 | Indoor positioning system, indoor positioning method and mobile terminal |
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| CN103096443B (en)* | 2013-01-25 | 2015-10-28 | 歌尔声学股份有限公司 | A kind of indoor wireless positioning method, system and intelligent terminal |
| CN103096443A (en)* | 2013-01-25 | 2013-05-08 | 歌尔声学股份有限公司 | Method and system for indoor wireless positioning and intelligent terminal |
| CN103974410B (en)* | 2013-01-31 | 2017-05-31 | 西门子公司 | Method and apparatus for positioning |
| CN103188023A (en)* | 2013-03-19 | 2013-07-03 | 天脉聚源(北京)传媒科技有限公司 | Distance measuring method and system, and application method |
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| CN103648158A (en)* | 2013-08-12 | 2014-03-19 | 苏州市金陵消防监控工程有限公司 | Mobile phone indoor positioning terminal device based on Bluetooth technology |
| CN103402259B (en)* | 2013-08-15 | 2016-05-04 | 重庆邮电大学 | A kind of indoor positioning service system and method based on bluetooth |
| CN103402259A (en)* | 2013-08-15 | 2013-11-20 | 重庆邮电大学 | Bluetooth based indoor positioning service system and method |
| WO2015109922A1 (en)* | 2014-01-26 | 2015-07-30 | 上海佩奇网络科技有限公司 | Bluetooth tracking method and dynamic tracking network system |
| CN105612794A (en)* | 2014-02-25 | 2016-05-25 | 华为技术有限公司 | Indoor locating features library establishment method and device |
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| CN105612794B (en)* | 2014-02-25 | 2019-08-06 | 华为技术有限公司 | Method and device for establishing indoor positioning feature library |
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| CN103813451A (en)* | 2014-03-10 | 2014-05-21 | 成都悟空科技有限公司 | Indoor positioning method and system based on wireless network for mobile terminal equipment |
| CN103929806A (en)* | 2014-04-18 | 2014-07-16 | 联想(北京)有限公司 | Information processing method and device and electronic device |
| CN103929807A (en)* | 2014-04-28 | 2014-07-16 | 上海和视环境艺术工程有限公司 | Method for precisely positioning device coordinate based on low power consumption |
| CN103945530A (en)* | 2014-05-04 | 2014-07-23 | 成都佳锂科技有限公司 | Positioning device based on low energy Bluetooth |
| CN103974196A (en)* | 2014-05-14 | 2014-08-06 | 丁晟 | Indoor relative position determining system, control method and control device |
| CN105208551B (en)* | 2014-06-05 | 2019-04-26 | 阿里巴巴集团控股有限公司 | Method and device for transmitting and acquiring beacon data |
| CN105208551A (en)* | 2014-06-05 | 2015-12-30 | 阿里巴巴集团控股有限公司 | Method and device for transmitting and acquiring beacon data |
| CN103995251A (en)* | 2014-06-11 | 2014-08-20 | 中国电信股份有限公司南京分公司 | Positioning system and method of indoor mobile device |
| CN104066052B (en)* | 2014-06-27 | 2017-10-31 | 百度在线网络技术（北京）有限公司 | A kind of processing method and processing device of location data |
| CN104066052A (en)* | 2014-06-27 | 2014-09-24 | 百度在线网络技术（北京）有限公司 | Positioning data processing method and device |
| CN104144005A (en)* | 2014-07-15 | 2014-11-12 | 深圳奇沃智联科技有限公司 | Bluetooth positioning system |
| CN104202728A (en)* | 2014-09-16 | 2014-12-10 | 孟凡琛 | RSSI (received signal strength indicator) based indoor navigation device and method |
| CN104284419B (en)* | 2014-10-20 | 2018-01-12 | 北京邮电大学 | A kind of indoor positioning and auxiliary navigation method, device and system based on iBeacon |
| CN104284419A (en)* | 2014-10-20 | 2015-01-14 | 北京邮电大学 | An iBeacon-based indoor positioning and auxiliary navigation method, device and system |
| CN104486719A (en)* | 2014-11-26 | 2015-04-01 | 杭州优体科技有限公司 | Bluetooth frequency division positioning device |
| CN104486720B (en)* | 2014-12-03 | 2018-11-30 | 中国联合网络通信集团有限公司 | A kind of localization method and device |
| CN104486720A (en)* | 2014-12-03 | 2015-04-01 | 中国联合网络通信集团有限公司 | Positioning method and device |
| CN105827337A (en)* | 2015-01-06 | 2016-08-03 | 阿里巴巴集团控股有限公司 | Method, device and system for object behavior monitoring |
| CN105827337B (en)* | 2015-01-06 | 2019-02-15 | 阿里巴巴集团控股有限公司 | A kind of object behavior monitoring method, apparatus and system |
| CN104729499A (en)* | 2015-02-12 | 2015-06-24 | 北京云迹科技有限公司 | Bluetooth technology-based method for positioning mobile terminal by indoor robot |
| CN104680461A (en)* | 2015-03-13 | 2015-06-03 | 北京云迹科技有限公司 | Medical guidance method and device based on Bluetooth signals |
| CN105223694A (en)* | 2015-09-28 | 2016-01-06 | 大连楼兰科技股份有限公司 | Method for indoor positioning and image recognition of smart glasses applied in the process of automobile maintenance |
| CN105427559A (en)* | 2015-12-14 | 2016-03-23 | 腾讯科技（深圳）有限公司 | Intelligent shoe and positioning system based on same |
| CN107153171A (en)* | 2016-03-04 | 2017-09-12 | 腾讯科技（深圳）有限公司 | Indoor orientation method, device and system |
| CN105763212A (en)* | 2016-04-11 | 2016-07-13 | 北京小米移动软件有限公司 | User behavior determining method and device |
| CN105911578A (en)* | 2016-06-02 | 2016-08-31 | 武汉慧联无限科技有限公司 | Ultra-low power consumption indoor and outdoor hybrid positioning system |
| CN108226862A (en)* | 2016-12-15 | 2018-06-29 | 电信科学技术研究院 | A kind of portable equipment, beacon and navigation system |
| CN108226862B (en)* | 2016-12-15 | 2020-11-10 | 电信科学技术研究院 | Portable device, beacon and navigation system |
| CN106412816A (en)* | 2016-12-19 | 2017-02-15 | 东软集团股份有限公司 | Positioning method, apparatus and server |
| CN106658709B (en)* | 2016-12-20 | 2020-04-07 | 宇龙计算机通信科技(深圳)有限公司 | Positioning method and device, electronic equipment and server |
| CN106658709A (en)* | 2016-12-20 | 2017-05-10 | 宇龙计算机通信科技(深圳)有限公司 | Positioning method and device, electronic device and server |
| CN106646352A (en)* | 2017-01-17 | 2017-05-10 | 武汉联图时空信息科技有限公司 | Bluetooth positioning accuracy optimization method based on sensor spatial mode |
| CN110383351A (en)* | 2017-02-10 | 2019-10-25 | 江苏宏宝工具有限公司 | The system and method for vehicle shared service |
| US11287271B2 (en) | 2017-02-10 | 2022-03-29 | Beijing Qisheng Science And Technology Co., Ltd. | Systems and methods for vehicle sharing service |
| CN106820482A (en)* | 2017-02-13 | 2017-06-13 | 赵启明 | Bracelet based on BLE location technologies |
| CN108616854A (en)* | 2017-03-28 | 2018-10-02 | 集速智能标签（上海）有限公司 | A kind of method and system of indoor positioning |
| CN108616854B (en)* | 2017-03-28 | 2021-11-12 | 集速智能标签（上海）有限公司 | Indoor positioning method and system |
| CN108924787A (en)* | 2017-03-30 | 2018-11-30 | 北京智汇空间科技有限公司 | Localization method, apparatus and system |
| US10299078B2 (en) | 2017-05-08 | 2019-05-21 | Shenzhen GOODIX Technology Co., Ltd. | BLE-based positioning method and apparatus |
| CN107172158A (en)* | 2017-05-23 | 2017-09-15 | 深圳天珑无线科技有限公司 | Information processing method, system and device |
| CN107140549A (en)* | 2017-06-29 | 2017-09-08 | 上海海事大学 | Two-electron atom bridge crane pivot angle and rope length detection means and its measuring method |
| CN107462868A (en)* | 2017-10-09 | 2017-12-12 | 深圳市芯联锐创科技有限公司 | Indoor locating system based on bluetooth MESH |
| CN108259582A (en)* | 2017-12-29 | 2018-07-06 | 上海威惠智能科技有限公司 | Alignment system and method |
| CN110025855A (en)* | 2018-01-12 | 2019-07-19 | 美尔敦股份有限公司 | A kind of drop detecting system and method |
| CN108566676A (en)* | 2018-01-17 | 2018-09-21 | 石化盈科信息技术有限责任公司 | A kind of bluetooth localization method |
| CN108492546A (en)* | 2018-03-27 | 2018-09-04 | 北京摩拜科技有限公司 | Vehicle dispatching method, system, server and bluetooth scanning device |
| CN108668246A (en)* | 2018-05-13 | 2018-10-16 | 索奇智能科技（北京）有限公司 | It is a kind of can be in the indoor orientation method of ultra-large type exhibition venue rapid deployment |
| CN108668246B (en)* | 2018-05-13 | 2021-05-11 | 索奇智能科技（北京）有限公司 | Indoor positioning method capable of being rapidly deployed in ultra-large exhibition venue |
| CN110514205A (en)* | 2018-05-22 | 2019-11-29 | 深圳先进技术研究院 | An indoor positioning method and system thereof |
| CN112534794A (en)* | 2018-07-31 | 2021-03-19 | 脸谱公司 | Dynamic location monitoring of target updates |
| CN109283564A (en)* | 2018-08-06 | 2019-01-29 | 石化盈科信息技术有限责任公司 | A kind of localization method and system of mobile terminal |
| CN109511165B (en)* | 2018-12-19 | 2020-12-29 | 广州市捷众智能科技有限公司 | Indoor positioning method based on iBeacon Bluetooth module, terminal equipment and storage medium |
| CN109511165A (en)* | 2018-12-19 | 2019-03-22 | 广州市捷众智能科技有限公司 | Method, terminal device and storage medium based on iBeacon bluetooth module indoor positioning |
| CN109525733A (en)* | 2018-12-27 | 2019-03-26 | 江苏恒宝智能系统技术有限公司 | A kind of intelligence arrival reminding method and system |
| CN110401913A (en)* | 2019-07-18 | 2019-11-01 | 上海华虹集成电路有限责任公司 | A kind of indoor orientation method based on low-power consumption bluetooth |
| CN110456307A (en)* | 2019-07-31 | 2019-11-15 | 东南大学 | A terminal positioning method based on indoor pseudolite signal carrier-to-noise ratio |
| CN110456307B (en)* | 2019-07-31 | 2022-04-22 | 东南大学 | Terminal positioning method based on indoor pseudo satellite signal carrier-to-noise ratio |
| CN111110243A (en)* | 2019-12-19 | 2020-05-08 | 北京建筑大学 | Wearable tumble monitoring equipment and system |
| CN113055838A (en)* | 2019-12-27 | 2021-06-29 | 深圳富泰宏精密工业有限公司 | Indoor positioning system, indoor positioning method and mobile terminal |
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