CN118131292A - Positioning system adopting 5G and Beidou signal fusion - Google Patents
Positioning system adopting 5G and Beidou signal fusion Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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Abstract
The invention relates to the technical field of positioning, and discloses a positioning system adopting 5G and Beidou signal fusion, which comprises: the system comprises a signal information acquisition unit, a signal receiving time acquisition module, an information uploading module, an information data calculation processing module, a real-time positioning module, a real-time detection module and a positioning early warning module, wherein: signal information acquisition unit: the system is used for acquiring signal information and comprises a Beidou signal information acquisition module and a 5G signal information acquisition module, wherein the Beidou signal information acquisition module is used for acquiring the Beidou signal information. In the process of positioning by adopting a 5G and Beidou signal fusion mode, the positioning points which do not accord with the geographic common sense in the Beidou satellite positioning process are removed by utilizing the signal coverage range of the 5G base station participating in positioning and the distance condition of the 5G base station from the Beidou satellite participating in positioning, so that the preserved positioning points accord with the geographic common sense and can be positioned in the coverage range of the 5G signal.
Description
Technical Field
The invention relates to the technical field of positioning, and particularly discloses a positioning system adopting 5G and Beidou signal fusion.
Background
Along with the rapid development of satellite technology and 5G technology in China, the rapid development of electronic maps is also promoted. Because of the updating iteration of the electronic map, people can accurately know the current position of the user in daily life, the daily life of the user is greatly facilitated, and meanwhile, the user can travel daily conveniently, so that the user gets rid of the inaccuracy and the updating untimely trouble of the traditional paper map. In order to provide more accurate navigation and positioning service for people, the current electronic map attempts to position and navigate by adopting a 5 G+Beidou fusion mode. In the Beidou positioning process of the 5 G+Beidou fused positioning mode, a plurality of intersection points are generated due to the fact that the three-ball positioning method is adopted for positioning, at the moment, the intersection points which do not accord with the common geographical knowledge are required to be removed, in the removing process, a fixed threshold value parameter is usually set by a technician according to geographical knowledge or a parameter threshold value is obtained through a machine learning mode to remove the points which do not accord with the geography, but the final parameter threshold value is a fixed parameter whether the fixed threshold value parameter is set according to the geographical knowledge or the parameter threshold value is obtained through the machine learning mode. And because the 5G signal has coverage, the fixed parameters obtained can not be distributed according to the 5G base stations at different positions, so that the coverage of the 5G signal is well adapted, the fusion of the Beidou signal and the 5G signal is difficult, and in the positioning process, the 5G signal is easy to lose, so that the positioning accuracy is reduced.
Disclosure of Invention
The invention mainly solves the technical problem of providing a positioning system adopting 5G and Beidou signal fusion, which can solve the problems that the existing 5 G+Beidou fusion positioning mode has great difficulty in the fusion of the Beidou signals and the 5G signals, and the 5G signals are easy to lose in the positioning process, so that the positioning accuracy is reduced.
In order to solve the above technical problems, according to one aspect of the present invention, more specifically, a positioning system adopting 5G and beidou signal fusion, comprising: the system comprises a signal information acquisition unit, a signal receiving time acquisition module, an information uploading module, an information data calculation processing module, a real-time positioning module, a real-time detection module and a positioning early warning module, wherein:
signal information acquisition unit: the system comprises a signal information acquisition module, a signal information acquisition module and a signal information acquisition module, wherein the signal information acquisition module is used for acquiring the signal information, and the signal information acquisition module is used for acquiring the signal information;
Signal receiving time acquisition module: the method comprises the steps of acquiring time information of a Beidou signal and a 5G signal received by a receiving end;
and an information uploading module: the system comprises a signal information acquisition unit, a signal receiving time acquisition module, an information data calculation processing module and a real-time detection module, wherein the signal information acquisition unit and the signal receiving time acquisition module are used for acquiring information data and uploading the acquired information data to the information data calculation processing module and the real-time detection module;
Information data calculation processing module: the signal receiving time acquisition module is used for acquiring information data acquired by the signal information acquisition unit and the signal receiving time acquisition module;
real-time positioning module: the information data processing module is used for obtaining the result obtained by the calculation processing of the information data processing module, and positioning the receiving end according to the obtained result so as to obtain accurate position information of the receiving end;
real-time detection module: the signal processing and analyzing module is used for processing and analyzing the information data acquired by the signal information acquisition unit and the signal receiving time acquisition module, obtaining a processing and analyzing result, and sending down a signal to the positioning early warning module after the processing and analyzing result is abnormal;
positioning early warning module: and the early warning operation is performed after the real-time detection module analyzes and detects the abnormal condition.
Still further, big dipper signal information acquisition module includes: the Beidou satellite ID information acquisition module and the Beidou signal sending time acquisition module; the Beidou satellite ID information acquisition module and the Beidou signal sending time acquisition module are used for acquiring the ID number of the Beidou satellite and the time information of the Beidou satellite sending signal respectively;
The 5G signal information acquisition module includes: the base station ID information acquisition module and the base station signal sending time acquisition module; the base station ID information acquisition module and the base station signal sending time acquisition module are used for respectively acquiring the ID number of the 5G base station and the time information of the 5G signal sent by the 5G base station.
Further, the information data calculation processing module includes: the system comprises a receiving end-to-satellite distance calculation module, a receiving end-to-base station distance calculation module and a base station-to-satellite distance calculation module;
The receiving end-to-satellite distance calculation module: the distance between the receiving end and each Beidou satellite participating in positioning can be calculated according to the time difference and the light speed between the sending of the Beidou signals and the receiving of the Beidou signals;
receiving end to base station distance calculation module: the method is used for calculating the distance between the receiving end and each 5G base station participating in positioning according to the time difference between the sending of the 5G signal and the receiving of the 5G signal and the speed of light;
Base station-to-satellite distance calculation module: and the method is used for calculating the comprehensive distance between all the 5G base stations capable of being linked with the receiving end and the Beidou satellites participating in positioning.
Furthermore, the specific process of calculating the comprehensive distance between the 5G base station capable of being linked with the receiving end and the Beidou satellite participating in positioning by the base station-to-satellite distance calculating module is as follows: firstly, acquiring all base stations capable of being 5G linked with a receiving end, then transmitting signals to each base station by each Beidou satellite participating in positioning, and acquiring the Beidou signal transmitting time and the time of receiving the Beidou signals by the base stations, so that the distance between each base station and each Beidou satellite can be obtained:
Wherein, V is the speed of light, v is the distance between each base station and each Beidou satellite、/>The time when each base station receives the Beidou signal and the time when the Beidou signal is sent out are respectively;
And then obtaining the maximum and minimum comprehensive distances between each base station and all Beidou satellites participating in positioning according to the distances between each base station and each Beidou satellite:
Wherein, 、/>The maximum and minimum comprehensive distance between each base station and all Beidou satellites participating in positioning are respectively,/>、/>And Z is the total number of Beidou satellites participating in positioning.
Still further, the real-time positioning module includes: the system comprises a data acquisition module, an analysis positioning module and a position information feedback module;
And a data acquisition module: the distance between the receiving end and each Beidou satellite participating in positioning is calculated by the information data calculation processing module, and the distance between the receiving end and each 5G base station participating in positioning and the comprehensive distance between the 5G base station participating in positioning and the Beidou satellite participating in positioning are calculated;
And an analysis and positioning module: the device comprises a data acquisition module, a receiving end and a data processing module, wherein the data acquisition module is used for acquiring information data of the receiving end;
And the position information feedback module is used for: and the device is used for feeding back the accurate position information of the receiving end obtained by the analysis positioning module.
Furthermore, the analysis positioning module adopts a three-ball positioning and three-circle positioning method to position the receiving end; firstly, taking the distance from a receiving end to each Beidou satellite participating in positioning as a radius, then taking each Beidou satellite participating in positioning as a sphere center to obtain three crossed positioning balls, and simultaneously obtaining a plurality of crossing points, wherein the crossing points with the ordinate not meeting the following conditions are removed:
Wherein, For the ordinate of each intersection,/>For the signal coverage distance of each 5G base station k participating in positioning, A is the total number of all 5G base stations participating in positioning,/>Minimum signal coverage distance in all 5G base stations participating in positioning;
and removing the intersection points which do not accord with geography, taking the distance from the receiving end to each 5G base station participating in positioning as a radius, and taking each 5G base station participating in positioning as a circle center to obtain three intersected positioning circles, wherein the common intersection point of the three positioning circles is the position of the receiving end.
Further, the real-time detection module comprises an information data receiving module, a detection analysis module and a signal sending module;
An information data receiving module: the signal receiving time acquisition module is used for acquiring the acquired information data;
And a detection and analysis module: the information data processing module is used for processing and analyzing the information data received by the information data receiving module so as to obtain a processing and analyzing result;
And a signal sending module: and the signal sending and positioning early-warning module is used for sending a signal after the abnormal condition occurs in the processing analysis result of the detection analysis module.
Furthermore, when the detection analysis module detects and analyzes the information data, the comprehensive distance between each time of the user side and the Beidou satellite participating in positioning is obtained in real time, and if:
Judging that the position of the receiving end is abnormal, otherwise, judging that the position of the receiving end is normal; wherein v is the speed of light, 、Respectively, the time of transmitting signals and the time of receiving signals of each N Beidou satellites f participating in positioning are respectively, N is the total number of the Beidou satellites participating in positioning,/>For a preset distance threshold parameter,/>Respectively the front time and the back time of the distance change between the receiving end and the Beidou satellite,/>Is a preset time threshold parameter.
The positioning system adopting the 5G and Beidou signal fusion has the beneficial effects that: in the process of positioning by adopting a mode of fusing 5G signals and Beidou signals, the positioning points which do not accord with the geographic common sense in the Beidou satellite positioning process are removed by utilizing the signal coverage range of the 5G base station participating in positioning and the distance condition of the 5G base station from the Beidou satellite participating in positioning, so that the preserved positioning points accord with the geographic common sense and can be positioned in the coverage range of the 5G signals, the Beidou signals and the 5G signals can be fully fused to realize accurate positioning of the user position, and the situation that the positioning accuracy is reduced due to the loss of the 5G signals in the positioning process is avoided. In addition, in the in-process of location, can acquire the comprehensive interval between every user to the big dipper satellite of location in real time, comprehensive interval deviation is great between twice user to the big dipper satellite of location, and twice comprehensive distance change time is shorter simultaneously, judges that the user probably appears dropping or falling the condition, leads to user position abnormality, triggers the location early warning operation this moment to cooperate 5 G+big dipper to fuse the mode of location, can be quick and timely to the user of position abnormality handle, assurance user's that can be very big safety.
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The invention will be described in further detail with reference to the accompanying drawings and detailed description.
FIG. 1 is a schematic diagram of a system principle;
Fig. 2 is a simplified flow chart of positioning.
Detailed Description
The application will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
According to one aspect of the present invention, as shown in fig. 1, a positioning system adopting 5G and beidou signal fusion is provided, wherein a beidou signal information acquisition module in a signal information acquisition unit is used for respectively transmitting a beidou satellite ID number of a beidou signal and a beidou signal transmitting time in a beidou signal at firstAnd (5) collecting. Meanwhile, the 5G signal information acquisition module is used for acquiring the ID number of the base station which sends out the signal in the 5G signal and the time/>And (5) collecting. Then the time/>, of the Beidou signal is received by a receiving end (user end) through a signal receiving time acquisition moduleTime/>, of 5G signalAcquisition is performed. And the information acquired by the acquisition is sent to an information data calculation processing module for calculation processing through an information uploading module.
In the process of information data memory calculation processing, the information data calculation processing module calculates the comprehensive distance between all 5G base stations capable of being linked with a receiving end and Beidou satellites participating in positioning through the base station-to-satellite distance calculation module: firstly, acquiring all base stations capable of being 5G linked with a receiving end, then transmitting signals to each base station by each Beidou satellite participating in positioning, and acquiring the Beidou signal transmitting time and the time of receiving the Beidou signals by the base stations, so that the distance between each base station and each Beidou satellite can be obtained:
Wherein, V is the speed of light, v is the distance between each base station and each Beidou satellite、/>The time when each base station receives the Beidou signal and the time when the Beidou signal is sent out are respectively;
And then obtaining the maximum and minimum comprehensive distances between each base station and all Beidou satellites participating in positioning according to the distances between each base station and each Beidou satellite:
Wherein, 、/>The maximum and minimum comprehensive distance between each base station and all Beidou satellites participating in positioning are respectively,/>、/>And Z is the total number of Beidou satellites participating in positioning.
Then, the distance between the receiving end and each Beidou satellite participating in positioning is calculated by a receiving end-to-satellite distance calculation module: firstly, obtaining the time difference of the Beidou signals received by the receiving end according to the time of the signals sent by each Beidou satellite and the time of the Beidou signals received by the receiving endAnd then multiplying the time difference by the speed v of light to obtain the distance between each Beidou satellite and the receiving end, and determining the distance between each Beidou satellite and the receiving end through the Beidou satellite ID number. Then, the distance between each Beidou satellite and the receiving end is acquired through a data acquisition module in the real-time positioning analysis module, the three-ball positioning principle is utilized through the analysis positioning module, the distance between the receiving end and each Beidou satellite participating in positioning is taken as a radius, then each Beidou satellite participating in positioning is taken as a sphere center, three crossed positioning balls are obtained, as shown in fig. 2 (I), a plurality of crossing points are obtained, and at the moment, the crossing points with the ordinate not meeting the following conditions are removed:
Wherein, For the ordinate of each intersection,/>For the signal coverage distance of each 5G base station k participating in positioning, A is the total number of all 5G base stations participating in positioning,/>The smallest signal coverage distance among all 5G base stations participating in positioning. And removing the intersection points which do not accord with geography to obtain a positioning point G.
Since there is an error in the positioning process by the Beidou satellite, the radii of the three positioning balls are not the same, so that the intersection point G is an area, as shown in fig. 2 (II). At this time, the distance between the receiving end and each 5G base station participating in positioning is calculated by the receiving end-to-base station distance calculation module: firstly, according to the time of each base station sending out the 5G signal and the time of the receiving end receiving the 5G signal, obtaining the time difference of the receiving end receiving the 5G signalAnd then multiplying the time difference by the light velocity v to obtain the distance between each base station and the receiving end, and determining the distance between each base station and the receiving end through the ID number of the base station. And then, acquiring the distance between each base station and the receiving end through a data acquisition module in the real-time positioning analysis module, and obtaining three crossed positioning circles by taking the distance between the receiving end and each 5G base station participating in positioning as a radius and taking each 5G base station participating in positioning as a circle center through the analysis positioning module, wherein the common intersection point of the three positioning circles is the position of the receiving end, as shown in fig. 2 (III). And finally, feeding back the accurate position information of the receiving end through a position information feedback module.
And when the position of the receiving end (user end) is accurately positioned, an information data receiving module in the real-time detection module receives the information data acquired by the signal information acquisition unit and the signal receiving time acquisition module, the received information data is sent to the detection analysis module for processing analysis, and when the processing analysis is carried out, the comprehensive distance between the user end and the Beidou satellite participating in positioning is acquired in real time, if:
and judging that the position of the receiving end is abnormal, and sending an abnormal signal to a positioning early-warning module through a signal sending module at the moment to perform position abnormality early-warning operation. Otherwise, judging that the position of the receiving end is normal; wherein v is the speed of light, 、/>Respectively, the time of transmitting signals and the time of receiving signals of each N Beidou satellites f participating in positioning are respectively, N is the total number of the Beidou satellites participating in positioning,/>For a preset distance threshold parameter,/>Respectively the front time and the back time of the distance change between the receiving end and the Beidou satellite,/>Is a preset time threshold parameter.
Wherein the electrical components appearing herein are all electrical components present in reality.
Of course, the above description is not intended to limit the invention, but rather the invention is not limited to the above examples, and variations, modifications, additions or substitutions within the spirit and scope of the invention will be within the scope of the invention.
Claims (8)
1. Adopt positioning system of 5G and big dipper signal fusion, characterized by comprising: the system comprises a signal information acquisition unit, a signal receiving time acquisition module, an information uploading module, an information data calculation processing module, a real-time positioning module, a real-time detection module and a positioning early warning module, wherein:
signal information acquisition unit: the system comprises a signal information acquisition module, a signal information acquisition module and a signal information acquisition module, wherein the signal information acquisition module is used for acquiring the signal information, and the signal information acquisition module is used for acquiring the signal information;
Signal receiving time acquisition module: the method comprises the steps of acquiring time information of a Beidou signal and a 5G signal received by a receiving end;
and an information uploading module: the system comprises a signal information acquisition unit, a signal receiving time acquisition module, an information data calculation processing module and a real-time detection module, wherein the signal information acquisition unit and the signal receiving time acquisition module are used for acquiring information data and uploading the acquired information data to the information data calculation processing module and the real-time detection module;
Information data calculation processing module: the signal receiving time acquisition module is used for acquiring information data acquired by the signal information acquisition unit and the signal receiving time acquisition module;
real-time positioning module: the information data processing module is used for obtaining the result obtained by the calculation processing of the information data processing module, and positioning the receiving end according to the obtained result so as to obtain accurate position information of the receiving end;
real-time detection module: the signal processing and analyzing module is used for processing and analyzing the information data acquired by the signal information acquisition unit and the signal receiving time acquisition module, obtaining a processing and analyzing result, and sending down a signal to the positioning early warning module after the processing and analyzing result is abnormal;
positioning early warning module: and the early warning operation is performed after the real-time detection module analyzes and detects the abnormal condition.
2. A positioning system employing 5G and beidou signal fusion according to claim 1, wherein: the big dipper signal information acquisition module includes: the Beidou satellite ID information acquisition module and the Beidou signal sending time acquisition module; the Beidou satellite ID information acquisition module and the Beidou signal sending time acquisition module are used for acquiring the ID number of the Beidou satellite and the time information of the Beidou satellite sending signal respectively;
The 5G signal information acquisition module includes: the base station ID information acquisition module and the base station signal sending time acquisition module; the base station ID information acquisition module and the base station signal sending time acquisition module are used for respectively acquiring the ID number of the 5G base station and the time information of the 5G signal sent by the 5G base station.
3. A positioning system employing 5G and beidou signal fusion according to claim 2, wherein: the information data calculation processing module comprises: the system comprises a receiving end-to-satellite distance calculation module, a receiving end-to-base station distance calculation module and a base station-to-satellite distance calculation module;
The receiving end-to-satellite distance calculation module: the distance between the receiving end and each Beidou satellite participating in positioning can be calculated according to the time difference and the light speed between the sending of the Beidou signals and the receiving of the Beidou signals;
receiving end to base station distance calculation module: the method is used for calculating the distance between the receiving end and each 5G base station participating in positioning according to the time difference between the sending of the 5G signal and the receiving of the 5G signal and the speed of light;
Base station-to-satellite distance calculation module: and the method is used for calculating the comprehensive distance between all the 5G base stations capable of being linked with the receiving end and the Beidou satellites participating in positioning.
4. A positioning system employing 5G and beidou signal fusion according to claim 3, wherein: the specific process of calculating the comprehensive distance between the 5G base station capable of being linked with the receiving end and the Beidou satellite participating in positioning by the base station-to-satellite distance calculating module is as follows: firstly, acquiring all base stations capable of being 5G linked with a receiving end, then transmitting signals to each base station by each Beidou satellite participating in positioning, and acquiring the Beidou signal transmitting time and the time of receiving the Beidou signals by the base stations, so that the distance between each base station and each Beidou satellite can be obtained:
Wherein/> V is the speed of light, v is the distance between each base station and each Beidou satellite、/>The time when each base station receives the Beidou signal and the time when the Beidou signal is sent out are respectively;
And then obtaining the maximum and minimum comprehensive distances between each base station and all Beidou satellites participating in positioning according to the distances between each base station and each Beidou satellite:
Wherein/> 、/>The maximum and minimum comprehensive distance between each base station and all Beidou satellites participating in positioning are respectively,/>、/>And Z is the total number of Beidou satellites participating in positioning.
5. A positioning system employing 5G and beidou signal fusion as claimed in claim 4, wherein: the real-time positioning module comprises: the system comprises a data acquisition module, an analysis positioning module and a position information feedback module;
And a data acquisition module: the distance between the receiving end and each Beidou satellite participating in positioning is calculated by the information data calculation processing module, and the distance between the receiving end and each 5G base station participating in positioning and the comprehensive distance between the 5G base station participating in positioning and the Beidou satellite participating in positioning are calculated;
And an analysis and positioning module: the device comprises a data acquisition module, a receiving end and a data processing module, wherein the data acquisition module is used for acquiring information data of the receiving end;
And the position information feedback module is used for: and the device is used for feeding back the accurate position information of the receiving end obtained by the analysis positioning module.
6. A positioning system employing 5G and beidou signal fusion as claimed in claim 5, wherein: the analysis positioning module adopts a three-ball positioning and three-circle positioning method to position the position of the receiving end; firstly, taking the distance from a receiving end to each Beidou satellite participating in positioning as a radius, then taking each Beidou satellite participating in positioning as a sphere center to obtain three crossed positioning balls, and simultaneously obtaining a plurality of crossing points, wherein the crossing points with the ordinate not meeting the following conditions are removed:
Wherein/> For the ordinate of each intersection,/>For the signal coverage distance of each 5G base station k participating in positioning, A is the total number of all 5G base stations participating in positioning,/>Minimum signal coverage distance in all 5G base stations participating in positioning;
and removing the intersection points which do not accord with geography, taking the distance from the receiving end to each 5G base station participating in positioning as a radius, and taking each 5G base station participating in positioning as a circle center to obtain three intersected positioning circles, wherein the common intersection point of the three positioning circles is the position of the receiving end.
7. A positioning system employing 5G and beidou signal fusion according to claim 2, wherein: the real-time detection module comprises an information data receiving module, a detection analysis module and a signal sending module;
An information data receiving module: the signal receiving time acquisition module is used for acquiring the acquired information data;
And a detection and analysis module: the information data processing module is used for processing and analyzing the information data received by the information data receiving module so as to obtain a processing and analyzing result;
And a signal sending module: and the signal sending and positioning early-warning module is used for sending a signal after the abnormal condition occurs in the processing analysis result of the detection analysis module.
8. A positioning system employing 5G and beidou signal fusion as claimed in claim 7, wherein: the detection analysis module acquires the comprehensive distance between the user side and the Beidou satellite participating in positioning each time in real time when detecting and analyzing the information data, and if:
Judging that the position of the receiving end is abnormal, otherwise, judging that the position of the receiving end is normal; wherein v is the speed of light,/> 、/>Respectively, the time of transmitting signals and the time of receiving signals of each N Beidou satellites f participating in positioning are respectively, N is the total number of the Beidou satellites participating in positioning,/>For a preset distance threshold parameter,/>Respectively the front time and the back time of the distance change between the receiving end and the Beidou satellite,/>Is a preset time threshold parameter.
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| CN113923597A (en) * | 2020-07-08 | 2022-01-11 | 宝武炭材料科技有限公司 | System and method for safely positioning personnel in area |
| CN112394383A (en) * | 2020-10-23 | 2021-02-23 | 北京邮电大学 | Satellite and 5G base station combined positioning method and device |
| CN116506942A (en) * | 2023-03-14 | 2023-07-28 | 江苏量界数据科技有限公司 | One-key SOS rescue system |
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