CN118583177B - A positioning data management system and method based on multi-sensor information fusion - Google Patents
A positioning data management system and method based on multi-sensor information fusion Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
本发明涉及定位数据管理领域，具体为一种基于多传感器信息融合的定位数据管理系统及方法，包括车辆定位数据获取模块、用户定位数据响应模块、监测时段标记模块、目标定位事件确定模块、客观特征因素分析模块和预警提醒模块；车辆定位数据获取模块用于获取基于室内空间由车联网在用户响应定位需求时传输的车辆定位数据；用户定位数据响应模块用于在用户设备端自接收显示车辆定位路线后响应监测用户定位数据；监测时段标记模块用于在用户定位数据与车辆定位点相同时监测结束，标记响应监测至监测结束对应的时段为监测时段；目标定位事件确定模块用于标记于用户设备端显示用户定位路线与车辆定位路线差异的定位事件为目标定位事件。
The present invention relates to the field of positioning data management, and in particular to a positioning data management system and method based on multi-sensor information fusion, comprising a vehicle positioning data acquisition module, a user positioning data response module, a monitoring period marking module, a target positioning event determination module, an objective characteristic factor analysis module and an early warning reminder module; the vehicle positioning data acquisition module is used to acquire vehicle positioning data transmitted by a vehicle network based on an indoor space when a user responds to a positioning demand; the user positioning data response module is used to respond to monitoring user positioning data after receiving and displaying a vehicle positioning route at a user device end; the monitoring period marking module is used to end monitoring when the user positioning data is the same as the vehicle positioning point, and mark the period corresponding to the response monitoring to the end of monitoring as the monitoring period; and the target positioning event determination module is used to mark a positioning event that displays a difference between a user positioning route and a vehicle positioning route at a user device end as a target positioning event.
Description
Technical Field
The invention relates to the technical field of positioning data management, in particular to a positioning data management system and method based on multi-sensor information fusion.
Background
At present, most widely applied fields of positioning data are vehicle positioning systems, the maturity of the existing vehicle positioning systems is very high, the existing vehicle positioning systems can be applied to different scenes to realize vehicle positioning, but corresponding to the situation that a user positioning route and a vehicle positioning route are possibly different for different road environments, such as an underground parking lot, the situation is possibly caused by the fact that the user cannot accurately judge the direction of a travel path due to the fact that the space environments are likely to mislead the route directions of the user, or the situation is caused by route deviation caused by the fact that a signal of a positioning system used by a user equipment side is unstable in the current indoor space, and the like, mismatching time is consumed when the user searches for a vehicle based on the vehicle positioning route, and the efficiency of solving the problem based on the positioning data is reduced.
Disclosure of Invention
The invention aims to provide a positioning data management system and method based on multi-sensor information fusion, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides a positioning data management method based on multi-sensor information fusion, which comprises the following analysis steps:
Step 100, acquiring vehicle positioning data transmitted by a vehicle network when a user responds to positioning requirements based on an indoor space, wherein the vehicle network is in communication connection with a user equipment end to transmit the vehicle positioning data to the user equipment end;
Step 200, when the user positioning data is the same as the vehicle positioning points, the monitoring is finished, the time period corresponding to the monitoring is marked as the monitoring time period, and the user positioning route formed by the user positioning data in the monitoring time period is extracted;
Step S300, based on the target positioning event, determining objective characteristic factors corresponding to the indoor space influence route difference;
And step 400, when the response vehicle positioning data of the user exists in real time, carrying out early warning reminding on the real-time user side based on objective characteristic factors.
Further, determining objective characteristic factors corresponding to differences in the indoor space-affecting routes, comprising the following analysis steps:
Step S310, acquiring a turning point of a target positioning event record vehicle positioning route, a route distance between adjacent turning points and a turning point angle, marking the positioning route with the same turning point, turning point angle and route distance between adjacent turning points as the same type of positioning route, and dividing the target positioning event into one type of positioning event according to the corresponding type of positioning route based on the marking;
Step S320, obtaining the type of the locating event record user terminal locating mode, when the type is not the same, extracting the locating event corresponding to the same type of user terminal locating mode and the highest number of the recorded events as an effective locating event;
Acquiring the type number N1 of initial deflection points recorded in an effective positioning event, wherein the deflection points at different positions represent one type, the initial deflection points represent the starting points of separation in the monitoring period, and the method comprises the following steps:
X1＝(N1/M1)*[kmax/(kmax-kmin)],
Calculating a first characteristic index X 1 of initial deflection points of the corresponding effective positioning event records in the positioning events of one type, wherein M 1 represents the event record number of the effective positioning event, k represents the number of times of initial deflection point records of each type, kmax represents the maximum value of the number of times of initial deflection point records, kmin represents the minimum value of the number of times of initial deflection point records, setting a first characteristic index threshold X 0, traversing all the effective positioning events in each type of positioning event, marking a vehicle positioning route corresponding to the effective positioning event as a suspicious route when X 1<X0 is marked, and indicating that the deflection points existing in the corresponding vehicle positioning route have larger influence on the user based on the path of positioning data when the characteristic index is smaller;
Step S330, extracting the times recorded by each initial deflection point in the suspicious route, taking the initial deflection point corresponding to the maximum k 1 max of the recorded times as a first objective characteristic factor, determining that the suspicious route can effectively indicate that some space positions possibly exist in the current monitoring space and cause the deviation of users using positioning data easily due to the problem of internal space structures, and if the most likely deviation user gives a prompt at the user end, the situation that the deviation of the positioning data of the users is caused by the objective factor of the space can be effectively reduced. If the first characteristic index of all the effective positioning events in each type of positioning event meets X 1≥X0, the method indicates that the structural characteristics in the current monitoring space are not objective reasons obviously causing the deviation of user positioning data, the same type of positioning event is classified as port positioning events according to different user side positioning modes, and a second objective characteristic factor affecting the route difference of the indoor space is determined based on the port positioning events.
Further, determining a second objective characteristic factor affecting the route difference for the indoor space based on the port localization event, comprising the following specific steps:
Step S331, obtaining the times m i when different deflection points are recorded in the i-th type port positioning event in each type of positioning event, analyzing the times m i when different deflection points are recorded in the same type of port positioning event to indicate that when the user positioning mode is not good, positioning deviation or errors can be various;
The greater the abnormal rate is, the greater the difference of the influence of the locating mode corresponding to the port locating event on the user route is, and the bias point is not easy to be determined, the times recorded by locating events with the same locating mode as the i-th type port locating event in all types of locating events are searched, and the abnormal rate under the corresponding type locating event is calculated, wherein the abnormal rate is calculated by utilizing the formula:
Zi＝a1*(Ui/V)+a2*[(1/Ui)∑Yi],
Calculating a second characteristic index Z i,Ui of the i-th type port positioning event to represent the total types of the i-th type port positioning event recorded in each positioning event, wherein V represents the total types of the positioning type event, a 1 represents a first reference coefficient corresponding to the port positioning event duty ratio, and a 2 represents a second reference coefficient corresponding to the average anomaly rate;
Step S332, sorting the user terminal positioning modes corresponding to the port positioning events from large to small according to the values of the second characteristic indexes to generate a first sequence;
Step S333, extracting a first user terminal positioning mode in the first sequence as a second objective characteristic factor of the indoor space influence route difference.
Further, step S400 includes the following steps:
Acquiring a first objective characteristic factor and a second objective characteristic factor of each indoor space record;
when the real-time user responds to the vehicle positioning data, a real-time vehicle positioning route is obtained, and when the real-time vehicle positioning route contains a first objective characteristic factor, a reminding signal of positioning data corresponding to the first objective characteristic factor is transmitted to a user equipment side;
And when the positioning mode of the real-time operation is the same as the second objective characteristic factor, transmitting a signal for changing the positioning mode to the user equipment, wherein the changing positioning mode is a first selection priority except for each positioning mode in the first sequence, and if the selectable positioning mode in the user equipment is the positioning mode in the first sequence, taking the last positioning mode in the first sequence as a second selection priority selected by the user equipment based on the positioning mode.
A positioning data management system based on multi-sensor information fusion comprises a vehicle positioning data acquisition module, a user positioning data response module, a monitoring period marking module, a target positioning event determining module, an objective characteristic factor analysis module and an early warning reminding module;
the vehicle positioning data acquisition module is used for acquiring vehicle positioning data transmitted by the Internet of vehicles when a user responds to positioning requirements based on the indoor space;
The user positioning data response module is used for responding and monitoring the user positioning data after the user equipment terminal receives and displays the vehicle positioning route;
The monitoring period marking module is used for marking the period corresponding to the monitoring response to the monitoring ending as the monitoring period when the user positioning data is the same as the vehicle positioning point;
the target positioning event determining module is used for marking a positioning event which is marked on the user equipment end and displays the difference between the user positioning route and the vehicle positioning route as a target positioning event;
the objective characteristic factor analysis module is used for determining objective characteristic factors corresponding to the indoor space influence route differences;
The early warning reminding module is used for carrying out early warning reminding on the real-time user side based on objective characteristic factors when the user responds to the vehicle positioning data in real time.
Further, the objective characteristic factor analysis module comprises a same type of positioning route calibration unit, a user side positioning mode acquisition unit, an effective positioning event marking unit, a characteristic index analysis unit and an objective characteristic factor output unit;
The same type positioning route calibration unit is used for marking positioning routes with the same turning points, turning point angles and route distances between adjacent turning points as the same type positioning routes, and dividing target positioning events into one type of positioning events according to the corresponding same type positioning routes based on the marks;
the user terminal positioning mode obtaining unit is used for obtaining a type of positioning event record user terminal positioning mode;
the effective positioning event marking unit is used for extracting the positioning modes of the same type of user terminals when the types are not unique, and the corresponding positioning event is the effective positioning event when the number of the recorded event is the highest;
the characteristic index analysis unit is used for analyzing characteristic indexes in a type of positioning event;
The objective characteristic factor output unit is used for analyzing and outputting objective characteristic factors meeting the judgment relation.
Further, the characteristic index analysis unit comprises a first characteristic index calculation unit and a second characteristic index calculation unit;
the first characteristic index calculation unit is used for calculating a first characteristic index of an initial deflection point of a corresponding effective positioning event record in a type of positioning event;
the second feature index calculation unit is used for calculating a second feature index of the port positioning event.
Further, the objective characteristic factor output unit comprises a first objective characteristic factor output unit and a second objective characteristic factor output unit;
The first objective characteristic factor output unit is used for analyzing corresponding first objective characteristic factors based on the first characteristic indexes;
the second objective characteristic factor output unit is used for sequencing the user terminal positioning modes corresponding to the port positioning events from large to small according to the values of the second characteristic indexes to generate a first sequence, and extracting the first user terminal positioning mode in the first sequence as a second objective characteristic factor affecting the route difference in the indoor space.
Further, the early warning and reminding module comprises a real-time positioning data acquisition unit and a priority early warning unit;
the real-time positioning data acquisition unit is used for acquiring a real-time vehicle positioning route when the real-time user responds to the vehicle positioning data;
the priority early warning unit is used for transmitting a reminding signal of positioning data corresponding to the first objective characteristic factor to the user equipment when the first objective characteristic factor is contained in the real-time vehicle positioning route, and carrying out priority early warning based on the first sequence replacement positioning mode when the second objective characteristic factor is analyzed.
Compared with the prior art, the method has the beneficial effects that the method monitors the positioning event of deviation generated by the user positioning data and the vehicle positioning data by acquiring and analyzing the event of positioning implemented in each monitoring space, analyzes the reasons for the influence deviation of the positioning event, and judges the first objective characteristic factors and the second objective characteristic factors which are possibly influenced from the aspects of route characteristics of the monitoring space and the positioning data of the user equipment, thereby reducing the time consumption on solving the positioning problem based on the positioning data to the greatest extent for the user responding to the positioning requirement in real time in the space, and improving the high efficiency and the intelligence of the positioning data requirement use under different indoor scenes.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a positioning data management system based on multi-sensor information fusion according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the present invention provides a positioning data management method based on multi-sensor information fusion, which includes the following analysis steps:
Step 100, acquiring vehicle positioning data transmitted by a vehicle network when a user responds to positioning requirements based on an indoor space, wherein the vehicle network is in communication connection with a user equipment end to transmit the vehicle positioning data to the user equipment end;
Step 200, when the user positioning data is the same as the vehicle positioning points, the monitoring is finished, the time period corresponding to the monitoring is marked as the monitoring time period, and the user positioning route formed by the user positioning data in the monitoring time period is extracted;
The vehicle positioning route is given based on a path planning algorithm, such as Dijkstra algorithm, floyd algorithm and the like in a classical algorithm, and the user positioning route is formed based on a mode that a device end records a moving track formed by positioning data of a user in a certain time in real time, such as a running track of a common device navigation end, a moving track recorded by a device app and the like.
Step S300, based on the target positioning event, determining objective characteristic factors corresponding to the indoor space influence route difference;
And step 400, when the response vehicle positioning data of the user exists in real time, carrying out early warning reminding on the real-time user side based on objective characteristic factors.
Determining objective characteristic factors corresponding to differences in the indoor space influence routes, comprising the following analysis steps:
Step S310, acquiring a turning point of a target positioning event record vehicle positioning route, a route distance between adjacent turning points and a turning point angle, marking the positioning route with the same turning point, turning point angle and route distance between adjacent turning points as the same type of positioning route, and dividing the target positioning event into one type of positioning event according to the corresponding type of positioning route based on the marking;
Step S320, obtaining the types of the positioning event record user side positioning modes, wherein the user side positioning modes comprise GPS positioning, base station positioning, WIFI positioning and AGPS positioning, when the types are not the same, extracting the same type of user side positioning modes and the corresponding positioning event is an effective positioning event when the number of the recorded events is the highest;
Acquiring the type number N1 of initial deflection points recorded in an effective positioning event, wherein the deflection points at different positions represent one type, the initial deflection points represent the starting points of separation in the monitoring period, and the method comprises the following steps:
X1＝(N1/M1)*[kmax/(kmax-kmin)],
Calculating a first characteristic index X 1 of initial deflection points of the corresponding effective positioning event records in the positioning events of one type, wherein M 1 represents the event record number of the effective positioning event, k represents the number of times of initial deflection point records of each type, kmax represents the maximum value of the number of times of initial deflection point records, kmin represents the minimum value of the number of times of initial deflection point records, setting a first characteristic index threshold X 0, traversing all the effective positioning events in each type of positioning event, marking a vehicle positioning route corresponding to the effective positioning event as a suspicious route when X 1<X0 is marked, and indicating that the deflection points existing in the corresponding vehicle positioning route have larger influence on the user based on the path of positioning data when the characteristic index is smaller;
Step S330, extracting the times recorded by each initial deflection point in the suspicious route, taking the initial deflection point corresponding to the maximum k 1 max of the recorded times as a first objective characteristic factor, determining that the suspicious route can effectively indicate that some space positions possibly exist in the current monitoring space and cause the deviation of users using positioning data easily due to the problem of internal space structures, and if the most likely deviation user gives a prompt at the user end, the situation that the deviation of the positioning data of the users is caused by the objective factor of the space can be effectively reduced. If the first characteristic index of all the effective positioning events in each type of positioning event meets X 1≥X0, the method indicates that the structural characteristics in the current monitoring space are not objective reasons obviously causing the deviation of user positioning data, the same type of positioning event is classified as port positioning events according to different user side positioning modes, and a second objective characteristic factor affecting the route difference of the indoor space is determined based on the port positioning events.
Determining a second objective characteristic factor affecting the route difference for the indoor space based on the port location event, comprising the specific steps of:
Step S331, obtaining the times m i when different deflection points are recorded in the i-th type port positioning event in each type of positioning event, analyzing the times m i when different deflection points are recorded in the same type of port positioning event to indicate that when the user positioning mode is not good, positioning deviation or errors can be various;
as shown in the examples:
The positioning azimuth of the port positioning event is GPS positioning, and 5 port positioning events exist;
The deflection points recorded respectively are deflection point 1, deflection point 2, deflection point 1 and deflection point 2;
The number of times m= 2;p =5 when different deflection points are recorded in the port positioning event of the type, and the abnormality rate of the port positioning event for realizing positioning through the GPS is 2/5;
The greater the abnormal rate is, the greater the difference of the influence of the locating mode corresponding to the port locating event on the user route is, and the bias point is not easy to be determined, the times recorded by locating events with the same locating mode as the i-th type port locating event in all types of locating events are searched, and the abnormal rate under the corresponding type locating event is calculated, wherein the abnormal rate is calculated by utilizing the formula:
Zi＝a1*(Ui/V)+a2*[(1/Ui)∑Yi],
Calculating a second characteristic index Z i,Ui of the i-th type port positioning event to represent the total types of the i-th type port positioning event recorded in each positioning event, wherein V represents the total types of the positioning type event, a 1 represents a first reference coefficient corresponding to the port positioning event duty ratio, and a 2 represents a second reference coefficient corresponding to the average anomaly rate;
Step S332, sorting the user terminal positioning modes corresponding to the port positioning events from large to small according to the values of the second characteristic indexes to generate a first sequence;
Step S333, extracting a first user terminal positioning mode in the first sequence as a second objective characteristic factor of the indoor space influence route difference.
Step S400 includes the following:
Acquiring a first objective characteristic factor and a second objective characteristic factor of each indoor space record;
when the real-time user responds to the vehicle positioning data, a real-time vehicle positioning route is obtained, and when the real-time vehicle positioning route contains a first objective characteristic factor, a reminding signal of positioning data corresponding to the first objective characteristic factor is transmitted to a user equipment side;
And when the positioning mode of the real-time operation is the same as the second objective characteristic factor, transmitting a signal for changing the positioning mode to the user equipment, wherein the changing positioning mode is a first selection priority except for each positioning mode in the first sequence, and if the selectable positioning mode in the user equipment is the positioning mode in the first sequence, taking the last positioning mode in the first sequence as a second selection priority selected by the user equipment based on the positioning mode.
A positioning data management system based on multi-sensor information fusion comprises a vehicle positioning data acquisition module, a user positioning data response module, a monitoring period marking module, a target positioning event determining module, an objective characteristic factor analysis module and an early warning reminding module;
the vehicle positioning data acquisition module is used for acquiring vehicle positioning data transmitted by the Internet of vehicles when a user responds to positioning requirements based on the indoor space;
The user positioning data response module is used for responding and monitoring the user positioning data after the user equipment terminal receives and displays the vehicle positioning route;
The monitoring period marking module is used for marking the period corresponding to the monitoring response to the monitoring ending as the monitoring period when the user positioning data is the same as the vehicle positioning point;
the target positioning event determining module is used for marking a positioning event which is marked on the user equipment end and displays the difference between the user positioning route and the vehicle positioning route as a target positioning event;
the objective characteristic factor analysis module is used for determining objective characteristic factors corresponding to the indoor space influence route differences;
The early warning reminding module is used for carrying out early warning reminding on the real-time user side based on objective characteristic factors when the user responds to the vehicle positioning data in real time.
The objective characteristic factor analysis module comprises a same type of positioning route calibration unit, a user side positioning mode acquisition unit, an effective positioning event marking unit, a characteristic index analysis unit and an objective characteristic factor output unit;
The same type positioning route calibration unit is used for marking positioning routes with the same turning points, turning point angles and route distances between adjacent turning points as the same type positioning routes, and dividing target positioning events into one type of positioning events according to the corresponding same type positioning routes based on the marks;
the user terminal positioning mode obtaining unit is used for obtaining a type of positioning event record user terminal positioning mode;
the effective positioning event marking unit is used for extracting the positioning modes of the same type of user terminals when the types are not unique, and the corresponding positioning event is the effective positioning event when the number of the recorded event is the highest;
the characteristic index analysis unit is used for analyzing characteristic indexes in a type of positioning event;
The objective characteristic factor output unit is used for analyzing and outputting objective characteristic factors meeting the judgment relation.
The characteristic index analysis unit comprises a first characteristic index calculation unit and a second characteristic index calculation unit;
the first characteristic index calculation unit is used for calculating a first characteristic index of an initial deflection point of a corresponding effective positioning event record in a type of positioning event;
the second feature index calculation unit is used for calculating a second feature index of the port positioning event.
The objective characteristic factor output unit comprises a first objective characteristic factor output unit and a second objective characteristic factor output unit;
The first objective characteristic factor output unit is used for analyzing corresponding first objective characteristic factors based on the first characteristic indexes;
the second objective characteristic factor output unit is used for sequencing the user terminal positioning modes corresponding to the port positioning events from large to small according to the values of the second characteristic indexes to generate a first sequence, and extracting the first user terminal positioning mode in the first sequence as a second objective characteristic factor affecting the route difference in the indoor space.
The early warning and reminding module comprises a real-time positioning data acquisition unit and a priority early warning unit;
the real-time positioning data acquisition unit is used for acquiring a real-time vehicle positioning route when the real-time user responds to the vehicle positioning data;
the priority early warning unit is used for transmitting a reminding signal of positioning data corresponding to the first objective characteristic factor to the user equipment when the first objective characteristic factor is contained in the real-time vehicle positioning route, and carrying out priority early warning based on the first sequence replacement positioning mode when the second objective characteristic factor is analyzed.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the above-mentioned embodiments are merely preferred embodiments of the present invention, and the present invention is not limited thereto, but may be modified or substituted for some of the technical features thereof by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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| CN117849835A (en) * | 2023-12-19 | 2024-04-09 | 国网甘肃省电力公司信息通信公司 | Intelligent monitoring system based on Beidou fusion positioning |
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