33 results about "Multilateration" patented technology

The invention relates to the technical field of indoor positioning, and provides an indoor positioning method and system based on a beacon network array. The method comprises the following steps: periodically broadcasting a wireless signal containing a unique identifier through a low-power-consumption Bluetooth beacon deployed according to a preset topology rule; the mobile terminal receives and collects the signal intensity and identification information, generates original positioning data and uploads the original positioning data to the remote platform; and the platform inquires the beacon physical coordinates according to the identifier, and calculates the terminal position through a path loss model and a multi-point positioning algorithm in combination with the signal intensity value. The system comprises a beacon broadcasting module, a signal receiving module, a data uploading module, a coordinate query module and a positioning calculation module. According to the invention, high-precision indoor positioning in a GPS-free environment is realized, and the positioning reliability and applicability are improved.

The utility model discloses a crawling ladder type low-altitude unmanned control tower integrally designed with a lifting type lamp panel system, the control tower comprises a tower column, the lifting type lamp panel system, lifting type maintenance platforms and a multi-section vertical crawling ladder matched with a lifting device are arranged on the tower column, so that maintenance personnel can conveniently reach each maintenance platform to maintain the control tower; two equipment mounting platforms are arranged below the maintenance platform at the top of the tower column, and an unmanned aerial vehicle detection radar, an adversarial radar, a high-power bird repelling system, a detection monitoring radar, an unmanned aerial vehicle positioning system, an aviation obstruction light, a 360-degree high-definition monitoring system and the like can be loaded on the equipment mounting platforms so as to realize the functions of air traffic control positioning, communication command and the like; a communication base station antenna, an ADS-B (Automatic Dependent Surveillance-Broadcast) antenna, an air traffic control multipoint positioning antenna, a phased array monitoring radar, a lightning rod and the like can be arranged on the equipment mounting rack on the extension rod at the top of the tower column; therefore, the unmanned control tower is reasonable in structure, rich in equipment, capable of effectively meeting the monitoring, communication and illumination requirements and convenient to maintain.

A computer-implemented method for establishing and controlling a mobile perimeter and for determining a geographic location of an RF emitting source at or within the mobile perimeter includes receiving from RF sensors in a network, processed RF emissions from the source collected at RF sensors. The RF emissions follow a wireless protocol and include frames encoding RF emitting source identification information. The method further includes extracting RF emitting source identification information from the frames, processing the source identification information to identify the RF emitting source, and classifying the RF emitting source by one or more of UAS type, UAS capabilities, and UAS model. The method also includes receiving from the RF sensors, a geographic location of each RF sensor and a time of arrival (TOA) of the RF emissions at the RF sensor; and executing a multilateration process to estimate a geographic location of the RF emitting source.

The invention relates to an ultrasonic measuring unit (1), in particular for use in a vehicle (2), comprising a control unit (3) and an evaluation unit (4), wherein the control unit (3) is designed to control first ultrasonic transducers (11) for transmitting ultrasonic signals and, on the basis of reception signals generated with the aid of second ultrasonic transducers (12), to detect echoes produced owing to signal paths of the ultrasonic signals, and the evaluation unit (4) has a trained AI module (5) and is designed to process the reception signals in order to detect an object (6; 60) causing the echoes, wherein the processing involves at least generating feature vectors (111, 112, 113) on the basis of the reception signals with the aid of the AI module (5), and the control unit (3) or the evaluation unit (4) is configured to determine, on the basis of the reception signals, a signal propagation time or signal propagation distance corresponding to the signal path for the associated echo, and the AI module (5) is designed to determine the feature vectors (111, 112, 113) on the basis of the signal propagation times or the signal propagation distances.

The application discloses a dynamic combination station site optimization method and device of an air traffic control multilateration system, and the method comprises the following steps: a station dynamic weight evaluation model is established to determine station weights; a geometric precision factor lookup table is established to be used for dynamically extracting a station combination geometric precision factor; and an adaptive combination optimization algorithm is used to determine an optimal station combination. Through a dynamic station optimization mechanism, the method can real-timely evaluate station signal quality, geometric distribution and redundancy, adaptively adjust a station combination participating in positioning, and improve robustness in a complex scene. In addition, the method also adopts a multi-target optimization model based on dynamic weights, combines parameters such as signal arrival time difference error, geometric precision factor and calculation resource consumption, realizes rapid screening of an optimal station combination, effectively reduces calculation load, and guarantees positioning reliability.

The invention discloses a device and method for transmitting multi-point GNSS positioning signals in an indoor distribution system, and relates to the technical field of indoor distribution systems and satellite positioning, the device is adaptive to the tree topology indoor distribution system, and comprises a GNSS signal simulation unit, a frequency generation unit, a combination transmission unit, a terminal processing unit and a positioning broadcast unit; the simulation unit generates GNSS positioning signals GPn of different virtual positioning points through at least two simulators, the frequency generation unit generates local oscillation signals LIN through frequency generators in one-to-one correspondence and performs frequency conversion with the GPn, and the combination transmission unit combines the frequency conversion GNSS signals and the LIN and then broadcasts the frequency conversion GNSS signals and the LIN in a unified manner through POI and indoor distribution feeder lines. The tail end processing unit screens matched signals through a conditioning circuit and recovers GNSS navigation signals of correct frequency points, and the positioning broadcasting unit broadcasts the navigation signals through a newly-added antenna. On the basis of the device, multi-point GNSS positioning signal transmission and broadcasting under the feeder non-power-supply condition are achieved, the problem that a traditional indoor distribution system is difficult to integrate the positioning function is solved, and indoor precise positioning is achieved.

The invention discloses an upper and sole alignment deviation alarm system, which comprises an image acquisition module, an image processing module, a comparison alarm module and a unit control module, and relates to the technical field of deviation alarm. According to the upper and sole alignment deviation alarm system, the deviation condition between an upper and a sole is analyzed by means of a multi-point positioning algorithm on the basis of key edge features, the deviation value of contour features of the upper and the sole in a three-dimensional space is calculated, a deviation value result is transmitted, the alignment deviation of the upper and the sole is detected in real time, and an alarm is given in time, so that the safety of the upper and the sole is improved. The shoe quality problem caused by alignment deviation can be effectively avoided, the qualified rate of products is improved, the workload and errors of manual detection are reduced, the problem can be quickly found and processed in time, production delay caused by deviation accumulation is avoided, and the production efficiency is improved.

The invention discloses an airport path planning method based on a dynamic directed graph and a DQN algorithm, and the method comprises the steps: S1, building a scene directed graph model based on actual airport data, collecting the latitude and longitude coordinates of an aircraft in real time through a multi-point positioning system, and dynamically updating the occupation state of node dimensions; s2, based on the real-time node data, planning an optimal path of the aircraft from a current node to a target node by adopting a DQN algorithm; s3, updating the planned path to the directed graph model, locking an occupied node state, and dynamically releasing node resources through data updated in real time; and S4, generating a sliding path according to the node state which changes in real time. A dynamic directed graph model is achieved by updating data in the directed graph in real time, the whole sliding path is divided into the shortest sliding time range of single intermediate nodes through the DQN algorithm, so that the intermediate nodes have the condition that the intermediate nodes can be repeatedly used, and the total sliding time of multiple aircrafts sliding on the scene is greatly saved.

Airfield surveillance unit (11) for detecting airfield traffic and airfield multilateration system comprising such airfield surveillance unit. The airfield surveillance unit comprises a power supply module (113), a first radio antenna (111) configured to receive an aircraft transponder signal, a receiver module (112) coupled to the power supply module (113) and to the first radio antenna (111) and comprising a first data communication port (1122, 1123). The receiver module (112) is operable to convert the aircraft transponder signal received by the first radio antenna (111) to a multilateration-purpose signal for transmission via the first data communication port. The airfield surveillance unit further comprises a second radio antenna (118) and a 5G communication module (117) coupled to the power supply module (113) and configured to be coupled to the second radio antenna for operating as a transceiver for a mission critical private 5G cellular network.

The invention discloses a wireless positioning method and system, a chip, a storage medium and an electronic device, and relates to the technical field of Internet of Things and artificial intelligence, and the method comprises the steps: receiving positioning reference data sent by a plurality of base stations, inputting the positioning reference data into a parameter estimation model, estimating the distance and confidence between each base station and a terminal device, and determining the distance and confidence between each base station and the terminal device; the confidence coefficient is used for representing the interference degree of a transmission path between the base station and the terminal equipment, the parameter estimation model is a pre-trained neural network model, a weight is distributed for the distance according to the confidence coefficient, and the current position of the terminal equipment is calculated according to the weight and the distance. The distance between each base station and the terminal equipment and the confidence coefficient are estimated through a deep learning model, and high-precision and low-delay positioning is realized based on the estimated distance and confidence coefficient in cooperation with weighted multilateral positioning.

In various embodiments, crowd-sourcing techniques are provided to enable RTT-based positioning of UEs. To address the problem of discovering which beacons (e.g., Wi-Fi APs, cellular base stations, BLE transmitters, etc.) support RTT-based measurements (e.g., according to IEEE 802.11mc, 3GPP Release 16, etc.), beacon RTT capability can be crowd-sourced from UEs and maintained by a cloud-based location platform in a beacon database (or more specifically, its RTT database portion). To address the problem of determining physical antenna locations, RTT measurements can be crowd-sourced from UEs for those beacons that are RTT-capable and used by trilateration algorithms (e.g., WLS multilateration algorithms) to determine physical antenna locations, which can also be maintained in the beacon database. The accuracy of the trilateration can be enhanced by obtaining raw GNSS measurements (e.g., pseudoranges) from UEs and performing cloud-based RTK GNSS position fixes for the UEs.

A communication system may include a transmitting (TX) device, a receiving (RX) device, and a one or more reconfigurable intelligent surfaces (RIS's). The TX device may transmit a wireless signal received by the RX device over multiple propagation paths including paths that reflect off the RIS(s) and paths that include other reflections. The RX device may receive location information from each RIS. The RX device or a control device may control each RIS to modulate the wireless signal with a different respective identifier upon reflection of the wireless signal by the RIS. The RX device may distinguish the wireless signal as reflected off the RIS(s) from reflections off other objects based on the RIS identifiers modulated onto the wireless signals by the RIS(s). The RX device may use a multilateration technique to detect its position based on the received location information and the wireless signals as reflected off the RIS(s).

The application discloses a kind of low-altitude unmanned aerial vehicle autonomous flight path control method in transformer substation, it is related to the technical field of power system automation inspection, comprising: obtaining the real-time spatial coordinate system constructed by at least three transformer substation positioning devices, carry out fusion operation with the three-dimensional coordinate system of transformer substation established in advance, obtain the flight coordinate data of unmanned aerial vehicle;Unmanned aerial vehicle flight node is generated based on flight coordinate data, and the connection between flight nodes is determined according to preset path planning rules;In the process that unmanned aerial vehicle flies according to flight node, unmanned aerial vehicle position data is collected according to preset frequency, when unmanned aerial vehicle reaches preset flight node, spatial position measurement and correction are carried out, and abnormal data is filtered according to preset rules.The application improves the inspection efficiency and safety of unmanned aerial vehicle in transformer substation by multi-point positioning, real-time data updating, position correction, optimized path planning and multi-level data filtering mechanism.

The application discloses a kind of Bluetooth and sound signal fusion positioning methods for substation indoor unmanned aerial vehicle inspection, belong to indoor positioning technical field;Including for: deployment based on sound signal and unmanned aerial vehicle positioning system of Bluetooth;Received sound signal is carried out sound signal quality evaluation with reference signal;Full set of sound signal time difference of arrival is calculated and estimates position;Sound signal positioning quality evaluation;Bluetooth signal reception and multilateration positioning;Apply linear positioning constraint of Bluetooth;Multi-source data fusion positioning;Construction and update Bluetooth fingerprint database.The application utilizes sound signal positioning real-time update Bluetooth fingerprint library, optimizes Bluetooth positioning, carries out fusion with sound signal positioning data and Bluetooth, realizes unmanned aerial vehicle indoor high-precision real-time positioning, effectively solves the problem of satellite positioning failure under the complex environment of substation indoor;At the same time, realize the high-precision indoor positioning of unmanned aerial vehicle, expand the coverage range in the complex scene of substation indoor, improve the robustness and reliability of unmanned aerial vehicle inspection positioning.

Methods and apparatus for determining a position of a stationary network device using a non-stationary device are described. One method includes determining, by the network control node, at least one non-stationary device position within a target location by trilateration or multilateration from distance measurements between the non-stationary device and a first set of stationary devices having known positions. The method further includes determining by the network control node, a stationary network device position of a further stationary network device by trilateration or multilateration between the non-stationary device and a second set of stationary devices, the second set of stationary devices comprising a plurality of stationary devices having known positions and the further stationary network device. The first and second sets of devices may be overlapping, identical, or non-overlapping.

The invention discloses an anti-interference method and device based on a multi-point positioning system, and the method comprises the steps: receiving the pixel data of a frame image, comparing the pixel data of a current frame image with the cached pixel data of a previous frame image, judging whether the pixel of the current frame image is brightened or not, and if the pixel of the current frame image is brightened, judging whether the pixel of the current frame image is brightened; marking that the pixels of the current frame image are brightened and storing the pixels of the current frame image into a cache; comparing the pixel data of the frame image after the current light-emitting device is turned off with the pixel of the previous frame image in the current cache; if the pixels of the frame image after the current light-emitting device is turned off are darkened, continuing to judge whether the pixels of the darkened frame image after the current light-emitting device is turned off mark to be brightened or not; and determining the pixels of the frame image marked to be brightened and darkened after the current light-emitting device is turned off as bright spot pixels, storing the current bright spot pixels in a cache, and counting and outputting bright spot coordinates of the bright spot pixels. According to the invention, the interference of ambient light can be effectively eliminated; the light spot positioning precision is improved, and positioning failure is effectively avoided.

A method and system for enabling the determination of a position of a receiver within a space includes transmitting a beacon signal from each of a plurality of beacon devices located at different locations within the space. The beacon signal transmitted from each beacon device has a unique information component and may have a unique frequency pattern of multiple frequencies. Each beacon signal can be distinguishable from the beacon signals transmitted from any other of the beacon devices based on the combination of its unique information component and its unique frequency pattern. The beacon signals are received at a receiver. At the receiver, for each beacon signal of a working subset, time-delay information of the received beacon signal is determined and multilateration is applied to determine the position of the receiver based on the location of each beacon device of the working subset.

The invention relates to a method (100) for determining an uncertainty of the position of a target object (20), comprising the following steps, which are carried out by an entity (10): - Receive (101) one or more arrival time measurements carried out by at least one anchor device (30, 31, 32) to a target object (20), - Requesting (102) an absolute position from each of the at least one anchor device (30, 31, 32), - Performing (103) a multilateration based on the one or more arrival time measurements and based on a closed-form procedure to obtain an absolute position of the target object (20), - Calculating (104) a Jacobian matrix J based on a multilateration model with respect to the absolute position of the at least one anchor device (30, 31, 32) and with respect to the one or more arrival time measurements, - Compiling (105) a variance and / or covariance matrix of the respective absolute positions and the one or more arrival time measurements based on the Jacobi matrix J to calculate the absolute position of the target object (20), - Calculating (106) a variance and / or covariance matrix of the absolute position of the target object (20), - Determining (107) the uncertainty of the absolute position of the target object (20) based on the calculation (106). Furthermore, the invention relates to a computer program and a data processing device for this purpose.

The utility model discloses a spiral ladder type low-altitude unmanned control tower convenient to maintain, the control tower comprises a vertical tower column, a lifting type lamp panel system and a plurality of maintenance platforms, a spiral ladder and a vertical ladder are arranged on the tower column, maintenance personnel can conveniently reach the maintenance platforms, an equipment mounting frame is arranged below the top maintenance platform, and the equipment mounting frame is connected with the lifting type lamp panel system. An unmanned aerial vehicle detection radar, an adversarial radar, a high-power bird repelling system, a detection monitoring radar, an unmanned aerial vehicle positioning system, an aviation obstruction light, a 360-degree high-definition monitoring system and the like are loaded, the functions of air traffic control positioning, communication command and the like are achieved, and a communication base station antenna, an ADS-B antenna, an air traffic control multi-point positioning antenna, a phased array monitoring radar and a lightning rod are arranged on an extension rod on the top of a tower column. The communication monitoring capability is enhanced; therefore, the unmanned control tower provided by the utility model is reasonable in structure and rich in equipment, can effectively meet the monitoring, communication and illumination requirements, improves the operation efficiency and bird repelling capability, ensures the monitoring and coping capability of the unmanned aerial vehicle, and is convenient to maintain.

The invention discloses a ship berthing method, system and equipment based on multi-point positioning and a storage medium, and the method comprises the steps: obtaining the ship bow distance, stern distance, bow speed, stern speed, berthing angle, position deviation angle, drift speed and other core data based on multi-point positioning data on a ship and wharf positioning data through real-time monitoring and real-time calculation; meanwhile, core data are monitored, the core data in a future period of time are predicted, the predicted core data and the change trend of the real-time core data are compared, the moving condition of the current ship is judged according to the change trend, and civil air defense is replaced by machine prevention; omnibearing safety monitoring service is provided for berthing and berthing of modern shipping wharfs and ocean platforms.

This application relates to a multi-station, multi-target matching algorithm and system for OFDM sensory integration system that integrates radial velocity. The method includes constructing sensor node groups among all sensor nodes; determining a set of candidate locked targets for each sensor node group; filtering sensor node groups belonging to the same candidate locked target to obtain a tracking node group; converting candidate locked targets matched with the tracking node group into locked targets; completing the pairing relationship between the remaining sensor nodes and locked targets; if candidate locked targets still exist, continuing to construct sensor node groups and perform matching until the candidate locked targets disappear; and relocating the locked targets using distance measurement information from all sensor nodes. The multi-station, multi-target matching algorithm and system for OFDM sensory integration system that integrates radial velocity, based on multi-point positioning and simultaneously introducing a multi-dimensional judgment method, achieves early elimination of infeasible associations, significantly improving association reliability while ensuring positioning accuracy.

This invention discloses a dual-antenna positioning method based on the spatiotemporally inseparable characteristics of electromagnetic flying rings, belonging to the field of spatiotemporally inseparable electromagnetic pulse technology. The method first utilizes two electromagnetic flying ring generator antennas located at different spatial positions to emit two electromagnetic flying rings in a three-dimensional space. Then, the arrival time, spectrum, and polarization of the electromagnetic flying rings at different spatial positions are measured, and the measurement data is stored to establish a spatial location information database. Subsequently, the arrival time, spectrum, and polarization at the target location are measured, and the data are compared with the information in the database to calculate parameters such as the degree of temporal entanglement, thus obtaining the three-dimensional spatial coordinates of the target location. This invention provides ideas and methods for simplifying existing multi-point positioning techniques and developing new electromagnetic pulse applications, and has significant research value.

The invention provides a mobile communication device and a searching and rescuing system thereof, and the mobile communication device is provided with a rescuing application program which can enter energy-saving operation and send a rescuing signal containing position information in a preset period when a disaster prevention alarm is triggered or a user manually starts the mobile communication device. The plurality of unmanned vehicles carry a signal receiving module, a network module and an edge operation module so as to receive rescue signals, obtain position information and carry out initial position estimation. A multi-node wireless network can be formed among the unmanned carriers, and multi-point positioning information can be generated. The rescue platform integrates the positioning data from the unmanned vehicle, and uses a positioning algorithm to calculate and generate rescue positioning information so as to assist in determining the position of the mobile communication device. Besides, the unmanned vehicle can perform regional search formation, and is provided with an electric energy transmission module to supplement electric power for the mobile communication device in a long distance, so that the mobile communication device can restart a rescue application program and continuously send a rescue signal, and the disaster search and rescue efficiency is improved.

An apparatus comprising means for receiving information from a device, the information comprising at least one of: an identifier of the device, or a type of the device; means for determining the type of the device; wherein the type of the device is determined from the identifier of the device, or the type of the device is determined from information comprising the type of the device; and means for determining a receive transmission time difference associated with the device based on the type of the device.

The application discloses a data interpolation prediction method based on a multilateration system, acquires different target message data, and interpolates one kind of message data to another kind of message data, so that asynchronization between different message data is reduced, and the problems of large positioning precision analysis error and complex method in the existing multilateration system are solved.

The invention provides a method for constructing an interactive prediction model for ground sliding tracks of multiple aircrafts. According to the model, a dynamic interaction diagram is constructed with aircrafts as nodes and spatial proximity relations as edges, historical trajectory and planned path features are extracted by adopting a Transform encoder, and dynamic influences of adjacent aircrafts on target individual trajectory evolution are aggregated through a residual multi-head GAT module. And finally, generating a final prediction track by adopting a gating fusion mechanism and a time sequence decoder, emphatically optimizing the long-term prediction precision through a weighted loss function, and performing simulation on a real airport multi-point positioning system data set. The result shows that the average displacement error and the final displacement error of the model in a multi-aircraft scene are 3.517 m and 4.082 m respectively, and the performance is obviously superior to that of a baseline model such as STGAT. According to the method, the interaction among multiple subjects can be effectively captured, and reliable support is provided for improving the scene situation real-time perception and conflict early warning capability.

Methods and media for enabling RTT-based positioning are provided. The method includes receiving, by a cloud-based location platform maintaining a beacon database, observations from a plurality of UEs that have observed beacons, the observations including at least a determined location of each UE and RTT measurements of each UE by the beacons; determining, by the cloud-based location platform, the physical antenna location of the beacon based at least on the determined location of each UE and the RTT measurement of each UE using a WLS multilateral measurement algorithm in which the weight is a function of the location confidence of the determined location of each of the plurality of UEs; updating the beacon database to include the determined physical antenna position of the beacon; and providing, by the cloud-based location platform, the physical antenna locations of the beacons to the one or more UEs such that the one or more UEs both contribute information to determine the physical antenna locations of the beacons to construct a beacon database and consume the physical antenna locations from the beacons in the beacon database.

Disclosed are systems, methods, and computer programs for determining a range to a target. A system can include a first receiver configured for receiving a first signal from the target and a second receiver configured for receiving a second signal from the target, the second receiver time-synchronized with the first receiver. A programmable processor can determine a range to the target based on arrival times of the first signal at the first receiver and the second signal at the second receiver.

The application discloses a kind of based on improved cuckoo algorithm's aircraft multilateration solution method, which includes obtaining multilateration mathematical model;Obtain the search area of cuckoo algorithm;Initialize population parameters;The fitness value of each bird nest is calculated, and the current optimal bird nest is recorded;The fitness value of updated bird nest is calculated and compared with the optimal bird nest fitness value;According to random preference walk, update bird nest position;Output optimal bird nest position, to obtain aircraft position and the like steps.The application utilizes Chan algorithm to process effective information, obtains initial estimated position of aircraft by twice least square estimation, reduces operation amount, and improves convergence rate of cuckoo algorithm;The initial population is chaotic in feasible region by using the thought of chaos algorithm, so that individual is relatively uniformly distributed in feasible region, and the diversity and ergodicity of initial population are strengthened;Self-adaptive discovery probability is introduced, which is conducive to balancing global exploration and local development capability of algorithm, accelerating convergence speed of algorithm, and increasing population diversity.

An apparatus comprising means for sending, to a first device or a second device, a configuration associated with a reception transmission time difference; wherein the configuration comprises at least one of: information for determining a reception transmission time difference, or a request to determine a reception transmission time difference; and means for receiving, from the second device, a report associated with a reception transmission time difference.