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1. 发明公开

EP4379410A3 POSITIONING METHOD, DEVICE, ROBOT AND READABLE STORAGE MEDIUM 审中-实审
公开(公告)号：EP4379410A3
公开(公告)日：2024-08-21
申请号：EP23198448.5
申请日：2023-09-20
申请人： Beijing Xiaomi Mobile Software Co., Ltd.
发明人： JIANG, Xiaolei , KONG, Yaxu
IPC分类号： G01S5/02
CPC分类号： G01S3/30 , G01S5/0284 , G01S5/04 , G01S2205/0120200501 , G01S5/02213 , G01S5/0205
摘要： The present disclosure provides a positioning method and device, a robot, and a readable storage medium. The method includes: acquiring a positioning parameter collected by each positioning module and a RSSI difference between positioning modules in each set, and determining a target positioning module based on positioning parameters collected by a set of positioning modules with a largest RSSI difference, to determine a relative positional relationship between the robot and a target device. In the present disclosure, after the positioning parameter collected by each positioning module is acquired, the target positioning module is determined based on the RSSI difference between the positioning modules in each set to position the target device, so that the robot can select the positioning module with the highest accuracy of the ranging result at present in a case of being provided with the plurality of positioning modules, and uses the positioning parameter collected by this positioning module for positioning, which improves the accuracy of the positioning result of the robot while reducing the setup cost of a robot positioning system.

2. 发明公开

EP3258287A1 AN APPARATUS AND ASSOCIATED METHODS FOR LOCATION POSITIONING 审中-公开
标题翻译：用于定位的设备和相关方法
公开(公告)号：EP3258287A1
公开(公告)日：2017-12-20
申请号：EP16174621.9
申请日：2016-06-15
申请人： Nokia Technologies Oy
发明人： Eronen, Antti Johannes , Lehtiniemi, Arto Juhani , Leppänen, Jussi Artturi , Kolmonen, Veli-Matti
IPC分类号： G01S5/04 , G01S3/02
CPC分类号： G01S5/04 , G01S3/023
摘要： In respect of an arrangement of at least two locators (201, 202, 203) for determining the location of a tag of unknown location using a direction of arrival measurement technique, the at least two locators each capable of emitting a signal detectable by the other of the at least two locators and determining at least a relative direction, measured with respect to an origin-direction of the particular locator, of a received signal from the tag and the other of the at least two locators, the locators being individually identifiable to each other, the method comprising providing for calibration of the arrangement by determination of the distance between a first and a second locator based on the known distance (d) between a first calibration stick tag (301) and a second calibration stick tag (302), the orientation of the calibration stick (300) relative to the first locator, a first-locator-direction, a second-locator-direction, and one of a first-tag-direction and a second-tag-direction.
摘要翻译：关于用于使用到达方向测量技术来确定未知位置的标签的位置的至少两个定位器（201,202,203）的布置，所述至少两个定位器中的每一个能够发出可由另一个可检测的信号并且至少确定相对于特定定位器的原点方向测量的来自标签和至少两个定位器中的另一个定位器的接收信号的相对方向，所述定位器可单独识别所述方法包括基于第一校准标签（301）和第二校准标签（302）之间的已知距离（d）通过确定第一和第二定位器之间的距离来提供校准装置，，标定杆（300）相对于第一定位器的定向，第一定位器方向，第二定位器方向以及第一标签方向和第二标签方向中的一个。

3. 发明公开

EP3171192A1 PROCEDE DE LOCALISATION D'UNE BALISE PAR ANGLES D'ARRIVEE 审中-公开
标题翻译： METHOD FOR A护轨的确定位置关于发病率
公开(公告)号：EP3171192A1
公开(公告)日：2017-05-24
申请号：EP15195139.9
申请日：2015-11-18
申请人： The Swatch Group Research and Development Ltd.
发明人： Casagrande, Arnaud
IPC分类号： G01S3/04 , G01S5/02 , G01S5/04 , G01S3/48
CPC分类号： G01S3/04 , G01S3/48 , G01S5/0226 , G01S5/04
摘要： Le procédé de localisation d'une balise (X) consiste à réaliser R séquences, R étant un nombre entier supérieur ou égal à 2, chacune comprenant une réception, sur un premier réseau d'antennes (A 1 ) et un deuxième réseau d'antennes (A 2 ), d'un signal provenant de la balise (X), les signaux des R séquences étant de longueurs d'onde différentes, et un calcul d'une première fonction d'estimation d'angles d'arrivée du signal sur le premier réseau d'antennes (A 1 ) et d'une deuxième fonction d'estimation d'angles d'arrivée du signal sur le deuxième réseau d'antennes (A 2 ), et à réaliser une corrélation des R premières fonctions d'estimation entre elles, et des R deuxièmes fonctions d'estimation entre elles, pour déterminer respectivement un premier angle (ϕ 1 ) entre la balise (X) et le premier réseau (A 1 ), et un deuxième angle (ϕ 2 ) entre la balise (X) et le deuxième réseau (A 2 ).

4. 发明授权

EP2567250B1 SIGNAL PHASE-BASED LOCATION OF NETWORK NODES 有权
标题翻译：网络节点的信号基于相位跟踪
公开(公告)号：EP2567250B1
公开(公告)日：2016-11-16
申请号：EP11721171.4
申请日：2011-05-05
申请人： Digi International Inc.
发明人： DAHL, Paul, A. , MCCALL, Scott
IPC分类号： G01S5/02 , G01S5/06 , G01S5/10
CPC分类号： G01S5/0289 , G01S5/0205 , G01S5/04 , G01S5/06 , G01S5/10 , H04W64/00 , H04W84/18

5. 发明公开

EP3080639A1 PROCEDE ET DISPOSITIF DE DETECTION ET LOCALISATION LINEIQUE CONFINEE 有权
标题翻译： LINEAREBESCHRÄNKTEDETEKTION SOWIE ORTUNGSVERFAHREN UND VORRICHTUNG
公开(公告)号：EP3080639A1
公开(公告)日：2016-10-19
申请号：EP14820772.3
申请日：2014-12-10
申请人： Thales
发明人： DELAVEAU, François , THIZON, Christophe
IPC分类号： G01S5/04 , G01S5/12 , H04K3/00 , H01Q1/00 , H01Q13/20
CPC分类号： G01S5/04 , G01S5/12 , H01Q1/007 , H01Q13/203 , H04K3/43 , H04K3/45 , H04K2203/16 , H04K2203/32
摘要： Device and method for confined detection and location of one or more radio devices (4) that are present in a closed or semi-open prohibited zone, characterized in that said device comprises at least the following elements: a linear aerial (1) comprising several orifices Oi suitable for capturing signals emitted by the prohibited radio device or devices and subsequent transmission thereof via the linear aerial to a receiving device (2) linked to the linear aerial (1) via a connector (3), the receiving device being suitable for processing the signals captured by the linear aerial (1) in order to detect the presence of prohibited devices in said zone and to reject detections of authorised devices outside of the said zone.
摘要翻译：存在于闭合或半开禁区中的一个或多个无线电设备（4）的限定检测和定位的装置和方法，其特征在于，所述设备至少包括以下元件：线性天线（1），其包括多个适于捕获被禁止的无线电设备发射的信号的孔口Oi以及随后通过线性天线的发射经由连接器（3）连接到线性天线（1）的接收装置（2），该接收装置适于处理由线性天线（1）捕获的信号，以便检测在所述区域中是否存在被禁止的设备，并且拒绝在所述区域之外的授权设备的检测。

6. 发明公开

EP2944031A4 HANDLING SIGNALS 审中-公开
标题翻译：处理信号的
公开(公告)号：EP2944031A4
公开(公告)日：2016-10-19
申请号：EP13870941
申请日：2013-01-10
申请人： NOKIA TECHNOLOGIES OY
发明人： JIAO XIANJUN , ZHANG XIN , CHEN CANFENG
IPC分类号： H04B7/02 , G01S5/00 , H01Q3/24 , H03D1/22 , H03D7/16 , H04B1/30 , H04B7/06 , H04B17/12 , H04B17/15 , H04B17/16 , H04L27/34 , H04L27/36 , H04W4/02 , H04W4/04 , H04W64/00
CPC分类号： H04L27/389 , G01S1/042 , G01S1/08 , G01S5/0009 , G01S5/04 , H01Q1/246 , H01Q3/24 , H01Q25/001 , H03D1/22 , H03D7/166 , H04B1/30 , H04B7/0404 , H04B7/0604 , H04B7/0691 , H04B7/10 , H04B17/12 , H04B17/15 , H04B17/16 , H04L27/34 , H04L27/36 , H04W4/008 , H04W4/025 , H04W4/026 , H04W4/043
摘要： Apparatus comprises a memory configured to store a matrix of transmit data; a multi-element antenna; and a transmitter configured to transmit a signal from a multi-element antenna as part of a packet within a transmit period in a switching interval by: switching between different elements of the multi-element antenna in a sequence of transmit intervals within the transmit period; and deriving the signal for transmission in different transmit intervals from different ones of the transmit data in the matrix. Also, apparatus comprises a receiver configured to receive plural packets; and an accumulator configured, for each packet, to accumulate signals received in a switching interval of the packet. The apparatus is configured to: derive a correlation metric for each of the packets from the accumulated signals for the packets; identify a packet with the best correlation metric; identify a direction associated with the packet identified as having the best correlation metric; and provide the direction as an output.

7. 发明公开

EP2991389A1 CUSTOMER LOCATING AND DELIVERY 有权转让
标题翻译： KUNDENLOKALISIERUNG UND LIEFERUNG
公开(公告)号：EP2991389A1
公开(公告)日：2016-03-02
申请号：EP15182236.8
申请日：2015-08-24
申请人： NCR Corporation
发明人： FEDAK, Honza
IPC分类号： H04W4/02 , H04W4/04 , H04L29/08 , H04W88/02 , H04W88/08 , G06Q10/08 , G06Q30/06 , G06Q50/12 , G01S1/02 , G01S5/00 , G01S5/02 , G06Q20/20
CPC分类号： G06Q30/0635 , G01S1/02 , G01S5/00 , G01S5/02 , G01S5/0252 , G01S5/04 , G06Q10/08 , G06Q20/20 , G06Q20/322 , G06Q20/3224 , G06Q30/06 , G06Q50/12 , H04L67/12 , H04L67/18 , H04W4/02 , H04W4/021 , H04W4/04
摘要： Various systems, methods, and apparatuses are described for locating a patron and delivering an order. One example method may comprise detecting a mobile device (12) of a customer at an establishment (step 200). The example method may further comprise determining a location of the mobile device (12) of the customer within the establishment (step 210). The example method may further comprise linking the determined location to an order placed by the customer (step 220). The example method may further comprise enabling delivery of the order to the customer at the determined location (step 230). Similar and related methods, apparatuses, systems, and computer program products are also provided.
摘要翻译：描述了各种系统，方法和装置，用于定位顾客和递送订单。一个示例性方法可以包括在企业处检测客户的移动设备（12）（步骤200）。该示例性方法还可以包括确定该企业内的该客户的移动设备（12）的位置（步骤210）。示例性方法还可以包括将确定的位置链接到由客户放置的订单（步骤220）。示例性方法还可以包括使得能够在所确定的位置向客户传递订单（步骤230）。还提供了类似的和相关的方法，装置，系统和计算机程序产品。

8. 发明公开

EP2929364A1 PROCEDE DE LOCALISATION PASSIVE D'EMETTEURS RADAR 有权
标题翻译： VERFAHREN ZUR PASSIVEN LOKALISIERUNG VON RADARSENDERN
公开(公告)号：EP2929364A1
公开(公告)日：2015-10-14
申请号：EP13805807.8
申请日：2013-11-29
申请人： Thales
发明人： GRANDIN, Jean-François , RATTON, Laurent , SPERLING, Raphaël
IPC分类号： G01S5/12 , G01S5/14 , G01S5/04 , G01S5/02 , G01S3/72
CPC分类号： G01S5/12 , G01S3/043 , G01S3/72 , G01S5/0221 , G01S5/0278 , G01S5/04 , G01S5/14
摘要： The present invention concerns the field of the passive detection of radar transmissions. More specifically, the invention relates to a method for the passive localization of radar transmitters (11), carried out by at least two MRE stations (10), said radar transmitters (11) having an almost constant scanning speed while passing over the group comprising at least two MRE stations (10). Each of said MRE stations is capable of intercepting the transmitting lobes of radar transmitters (11) and of estimating the lobe passage times (TPL) thereof, and at least one station (10) is capable of estimating the angle of arrival α of said transmitting lobes. The localization of the radar transmitters is carried out by testing the intersection between an iso curve (20) of lobe passage time difference, passing through at least the two MRE stations (10), and a line of sight (12) passing through the MRE station (10) that measured the angle of arrival and the azimuth angle equal to said measured angle of arrival α.
摘要翻译：一种由至少两个ESM站实现的雷达发射机的被动定位的方法，所述雷达在包括至少两个ESM站的传输过程中具有准恒定的扫描速度，每个ESM站能够拦截雷达发射机的传输波瓣并估计其波峰传播时间（LTT），并且至少一个台站能够估计传输波瓣的到达角α，雷达发射机的位置通过测试异步 -LTTD曲线通过至少两个ESM站，以及通过ESM站的瞄准直线测量到等于测量的到达角α的到达角和方位角。

9. 发明公开

EP2753949A4 METHOD FOR MEASURING POSITION OF USER TERMINAL 审中-公开
标题翻译：方法用于测量用户终端的位置
公开(公告)号：EP2753949A4
公开(公告)日：2015-04-29
申请号：EP12837202
申请日：2012-09-06
申请人： INTELLECTUAL DISCOVERY CO LTD
发明人： KIM YOUNG JUN , KO YOUNG CHAI
IPC分类号： G01S5/02 , G01S5/04 , G01S5/14
CPC分类号： G01S5/04 , G01S5/0226 , G01S5/145 , H04W24/00

10. 发明公开

EP2707741A4 DIRECTION-ENHANCED NAVIGATION 审中-公开
标题翻译：与前进方向导航
公开(公告)号：EP2707741A4
公开(公告)日：2015-04-08
申请号：EP12782770
申请日：2012-04-19
申请人： NOKIA CORP
发明人： KALLIOLA KIMMO , WIROLA LAURI , TOWNSEND KARL
IPC分类号： G01S5/04 , G01C21/20 , G01S3/04 , G01S3/46 , G01S5/12 , H04W4/02 , H04W64/00
CPC分类号： G01S5/12 , G01C21/20 , G01S3/04 , G01S3/46 , G01S5/0063 , G01S5/04 , H04W4/028 , H04W64/00
摘要： A system for providing positioning functionality in an apparatus without having to implement dedicated hardware. An apparatus that desires to receive directional information may receive a message from another apparatus (e.g., access point or AP). The AP may operate in various modes that, for example, may provide directional information to other apparatuses as part of a general broadcast (e.g., a wireless local area network, or WLAN, beacon signal) or in response to messages requesting directional information that are received from other apparatuses. After receiving the message from the AP, the apparatus may determine if the message comprises directional information. If the message is determined to comprise directional information, directional information from the received message may be utilized to determine apparatus location. Otherwise, the apparatus may then send a message requesting directional information to the AP, which may prompt the AP to provide directional information.

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