CN101009942A - A cellular positioning system, method and device - Google Patents

Abstract

The disclosed honeycomb positioning method comprises: A. the target mobile station builds communication with at least two reference mobile stations, and also builds communication with at least two base stations, as well as the reference stations; B. the said target station, its reference stations, and its base stations test signal with each other; C. obtaining the achieving time difference of former test signal; and D. according to obtained time difference, computing the position message for target station. This invention reduces positioning error lower limit radically, and improves positioning precision.

Description

A kind of cellular positioning system, method and device

Technical field

The present invention relates to moving communicating field, relate in particular to a kind of cellular positioning system, method and device.

Background technology

In cellular positioning system, (TDOA, time-differential-of-arrival) estimating to come mobile position estimation is a kind of mode commonly used to utilize the difference time of advent between travelling carriage and a plurality of base station.How improving positioning accuracy is the problem that people are exploring always, owing to need find the solution one group of Nonlinear System of Equations estimating foundation based on TDOA based on the locate mode that TDOA estimates, so the researcher sets about reducing the computational accuracy lower limit from finding the solution the Nonlinear System of Equations algorithm mostly.Foy proposes a kind of optimized Algorithm, and this algorithm is the linearizing non-linear equation group at first, then by least square (LS, Least-Square) algorithm progressively minimizes error; Friedlander proposes the method for application sphere interpolation and finds the solution nonlinear equation; Abel has proved that using substep to capture (DAC, divide and conquer) algorithm can obtain Nonlinear System of Equations and get optimal solution; The Taylor-series algorithm adopts local linear minimum mean-square error and revises and improve the estimated value as a result of last iteration gained in iterative process, these algorithm purposes are better to approach the position error lower limit, fundamentally do not reduce the position error lower limit, comprise two by the principal element that studies show that the restriction positioning accuracy to the position error lower limit: one is the number of devices that participates in the location; Another is the network channel characteristic.The equipment that existing locate mode participates in the location only comprises target MS that needs the location and a plurality of cellular basestations that communicate with, greatly limited the number of devices that participates in a location-independent, simultaneously, because the restriction of cellular network self bandwidth, the TDOA estimated value precision that obtains by the cellular signal transmission is not high, and these two factors cause final locating accuracy not high.

Summary of the invention

Embodiment of the invention technical problem to be solved is, a kind of system, method and device of cellular localization is provided.Can fundamentally reduce the position error lower limit, improve positioning accuracy.

In order to solve the problems of the technologies described above, the present invention proposes a kind of method of cellular localization, comprising:

A, the target MS that needs to locate are communicated by letter with reference to travelling carriage foundation with at least two; Target MS and set up with at least two base stations respectively with reference to travelling carriage and to communicate by letter;

Between B, described target MS and described at least two base stations of communicating by letter, described at least two with reference between travelling carriage and described at least two base stations of communicating by letter and described target MS with communicate by letter described at least two with reference to interactive testing signal between travelling carriage;

C, obtain the difference time of advent of above-mentioned three groups of test signals respectively;

D, according to the described signal arrival time difference value of obtaining, calculate the positional information of described target MS.

Preferable, described target MS and between the communication distance of 10-20m, adopt short-range communication technique to communicate with reference to travelling carriage.

Preferable, step B comprises:

Described at least two base stations send test massage with reference to each travelling carriage in the travelling carriage to described target MS and described two respectively at least; Described at least two send test massage to described target MS with reference to travelling carriage;

Accordingly, step C comprises:

Described target MS is measured the difference time of advent of the test signal of described at least two base stations transmission;

Described at least two differences time of advent with reference to the test signal of described at least two base stations transmission of each moving table measuring in the travelling carriage;

Described target MS is measured described at least two differences time of advent with reference to the test signal of travelling carriage transmission.

Perhaps, step B comprises:

Described target MS sends test massage with reference to travelling carriage to described two base stations and described two respectively at least at least; Described at least two send test massage to described two base stations with reference to travelling carriage at least;

Accordingly, step C comprises:

Described target MS measurement sends to the difference time of advent of the test signal of described at least two base stations;

Described target MS measurement sends to described at least two differences time of advent with reference to the test signal of travelling carriage;

Described at least two differences time of advent that send to the test signal of described at least two base stations with reference to each moving table measuring in the travelling carriage.

Preferable, step D comprises:

Location server in D01, the network obtains target MS and with reference to the initial position coordinate figure of travelling carriage;

D02, obtain according to measurement described time of advent difference and the initial position coordinate figure that obtains adopt the Taylor-series iterative algorithm to calculate the positional information of described target MS.

Perhaps, step D comprises:

D11, target MS obtain target MS and with reference to the initial position coordinate figure of travelling carriage;

D12, obtain according to measurement described time of advent difference and the initial position coordinate figure that obtains adopt the Taylor-series iterative algorithm to calculate the positional information of described target MS.

Accordingly, the embodiment of the invention has proposed a kind of travelling carriage, comprising:

First R-T unit, be used for the cellular basestation of communicating by letter between mutual assignment test signal;

Second R-T unit, be used for and mobile stations communicating between mutual assignment test signal;

First measurement mechanism is used to measure the signal arrival time difference value of obtaining the mutual test signal of described travelling carriage and the cellular basestation of communicating by letter;

Second measurement mechanism is used to measure the signal arrival time difference value of obtaining the mutual test signal of described travelling carriage and mobile stations communicating.

Preferable, described travelling carriage also comprises:

Calculation element is used for calculating according to the signal arrival time difference value that described first and second measurement mechanism obtains the positional information of described travelling carriage.

Accordingly, the embodiment of the invention has also proposed a kind of cellular positioning system, comprises that the target MS that needs the location, at least two are with reference to travelling carriage, at least two cellular basestations and location server, wherein:

Described target MS is used to measure the difference and be used to measure and described at least two differences time of advent with reference to the mutual assignment test signal of the travelling carriage time of advent with the mutual assignment test signal in described at least two base stations;

Described with reference to travelling carriage, be used to measure the difference time of advent with the mutual assignment test signal in described at least two base stations;

Described base station is used for and described target MS and described with reference to the mutual assignment test signal of travelling carriage;

Described location server is used for calculating the positional information of described target MS according to described target MS and described with reference to the signal arrival time difference value that moving table measuring obtained.

Accordingly, the embodiment of the invention also provides another kind of cellular positioning system, comprises that the target MS that needs the location, at least two are with reference to travelling carriage and at least two cellular basestations, wherein:

Described with reference to travelling carriage, be used to measure the difference time of advent with the mutual assignment test signal in described at least two base stations;

Described target MS is used to measure the difference and be used to measure and described at least two differences time of advent with reference to the mutual assignment test signal of the travelling carriage time of advent with the mutual assignment test signal in described at least two base stations; And, calculate the positional information of described target MS according to self measuring the signal arrival time difference value obtain and the described signal arrival time difference value of obtaining with reference to travelling carriage;

Described base station is used for and described target MS and described with reference to the mutual assignment test signal of travelling carriage.

Implement the embodiment of the invention, have following beneficial effect:

At first, the introducing of the cellular positioning system of the embodiment of the invention is a plurality of to be positioned target MS with reference to the collaborative cellular basestation of travelling carriage, increases the number of devices that participates in the one-time positioning flow process greatly;

Secondly, the embodiment of the invention is obtained the TDOA estimated value by transmission communication signal between travelling carriage, because the network communication channels characteristic of communicating by letter between travelling carriage is more excellent, makes the TDOA estimated value accuracy of obtaining higher.

Description of drawings

Fig. 1 is the composition schematic diagram of an embodiment of cellular positioning system of the present invention;

Fig. 2 is the composition schematic diagram of another embodiment of cellular positioning system of the present invention;

Fig. 3 is the composition schematic diagram of an embodiment of travelling carriage of the present invention;

Fig. 4 is the flow chart of an embodiment of honeycomb locating method of the present invention;

Fig. 5 is the flow chart of another embodiment of honeycomb locating method of the present invention.

Embodiment

For making the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing.

Fig. 1 is the composition schematic diagram of an embodiment of cellular positioning system of the present invention; The cellular system of this embodiment comprises that target MS 10, at least two are with reference to travelling carriage 20, at least two base stations 30 and location servers 40, wherein:

Described target MS 10 is used to measure with the difference and the being used to time of advent of the mutual assignment test signal in described at least two base stations 30 and measures and described at least two differences time of advent with reference to the mutual assignment test signal of travelling carriage 20.In specific implementation, target MS 10 can send test massage, also can send test massage to target MS 10 for described at least two base stations 30 to described at least two base stations 30 with the mode of at least two base station 30 mutual assignment test signals for target MS 10.Target MS 10 and at least two 30 assignment test signals of mode reference target travelling carriage 10 and base station interactive modes with reference to travelling carriage 20 mutual assignment test signals.

Preferable, target MS 10 and between the communication distance of 10-20m, adopt short-range communication technique to communicate with reference to travelling carriage 20.Such as, super-broadband tech or Zigbee technology.Because short-range communication technique all has the bandwidth of broad, makes the network communication channels characteristic of communicating by letter between travelling carriage more excellent, therefore, the TDOA estimated value accuracy that the embodiment of the invention is obtained by transmission communication signal between travelling carriage is higher.

Described with reference to travelling carriage 20, be used to measure and described at least two base stations 30 difference time of advent of assignment test signal alternatively.In specific implementation, identical with the mode of at least two base stations 30 mutual assignment test signal ground modes and 30 mutual framing signals of target MS 10 and base station with reference to travelling carriage 20.

Described base station 30 is used for and described target MS 10 and described with reference to travelling carriage 20 mutual framing signals.

Described location server 40.Be used for according to described target MS 10 and describedly measure the signal arrival time difference value of being obtained, calculate the positional information of described target MS with reference to travelling carriage 20.

Preferable, location server 40 adopts the Taylor-series iterative algorithm to calculate the positional information of target MS 10 in the present embodiment.

Fig. 2 is the composition schematic diagram of another embodiment of cellular positioning system of the present invention; The cellular system of this embodiment comprises target MS 60, at least two with reference to travelling carriage 70 and at least two base stations 80, and the difference of the cellular system shown in present embodiment cellular system and Fig. 1 only is that target MS 60 self comprises the functional module of calculating the target MS positional information.Other structures of present embodiment are formed identical with first embodiment, do not make repeated description at this.

Accordingly, in the specific implementation, the functional module of measuring the test signal difference time of advent also can be arranged in the base station.

Illustrate the specific implementation process of embodiment of the invention cellular system below: represent target MS, RS representative to represent the base station with reference to travelling carriage, B, target MS DS and N base station B with DS to the target MS location _i(i=1 ..., realize cellular communication between N), DS obtains one group of TDOA measured value by test signal mutual between DS and base station B, such as, DS that obtains and base station B ₁Mutual test signal and DS and base station B _j(N) the TDOA value representation of mutual test signal is for j=2 ..: $t_{\left(D\right)j1}=t_{\left(D\right)j1}^o+\mathrm{\Δ}{t}_{\left(D\right)j1}$ Wherein: t _{(D) j1}The TDOA value of expression actual measurement, t _{(D) j1} ^oRepresent real TDOA value, Δ t _{(D) j1}The expression evaluated error;

Further, according to $t_{\left(D\right)j1}^o=r_{\left(D\right)j1}^o/c=(r_{\left(D\right)j}^o-r_{\left(D\right)1}^o)/c$ Can obtain base station B _jWith base station B ₁One group of range difference r to DS _{(D) j1} ^o, wherein, c represents radio wave propagation speed,

$r_{\left(D\right)j}^o=|\mathrm{DS}-B_j|=\sqrt{{(x_D-x_j)}^2+{(y_D-y_j)}^2+{(z_D-z_j)}^2}$

$r_{\left(D\right)1}^o=|\mathrm{DS}-B_1|=\sqrt{{(x_D-x_1)}^2+{(y_D-y_1)}^2+{(z_D-z_1)}^2}$

DS=[x wherein _D, y _D, z _D] ^TExpression target MS coordinate, B _j=[x _j, y _j, z _j] ^T(j=2 ..., N) expression base station B _jCoordinate.

Meanwhile, DS communicates by letter with reference to travelling carriage RS with the M near its 10～20m scope is individual, and RS obtains one group of TDOA measured value by test signal mutual between RS and base station B, and is corresponding, the reference travelling carriage RS that obtains _i(i=1 .. is M) with base station B ₁Mutual test signal and RS _iWith base station B _j(j=2 ..., N) the TDOA value representation of mutual test signal is: $t_{\left(\mathrm{Ri}\right)j1}=t_{\left(\mathrm{Ri}\right)j1}^o+\mathrm{\Δ}{t}_{\left(\mathrm{Ri}\right)j1}$ Wherein: t _{(Ri) j1}The TDOA value of expression actual measurement, t _{(Ri) j1} ^oRepresent real TDOA value, Δ _{T (Ri) j1}The expression evaluated error;

Further, according to $t_{\left(\mathrm{Ri}\right)j1}^o=r_{\left(\mathrm{Ri}\right)j1}^o/c=(r_{\left(\mathrm{Ri}\right)j}^o-r_{\left(\mathrm{Ri}\right)1}^o)/c,$ Can obtain base station B _jWith base station B ₁To RS _iOne group of range difference r _{(Ri) j1} ^o, wherein, c represents radio wave propagation speed,

$r_{\left(\mathrm{Ri}\right)j}^o=|R{S}_i-B_j|=\sqrt{{(x_{\mathrm{Ri}}-x_j)}^2+{(y_{\mathrm{Ri}}-y_j)}^2+{(z_{\mathrm{Ri}}-z_j)}^2}$

$r_{\left(\mathrm{Ri}\right)1}^o=|R{S}_i-B_1|=\sqrt{{(x_{\mathrm{Ri}}-x_1)}^2+{(y_{\mathrm{Ri}}-y_1)}^2+{(z_{\mathrm{Ri}}-z_1)}^2}$

RS wherein _i=[x _Ri, y _Ri, z _Ri] ^T(i=1 ..., M) expression is with reference to travelling carriage RS _iCoordinate.

Meanwhile, DS obtains one group of TDOA measured value by test signal mutual between DS and RS, and is corresponding, the DS that obtains with reference to travelling carriage RS ₁Mutual test signal and DS and with reference to travelling carriage RS _j(j=2 ..., N) the TDOA value representation of mutual test signal is: ${\hat{t}}_{j1}={\hat{t}}_{j1}^o+\mathrm{\Δ}{\hat{t}}_{j1}$ Wherein:

The TDOA value of expression actual measurement,

Represent real TDOA value,

The expression evaluated error;

Further, according to ${\hat{t}}_{j1}^o={\hat{r}}_{j1}^o/c=({\hat{r}}_j^o-{\hat{r}}_1^o)/c,$ Can obtain with reference to travelling carriage RS ₁With reference travelling carriage RS _jOne group of range difference to target MS DS , wherein, c represents radio wave propagation speed

${\hat{r}}_j^o=|\mathrm{DS}-{\mathrm{RS}}_j|=\sqrt{{(x_{\mathrm{Rj}}-x_D)}^2+{(y_{\mathrm{Rj}}-y_D)}^2+{(z_{\mathrm{Rj}}-z_D)}^2}$

${\hat{r}}_1^o=|\mathrm{DS}-R{S}_1|=\sqrt{{(x_{R1}-x_D)}^2+{(y_{R1}-y_D)}^2+{(z_{R1}-z_D)}^2}$

So far, the communication network between cellular network and travelling carriage has been realized the colocated to target MS DS.

And then going in the middle of the Taylor-series iterative algorithm in location server with above-mentioned three groups of TDOA measured value correspondences apart from difference is contemporary, iteration needs the initial estimation of DS and each RS position coordinates as iterative initial value first, therefore, location server at first obtains the initial position coordinate figure of DS and each RS, then each iteration calculates the renewal estimated value of DS and each RS position coordinates simultaneously, and it all is set to the initial value of next iteration.Less than certain marginal range, iterative algorithm stops up to evaluated error, and obtains the final position of DS is estimated.Basic procedure is as follows:

$\left\{\begin{array}{c}k=0\\ \mathrm{while}\left|\right|{\mathrm{\δ\θ}}^{\left(k\right)}\left|\right|>\mathrm{\ϵ}\\ {\mathrm{\δ\θ}}^{(k+1)}={\left[A^{\left(k\right)T}{Q}^{-1}{A}^{\left(k\right)}\right]}^{-1}{A}^{\left(k\right)T}{Q}^{-1}{W}^{\left(k\right)},\\ {\mathrm{\θ}}^{(k+1)={\mathrm{\θ}}^{\left(k\right)}+{\mathrm{\δ\θ}}^{(k+1)},}\\ k=k+1\end{array}\right.$ Wherein,

θ=[DS ^T, RS ^T] ^TComprise all travelling carriage coordinates (target MS and with reference to travelling carriage), wherein: DS=[x _D, y _D, z _D] ^TRS=[RS ₁ ^T..., RS _M ^T] ^TRS _i=[x _Ri, y _Ri, z _Ri] ^T

δ θ=θ-θ _g=[δ DS ^T, δ RS ^T] ^TDifference before and after the each iteration of expression θ;

F (θ)=T=M-E, wherein:

T is that the actual distance difference of TDOA correspondence is represented with function f (θ);

M is that the observed range of TDOA correspondence is poor

E is the observation of TDOA correspondence and the error between the actual distance difference

$T={[{{r_{\left(D\right)}^o}^T,r_{\left(R\right)}^o}^T,{\hat{r}}^{\mathrm{oT}}]}^T$

$r_{\left(D\right)}^o={[r_{\left(D\right)21}^o,...,r_{\left(D\right)N1}^o]}^T$

$r_{\left(R\right)}^o=[{{r_{\left(R1\right)}^o}^T,...,{r_{\left(\mathrm{Ri}\right)}^o}^T,...,{r_{\left(\mathrm{RM}\right)}^o}^T]}^T,r_{\left(\mathrm{Ri}\right)}^o={[r_{\left(\mathrm{Ri}\right)21}^o,...,r_{\left(\mathrm{Ri}\right)N1}^o]}^T$

${\hat{r}}^o={[{\hat{r}}_{21}^o,...,{\hat{r}}_{M1}^o]}^T$

$M={[r_{\left(D\right)21},...,r_{\left(D\right)N1},r_{\left(\mathrm{Ri}\right)21},...,r_{\left(\mathrm{Ri}\right)N1},{\hat{r}}_{21},...,{\hat{r}}_{M1}]}^T$

$E={[c{\mathrm{\Δt}}_{\left(D\right)21},...,{\mathrm{c\Δt}}_{\left(D\right)N1},\mathrm{c\Δ}{t}_{\left(\mathrm{Ri}\right)21},...,{\mathrm{c\Δt}}_{\left(\mathrm{Ri}\right)N1},{\mathrm{c\Δ}\hat{t}}_{21},...,{\mathrm{c\Δ}\hat{t}}_{M1}]}^T$

W=M-f (θ) | _{θ=θ g}After representing that each iteration finishes to upgrade θ, with new θ _gSubstitution f (θ) recomputates the actual distance value of TDOA correspondence, and recomputates the difference w between its observed range value corresponding with TDOA; $Q=\left[\begin{array}{ccc}{Q}_D& 0& 0\\ 0& Q_R& 0\\ 0& 0& \hat{Q}\end{array}\right]$ Be the measure error covariance matrix

Wherein:

Q _R＝diag[Q ₁，..，Q _Ri，...，Q _M]， $Q_{\mathrm{Ri}}=c^{2}E\left[{\mathrm{\Δt}}_{\left(\mathrm{Ri}\right)}{\mathrm{\Δt}}_{\left(\mathrm{Ri}\right)}^T\right]$ Δt _(Ri)＝[Δt _(Ri)21，...，Δt _(Ri)N1]

$Q_D=c^{2}E\left[{\mathrm{\Δt}}_{\left(D\right)}{\mathrm{\Δ}}_{\left(D\right)}^T\right]$ Δt _(D)＝[Δt _(D)21，...，Δt _(D)N1]

$\hat{Q}=c^{2}E[\widehat{\mathrm{\Δ}}t{\widehat{\mathrm{\Δ}}t}^T]$ $\hat{Q}=c^{2}E\left[\widehat{\mathrm{\Δ}}t\widehat{\mathrm{\Δ}}{t}^T\right]$

$A=\left[\begin{array}{cc}\frac{{\∂r}_{\left(D\right)}^o}{\∂\mathrm{DS}}& \frac{{\∂r}_{\left(D\right)}^o}{\∂\mathrm{RS}}\\ \frac{\∂r_{\left(R\right)}^o}{\∂\mathrm{DS}}& \frac{{\∂r}_{\left(R\right)}^o}{\∂\mathrm{RS}}\\ \frac{{\∂\hat{r}}^o}{\∂\mathrm{DS}}& \frac{{\∂\hat{r}}^o}{\∂\mathrm{RS}}\end{array}\right]|\mathrm{\θ}={\mathrm{\θ}}_g$ For f (θ) at θ _gThe place is about the single order local derviation of θ

K is the iteration ordinal number.

The embodiment of the invention also calculates positional information with reference to travelling carriage simultaneously calculating the target MS positional information, realizes the purpose that a plurality of travelling carriages are located simultaneously.

Accordingly, the embodiment of the invention has proposed a kind of travelling carriage.With reference to figure 3 are composition schematic diagrames of an embodiment of travelling carriage of the present invention; The travelling carriage of this embodiment comprises first R-T unit 52, second R-T unit 53, first measurement mechanism 54, second measurement mechanism 55 and calculation element 56, wherein:

First R-T unit 52, be used for the cellular basestation of communicating by letter between mutual assignment test signal;

Second R-T unit 53, be used for and mobile stations communicating between mutual assignment test signal;

First measurement mechanism 54 is used to measure the signal arrival time difference value of obtaining the mutual test signal of described travelling carriage and the cellular basestation of communicating by letter;

Second measurement mechanism 55 is used to measure the signal arrival time difference value of obtaining the mutual test signal of described travelling carriage and mobile stations communicating.

Calculation element 56 is used for calculating according to the signal arrival time difference value that described first measurement mechanism 54 and second measurement mechanism 55 obtain the positional information of described travelling carriage.

Accordingly, the embodiment of the invention has proposed a kind of method of cellular localization, with reference to figure 4, is the flow chart of first embodiment of honeycomb locating method of the present invention; The localization method of this embodiment specifically comprises:

Step S100 needs the target MS of location to communicate by letter with reference to travelling carriage foundation with at least two; Target MS and set up with at least two base stations respectively with reference to travelling carriage and to communicate by letter.In the specific implementation, preferable, target MS and between the communication distance of 10-20m, adopt short-range communication technique to communicate with reference to travelling carriage.Such as, super-broadband tech or Zigbee technology.Because short-range communication technique all has the bandwidth of broad, makes the network communication channels characteristic of communicating by letter between travelling carriage more excellent, therefore, the TDOA estimated value accuracy that the embodiment of the invention is obtained by transmission communication signal between travelling carriage is higher.

Step S101, at least two base stations send test massage with reference to travelling carriage to described target MS and described two respectively at least; Described at least two send test massage to described target MS with reference to travelling carriage.

Step S102, described target MS and described at least two with reference to each moving table measuring test signal difference time of advent in the travelling carriage.

Step S103, location server obtain target MS and with reference to the initial position coordinate figure of travelling carriage.

Step S104, according to obtain the time of advent difference and the initial position coordinate figure that obtains adopt the Taylor-series iterative algorithm to calculate the positional information of described target MS.

With reference to figure 5, be the flow chart of another embodiment of honeycomb locating method of the present invention; The localization method of this embodiment specifically comprises:

Step S200 needs the target MS of location to communicate by letter with reference to travelling carriage foundation with at least two; Target MS and set up with at least two base stations respectively with reference to travelling carriage and to communicate by letter.

Step S201, target MS send test massage with reference to travelling carriage to described two base stations and described two respectively at least at least; Described at least two send test massage to described two base stations with reference to travelling carriage at least.

Step S202, target MS and described at least two with reference to each moving table measuring test signal difference time of advent in the travelling carriage.

Step S203, target MS obtain target MS and with reference to the initial position coordinate figure of travelling carriage.

Step S204, obtain according to measurement the time of advent difference and the initial position coordinate figure that obtains adopt the Taylor-series iterative algorithm to calculate the positional information of described target MS.

In the specific implementation, measure also can realizing of the test signal difference time of advent by the base station; The embodiment of the invention also calculates positional information with reference to travelling carriage simultaneously calculating the target MS positional information, realizes the purpose that a plurality of travelling carriages are located simultaneously.

The locate mode that embodiment of the invention proposition utilizes the short distance location to combine with cellular localization fundamentally reduces the position error lower limit, improves positioning accuracy.

Above disclosed is preferred embodiment of the present invention only, can not limit the present invention's interest field certainly with this, and therefore the equivalent variations of doing according to claim of the present invention still belongs to the scope that the present invention is contained.

Claims (10)

1, a kind of honeycomb locating method is characterized in that, comprising:

A, the target MS that needs to locate are communicated by letter with reference to travelling carriage foundation with at least two; Target MS and set up with at least two base stations respectively with reference to travelling carriage and to communicate by letter;

Between B, described target MS and described at least two base stations of communicating by letter, described at least two with reference between travelling carriage and described at least two base stations of communicating by letter and described target MS with communicate by letter described at least two with reference to interactive testing signal between travelling carriage;

C, obtain the difference time of advent of above-mentioned three groups of test signals respectively;

D, according to the described signal arrival time difference value of obtaining, calculate the positional information of described target MS.

2, the method for claim 1 is characterized in that, described target MS and adopt short-range communication technique to communicate between the communication distance of 10-20m with reference to travelling carriage.

3, method as claimed in claim 2 is characterized in that, step B comprises:

Described at least two base stations send test massage with reference to each travelling carriage in the travelling carriage to described target MS and described two respectively at least; Described at least two send test massage to described target MS with reference to travelling carriage;

Accordingly, step C comprises:

Described target MS is measured the difference time of advent of the test signal of described at least two base stations transmission;

Described at least two differences time of advent with reference to the test signal of described at least two base stations transmission of each moving table measuring in the travelling carriage;

Described target MS is measured described at least two differences time of advent with reference to the test signal of travelling carriage transmission.

4, method as claimed in claim 2 is characterized in that, step B comprises:

Described target MS sends test massage with reference to travelling carriage to described two base stations and described two respectively at least at least; Described at least two send test massage to described two base stations with reference to travelling carriage at least;

Accordingly, step C comprises:

Described target MS measurement sends to the difference time of advent of the test signal of described at least two base stations;

Described target MS measurement sends to described at least two differences time of advent with reference to the test signal of travelling carriage;

Described at least two differences time of advent that send to the test signal of described at least two base stations with reference to each moving table measuring in the travelling carriage.

5, as each described method among the claim 1-4, it is characterized in that step D comprises:

Location server in D01, the network obtains target MS and with reference to the initial position coordinate figure of travelling carriage;

D02, obtain according to measurement described time of advent difference and the initial position coordinate figure that obtains adopt the Taylor-series iterative algorithm to calculate the positional information of described target MS.

6, as each described method among the claim 1-4, it is characterized in that step D comprises:

D11, target MS obtain target MS and with reference to the initial position coordinate figure of travelling carriage;

D12, obtain according to measurement described time of advent difference and the initial position coordinate figure that obtains adopt the Taylor-series iterative algorithm to calculate the positional information of described target MS.

7, a kind of travelling carriage is characterized in that, comprising:

First R-T unit, be used for the cellular basestation of communicating by letter between mutual assignment test signal;

Second R-T unit, be used for and mobile stations communicating between mutual assignment test signal;

First measurement mechanism is used to measure the signal arrival time difference value of obtaining the mutual test signal of described travelling carriage and the cellular basestation of communicating by letter;

Second measurement mechanism is used to measure the signal arrival time difference value of obtaining the mutual test signal of described travelling carriage and mobile stations communicating.

8, travelling carriage as claimed in claim 7 is characterized in that, also comprises:

Calculation element is used for calculating according to the signal arrival time difference value that described first and second measurement mechanism obtains the positional information of described travelling carriage.

9, a kind of cellular positioning system comprises that the target MS that needs the location, at least two are with reference to travelling carriage, at least two cellular basestations and location server, wherein:

Described target MS is used to measure the difference and be used to measure and described at least two differences time of advent with reference to the mutual assignment test signal of the travelling carriage time of advent with the mutual assignment test signal in described at least two base stations;

Described with reference to travelling carriage, be used to measure the difference time of advent with the mutual assignment test signal in described at least two base stations;

Described base station is used for and described target MS and described with reference to the mutual assignment test signal of travelling carriage;

Described location server is used for calculating the positional information of described target MS according to described target MS and described with reference to the signal arrival time difference value that moving table measuring obtained.

10, a kind of cellular positioning system comprises that the target MS that needs the location, at least two are with reference to travelling carriage and at least two cellular basestations, wherein:

Described with reference to travelling carriage, be used to measure the difference time of advent with the mutual assignment test signal in described at least two base stations;

Described target MS is used to measure the difference and be used to measure and described at least two differences time of advent with reference to the mutual assignment test signal of the travelling carriage time of advent with the mutual assignment test signal in described at least two base stations; And, calculate the positional information of described target MS according to self measuring the signal arrival time difference value obtain and the described signal arrival time difference value of obtaining with reference to travelling carriage;

Described base station is used for and described target MS and described with reference to the mutual assignment test signal of travelling carriage.

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