CN101685152B

CN101685152B - Method and system for determining a location of a wireless transmitting device and guiding the search for the same

Info

Publication number: CN101685152B
Application number: CN2009102108768A
Authority: CN
Inventors: 刘杭
Original assignee: Individual
Current assignee: Individual
Priority date: 2003-06-30
Filing date: 2004-06-29
Publication date: 2012-01-11
Anticipated expiration: 2024-06-29
Also published as: CN1576877A; CN101694520A; CN100578253C; CN101694520B; CN101685152A

Abstract

Method and system of determining a location of a wireless transmitting device, such as a cellular phone, a wireless PDA or a radio tag, and guiding the searching personnel to physically reach the wireless transmitting device are disclosed that employ a 'Movable Detection Station' and a 'Guiding and Reference Device', and optionally a 'searching robot'. The movable detection station is carried on board of a moving platform, such as a police car, an ambulance or a fire truck, or carried by searching personnel. The guiding and reference device is a handheld device including a display device that displays position and guiding information to a user, and a reference wireless transmitter that works with a movable detection station. A searching robot is a robot with a reference transmitter installed on it.

Description

The location of radio transmitting apparatus and search for boot

The application is that application number is the division of 2004100501552 patented claim, and the original application date is on June 29th, 2004.

Technical field

The present invention relates to radio system.Particularly, the present invention relates to the location of radio transmitting apparatus and the method and system of search for boot.

Background technology

Radio transmitting apparatus comprises cellular mobile telephone, PCS Personal Communications System, wireless phone and satellite phone; Palm PC with radio communication or emission function, notebook computer, two-way pagers; Wireless lebal or the like, this type device is referred to as radio transmitting apparatus to all.

Confirm the orientation of radio transmitting apparatus, it implemented tracking have important practical value that its demand grows with each passing day with search.The application of this respect comprises:

Emergency relief

Emergency relief comprises robber and police, fire alarm, first aid etc.E911 is that a comparatively noticeable emergency relief is professional.FCC (FCC) forces all wireless communication operators that this business must be provided.The 911st, the general emergency relief telephone number of North America comprises robber and police, fire alarm, and first aids etc. are similar to the function of 119,110 and 120, three numbers of China.When using calling 911s such as mobile phone as the user, the E911 business is answered the orientation that station (PSAP) provides mobile phone automatically to public safety, makes emergency relief vehicle (police car, ambulance, fire engine) accurately send the site of an accident to.Weigh the possibility that required precision and current techniques are implemented, the bearing accuracy that FCC requires to reach is: based on the location technology of mobile phone, should reach 50 meters precision with at least 67% probability; Probability with at least 95% reaches 150 meters precision.Based on network location technology should reach 100 meters precision with at least 67% probability; Probability with at least 95% reaches 300 meters precision.Similar E112 business is also being carried out by European Union.

The track of offender

Follow the tracks of and find the criminal who uses radio transmitting apparatus such as mobile phone; Prevent to use radio transmitting apparatus such as mobile phone to implement harassing and wrecking, swindle, threaten, criminal activity such as extort.

Mobile phone is usurped in tracking

Other people phone number is illegally usurped in prevention in real time, can effectively reduce operator's loss, has actual commercial value in some countries and regions.

Stolen goods and materials are given for change

Adhere to high price goods and materials (vehicle, historical relic, jewelry or the like) on radio transmitting apparatus, like wireless lebal, can make tracker give goods and materials for change.

Targeted surveillance and tracking

The radio transmitting apparatus that is attached on the tracked target can make positioning system effectively keep watch on and follow the tracks of like children, patient, wild beast, bail out or prisoner, control goods and materials and equipment (for example nuclear material, radioactive material, toxic articles jar) etc.

Radio positioning system faces various technical barriers for different application.Be the technical barrier of many position application with the implemented with low cost high-precision location under the topographic condition at any time and place.With conventional E911 business is example, and prior art mainly is divided into two types, promptly based on network technology and based on the technology of mobile phone.Based on network prior art, its bearing accuracy is very responsive to the number and the geographical geometric position between the target relative measurement station of multipath transmisstion, effective measuring station.Use the prior art based on mobile phone of Global Positioning System (GPS) (GPS), between the building of business district, bearing accuracy is worsened, and can't implement the location the old-fashioned mobile phone that the user has bought with indoor meeting.For under all landform of professional areal coverage, all reaching accuracy requirement, the cost of existing location technology will be higher than the level that operator and personal user can bear far away.Moreover, existing E911 technology in the spot guiding search personnel of can't solving accurately find the technical barrier of target.

Summary of the invention

The present invention provides the device (hereinafter is called " radio target ") to transmitted radio signal to implement the location through embodiment, and guiding search personnel (or search machine people) near and arrive the method and system of radio target.

An aspect; The present invention uses the system that comprises one or more measuring stations; Wherein have at least a measuring station to be installed in (hereinafter referred to as " traverse measurement station ") on the movable fixture, for example, be installed on police car, ambulance, fire engine, helicopter, balloon, dirigible, ship or the motorboat; Or by the operator pickaback or hand-held, or the like.Traverse measurement station or isolated operation are perhaps with other measuring station and traverse measurement station cooperation.It in the way of sailing towards the radio target, or in the searching moving of radio target proximity continuous repeated measurement radio target direction.Said method and system has made full use of the advantage that bring for the relative motion and the low coverage of radio target at the traverse measurement station.

Another aspect, the present invention uses and comprises one or more hand-held instruments system of (hereinafter is claimed " guided ware ").Guided ware is carried by the reseaching staff, is used for the accurate position that in spot guiding search personnel found and arrived the radio target.

Another aspect, the present invention uses the system that comprises one or more " with reference to transmitters ".Carried by the reseaching staff with reference to transmitter, the signal of its emission has similar propagation characteristic with the signal of radio target emission.The radio target direction is not only measured at traverse measurement mentioned above station (and measuring station), also measures the orientation with reference to transmitter simultaneously, and provides with reference to the relative orientation information of transmitter for the radio target.Native system has made full use of radio echo signal and the advantage of bringing with reference to the similarity of transmitter signal; According to both relative (and progressive identical) orientation; And the real-time feedback of utilizing relative orientation that searching moving causes to change, realize accurately location and search for boot.Obviously, it also can make the search machine people and the collaborative work of traverse measurement station of being equipped with reference to transmitter, accomplishes search mission.

A device can be merged into reference to transmitter and guided ware described in the present invention in another aspect, and this seed ginseng is according to be incorporated in hereinafter referred to as " with reference to the guided ware " of transmitter and guided ware.

Principal character of the present invention comprises mobile search and running fix, relative measurement, in the close-in measurement in some stage, and the as required transfer of positioning equipment in service area of limited quantity etc.Use method and system provided by the present invention, can realize search for boot and accurate location at lower cost the radio target.

Others of the present invention are hereinafter in the detailed description to embodiment, and in claims, are further explained and embody.

Description of drawings

For clearly demonstrating search localization method of the present invention and process, attached drawings is provided.Description through to search location embodiment among the figure will make the professional and technical personnel understand easily and embodiment of the present invention.

Fig. 1 is example with mobile phone as the radio target, is depicted in positioning system and correlation method under the vehicle-mounted pattern.

Fig. 2 describes the influence to the traverse measurement station of multipath transmisstion effect and direct wave blocked with the city architectural environment fabricated.

Fig. 3 disseminates environment with an imaginary multipath, and whether in order to definite separately detected the earliest arrive route of transmission be real direct wave, or the real method that arrives the route of transmission the earliest if describing a kind of.

Fig. 4 is example with mobile phone as the radio target, is depicted in positioning system and correlation method under " from car " pattern.

Fig. 5 describes the radio target that display screen shows with exemplary forms, with reference to the two-dimentional absolute position and the relative position at guided ware and traverse measurement station, and superimposed with it is pre-stored in this area map and the remote sensing photo in the system.

Fig. 6 is example with mobile phone as the radio target, describes when base station transmitter is equipped with at the traverse measurement station, at vehicle-mounted pattern and positioning system and correlation method under the car pattern.

Fig. 7 is example with mobile phone as the radio target, is depicted in positioning system and correlation method under the three dimensional pattern.

Fig. 8 illustrates the preferred embodiment block scheme at traverse measurement station among the present invention.

Fig. 9 illustrates among the present invention the preferred embodiment block scheme with reference to guided ware.

Annotate: among above each figure, similar each other functional unit has used identical label, so that recognition.

Embodiment

Before illustrating embodiment, do 2 statements:

1) in following explanation, often uses the example of cellular mobile phone mobile phone as the radio target.But this never is to be understood that for: the radio target in the inventive method and the system only limits to mobile phone.In fact, depend on the function of radio target, the radio target possibly be the cellular mobile phone mobile phone, also possibly be the PCS Personal Communications System mobile phone; Wireless phone, the satellite communication phone has the palm PC of radio communication or emission function, notebook computer; Two-way pagers, data message machine, the cellular mobile phone of tool data message ability, wireless internet equipment; Data communications equipment (possessing or do not possess telephony feature), wireless lebal, or the like.The present invention does not have any restriction to this.

2) for ease of describing, normal emergency relief business with similar E911 is an example in following detailed description.But the application of the inventive method and system never is limited to emergency relief business such as E911.

To combine accompanying drawing one by one below, and pass through the detailed description of embodiment among the figure, the present invention will be described.

Combine Fig. 1 to be depicted in positioning system and correlation method under the vehicle-mounted pattern at present.In Fig. 1, radio target 10 is radio transmitting apparatus, and its orientation has to be determined, and it is implemented search.Here, the mobile phone of this radio goal hypothesis for communicating by letter with base station 20A through wireless path 40A.(for example when radio target be one when being in the CDMA emitter of soft changing state) in some cases, radio target 10 also maybe be simultaneously and other base station communication, for example shown in the figure, communicate by letter with base station 20B through wireless path 40B.Radio target 10 is just in transmitted radio signal, for example, after dialing 120 ambulance calls with first-aid centre's (not drawing among the figure) person of answering speech; Stay quietly on line after perhaps connecting 120 phones; After perhaps connecting 120 phones and on-hook, receive the phone that 120 persons of answering are returned again; Perhaps its mobile phone traffic signaling that is positioned is brought certain into for the specially designed business model of positioning service, launches certain signal specific, for example, and transmit steering (Pilot) signal.After receiving 120 phones, 120 persons of answering can obtain the general orientation of this mobile phone through classical pathway.For example, through oral conversation; Or utilization is similar to the technology of " phase one E911 "; The orientation of the base station 20A that will communicate with radio target 10 is as the general orientation of radio target 10; Automatically pass past 120 first-aid centres and show that the propagation delay of path 40A also can be used as additional information through network signal; Or utilize the technology of existing being similar to " subordinate phase E911 ", with the longitude and latitude of its (still have than mistake) radio target 10 that measures general orientation as radio target 10.In the drawings, the above-mentioned general orientation that comprises the radio target 10 of statistical error is 60 by demarcation.Be equipped with the emergency relief vehicle 30A at traverse measurement station, 30B, for example police car, ambulance, fire engine are sent to above-mentioned general orientation by the emergency call center of answering.The professional and technical personnel knows; The signal parameter and the characteristic of 10 emissions of radio target; Can be from the database that is installed on the center of answering or links with the center of answering, from the cordless communication network that links with the center of answering, and from the wave point of wireless communication networks; Offer traverse measurement station 30A, 30B.These signal parameters and characteristic can comprise transmission frequency, telephone number, Electronic Serial Number (ESN); When the radio target works in TDMA (time division multiple access (TDMA)) mode; Its transmission time slot position, when the radio target works in CDMA (CDMA) or DSSS (DSSS) mode, its spreading code parameter; When the radio target works in the frequency hopping mode, its frequency parameter etc.Use these parameters and characteristic, traverse measurement station 30A, the receiver of 30B can attempt to catch and receive the signal 50A of radio target 10 emissions, 50B in sailing for the way of target area.Shown in figure, traverse measurement station (for example the moving from position 30A ' to position 30A) on the way can be adopted a lot to incoming signal 50A ' for example, the measurement of 50A.When whenever doing one-shot measurement, the accurate orientation of traverse measurement station 30A itself and moving direction also can adopt such as the GPS that is installed on the traverse measurement station (global positioning satellite system) receiver to be confirmed.These are on the way at difference moment diverse location 30A '; The incoming signal 50A ' that 30A records for many times; The parameter of 50A; Reach accurate orientation and the moving direction of determined traverse measurement station 30A on corresponding point, can be transformed to the input data of suitable location estimation algorithm, use those and be used for separating the orientation that the simultaneously-measured location algorithm of a plurality of measuring stations solves radio target 10 originally.Like this, traverse measurement station 30A constantly carries out new measurement on the way, thereby constantly improves the estimation to radio target 10 orientation.The professional and technical personnel is understood that, in existing based on network method, can receive from radio target 10 send signal measuring station (usually with same place, base station) number usually very little, the near city of outer suburbs and part especially; The geometric relationship of the relative radio target 10 of these measuring stations usually runs into the situation that is unfavorable for bearing accuracy, for example almost point-blank, or the like; In the city of building dense, to direct wave stop and the multipath transmisstion effect usually makes and adopts the method at based on network fixation measuring station to make unacceptable excessive positioning error.When using the traverse measurement station, each measurement point is equivalent to a measuring station, and measurement point number on the way can be hundreds and thousands of, and this just is equivalent in classic method, has built hundreds and thousands of measuring stations on the way.Wherein disadvantageous measurement result can be removed or give lower weighting.Disadvantageous measurement point comprises the point that those have lower signal to noise ratio (S/N ratio) or signal-to-noise ratio; Those direct waves or arrive the earliest that incident wave is lost or weak excessively point; Those are in the point of the geometric relationship that is unfavorable for locating with respect to the radio target location that tentatively records.Above-mentioned removal or the processing procedure of hanging down weighting are the processes of a progression, that is, if current do not have better measurement result to obtain, one relatively preferably measurement result will be used.But in case enough better measurement results have been arranged, those past attempts keep at that time " good " and now unsatisfactory measurement result can in the location estimation algorithm, remove or reduce weighting.This renewal process constantly repeats.This area the professional all be familiar with, and can use SNR estimator or signal-to-noise ratio estimator to realize to the detection of signal to noise ratio (S/N ratio) or signal-to-noise ratio.In a single measurement, detect the route of transmission of later arrival and can use channel impulse response estimator to realize that this is also understood by the professional.In case the route of transmission of these later arrival is detected, can it be removed from the location estimation process.With respect to the unfavorable geometric relationship of the radio target that tentatively records, can use " geometric position dilution " (GDOP) to measure, also using of this notion known by the professional, need not further explanation.Whether a kind of travel path that arrives the earliest that is used for confirming recording separately is that real direct wave or the real method that arrives travel path the earliest will combine Fig. 3 to be described further hereinafter.In fact, the movability at traverse measurement station also can be used for through the tracing process to incident wave, corrects because the measurement mistake that direct wave is stopped and multipath effect caused.Also will set forth below this point through Fig. 2.

Through this city architectural environment of fabricating of Fig. 2, describe the influence of multipath transmisstion effect and direct wave blocked to the traverse measurement station at present.The 30A position is sailed for from 30A ' position along the street in traverse measurement station 30 among the figure.When it during in 30A ' position; Direct wave 50A from radio target 10 " ' receive building B and stop; but traverse measurement station 30 can receive the electric wave 50A ' from radio target 10 and the D reflection through the building; traverse measurement station 30 can assert thus the radio target in the building D direction, and " mistake " guided vehicle drive towards building D.When the position 30A before the arrival building D, traverse measurement station 30 has just obtained the visual field of similar building D, and therefore traverse measurement station 30 begins " to see " to direct wave 50A.30 meetings of traverse measurement station " recognize " that wave beam 50A is stronger, arrive more early, are wave beams that more is worth tracking, so guiding traverse measurement station 30 place vehicles sail for the real place building C of radio target 10.We see; Be installed in the traverse measurement station 30 on the vehicle if not employing; But adopt the fixation measuring station (not drawing among the figure) that is installed in same place with the base station; If this fixation measuring station only " seeing " then can guide to building D to the emergency relief vehicle by error to the wave beam of arrival the earliest through reflection from building D, bring great risk for calling for help person.

Disseminate environment through this multipath of fabricating of Fig. 3 at present, describe a kind of in order to confirm whether the detected route of transmission that arrives the earliest is real direct wave or the real method that arrives the route of transmission the earliest separately.Traverse measurement station 30 among the figure is on the way at 30A, 30A ', 30A " station acquisition is from the signal of radio target 10.Surrounding buildings A, B, C, D formation are transmitted to stopping of traverse measurement station 30 and reflect landforms from radio target 10 signal.At the 30A place, traverse measurement station 30 can detect the travel path 50A of the C reflection through the building ₁, but direct wave 50A ₂Because of a little less than building A stops too, detect less than.Therefore, though 50A ₁Compare 50A ₂Arrive evening, at 30A place, 50A ₁Still be detected as the wave beam of arrival the earliest at this place.When traverse measurement station 30 arrives 30A ' position, rectilinear propagation path 50A ' ₃Still stopped and excessively, can't detect by building A.Yet traverse measurement station 30 but can detect the wave beam 50A ' of C and B reflection through the building respectively ₁And 50A ' ₂At 50A ' ₁And 50A ' ₂Between, through the means of difference multipath, 50A ' can be confirmed in traverse measurement station 30 ₂Arrival is than 50A ' ₁Early.Therefore, 50A ' ₁Be confirmed as and be not to arrive the earliest approach, and 50A ' ₂Be by the arrival approach of confirming separately the earliest in this 30A ' position.50A ' whether ₂Be real arrival approach the earliest, only also can't finally confirm with the independent measurement of locating any at 30A '.We attempt to come jointly to confirm with the measurement of 2 of 30A and 30A ' now, and they are the detected approach 50A that arrives the earliest separately separately ₁And 50A ' ₂Whether be real arrival approach the earliest, that is, and direct wave.Its method is, measures at 2 30A and 30A ' and goes up the poor of the detected separately propagation delay that arrives approach the earliest, and confirm the distance between 2 30A and 30A '.If the difference that postpones, so, in the middle of two travel paths, can be confirmed as than the long delay person and not be real direct wave or real arrival approach the earliest divided by the light velocity greater than the difference of distance.If the difference that postpones is not more than the difference of distance divided by the light velocity, so, whether two travel paths still are not sure of them is real direct wave or real arrival approach the earliest.Example among the figure; If radio target 10 to the building C again to the propagation delay of 30A be longer than radio target 10 to the building B again to the propagation delay of 30A '; And difference greater than 30A to the distance of 30A ' divided by the light velocity, so, the detected approach 50A that arrives the earliest separately ₁Not real direct wave or real arrival approach the earliest; If the former postpones to be shorter than the latter and postpones, and difference greater than 30A to the distance of 30A ' divided by the light velocity, so, the detected approach 50A ' that arrives the earliest separately ₂Not real direct wave or real arrival approach the earliest; Otherwise, when above-mentioned both all be false, only according to the joint-detection of 2 of 30A and 30A ', still can't confirm 50A ₁And 50A ' ₂Whether be real arrival approach the earliest or direct wave.When traverse measurement station 30 arrives 30A " during the position; we can see in Fig. 3; direct wave 50A can " be observed " at traverse measurement station 30 ", but traverse measurement station 30 itself and do not know this fact, it still need adopt the above-mentioned independent detection method with associating to confirm it.With uniting definite method, 50A will be measured in traverse measurement station 30 " and 50A ' ₂The delay of two approach is poor, confirms 30A ' and 30A " distance, and use rule mentioned above whether to verify 50A " and 50A ' ₂Any one can be confirmed as and not be direct wave or arrive approach the earliest in two approach.If about 50A " and 50A ' ₂This time judge still be uncertain, can be further to 30A " with 30A its corresponding delay difference of 2 uses and apart from and rule mentioned above judge.Along with traverse measurement station 30 continue move ahead, new measurement point constantly obtains, and can be repeatedly the corresponding propagation delay differences and the respective distances of the point-to-point transmission of their combination in any be carried out above-mentioned judgement.

Get back to Fig. 1 now another available embodiment is described.If use a plurality of traverse measurements station; So, between a plurality of traverse measurements station, for example be designated as between 30A and the 30B traverse measurement station among the figure; Can intercom mutually through direct or indirect radio path (not shown); With they measure separately about signal 50A from radio target 10, the parameter of 50B is passed to the

other side

30A, 30B mutually.A plurality of traverse measurements station 30A, the parameter combinations that 30B records is separated the orientation of radio target 10 together, to arrive higher precision and reliability.

Still referring to Fig. 1, as another available embodiment, we are employed one or more traverse measurements station 30A; 30B and then through Wireless/wired communication channel (not shown) and fixation measuring station 70A; 70B intercoms mutually, share that they record about the signal 40A from

radio target

10,40B; 50A, the parameter of 50B.Common

fixation measuring station

70A, 70B and

base station

20A, 20B is installed on same place.With

traverse measurement station

30A, 30B and

fixation measuring station

70A, 70B records the orientation that parameter combinations goes to separate radio target 10 together, further to reach high precision and high reliability.

Suppose mobile phone as the radio target at present, be described in positioning system and correlation method under " from car " pattern in conjunction with the instance of Fig. 4.Adopt said system and method; Perhaps adopt other any System and method for; Perhaps mix and adopt these System and method fors; Afterwards, the vehicle that is equipped with traverse measurement station 30A stops near the spot in the spot (a certain local zonule or geomorphological structure, for example a building) of confirming radio target 10 places.Be equipped with reference to guided ware 100A; The rescue personnel of 100B walks out from the 30A car; Attempt near radio target 10, with reference to guided ware 100A, among the 100B with reference to transmitter (hereinafter will combine Fig. 9 to further specify) through wireless path 110A; 110B sets up electric wave with the same base station 20A that serves for radio target 10 and communicates by letter.With reference to guided ware 100A, this electric wave communication 110A that 100B sets up, 110B communicates by letter with the electric wave of radio target 10 40A through the path and has identical mode of operation.For example, if the electric wave communication that radio target 10 is set up is the CDMA pattern, then with reference to guided ware 100A, the electric wave communication that 100B sets up also is the CDMA pattern; If the electric wave communication that radio target 10 is set up is the GSM pattern, then with reference to guided ware 100A, the electric wave communication that 100B sets up also is the GSM pattern, or the like.If possible, with reference to guided ware 100A, the electric wave communication 110A that 100B sets up, the 110B 40A that preferably communicates by letter with the electric wave of radio target 10 foundation is in same frequency and (for example, is preferably in based on the electric wave communication of TDMA and occupies another time slot on the same frequency; Be preferably in based on the electric wave communication of CDMA and occupy another spreading code on the same frequency).If this can not accomplish (for example based on FDMA electric wave communication), preferably use one with the more approaching frequency of path 40A institute frequency of utilization.The frequency that this is identical or close; Perhaps more generally; Under the same or similar property of radio characteristic of signal, will make radio target 10 and with reference to guided ware 100A, the radio wave propagation characteristic of the wireless path of 100B is very similar; And with reference to guided

ware

100A, 100B is progressive identical during near radio target 10.According to guided ware 100A, wireless path 120A shown in the 100B emitted radio signal warp, 120B, 120C; The also measured station of

120D

30A, 30B receives, and then, when measuring radio target 10 orientation; Traverse

measurement station

30A, 30B also measure with reference to guided ware 100A, the orientation of 100B.Though to radio target 10 and to reference to guided ware 100A, the absolute orientation measuring accuracy of 100B may be because of being hindered such as direct wave, factor such as multipath transmisstion and worsening; But work as with reference to guided ware 100A; 100B is during near radio target 10, because radio target 10 and with reference to guided

ware

100A, 100B can run into similar and progressive identical multipath effect; Traverse measurement station 30A; Radio target that 30B measures 10 with reference to guided ware 100A, the relative orientation precision between the 100B can receive slight influence, thereby relative orientation is measured and measured more reliable than absolute orientation.For making

traverse measurement station

30A, 30B is to radio target 10 and with reference to guided ware 100A, and the signal of 100B has similar detection characteristic; Radio target 10 and with reference to guided ware 100A; Other signal characteristic of 100B, like emissive power, launch time, length etc. also should be tried one's best approaching.In some situation, though hand-held with reference to guided ware 100A, very near radio target 10, the rescue personnel possibly be in the different building structure with calling for help person the rescue personnel of 100B, for example among two separated stair of a wall on distance.Provide the differentiation means can improve search efficiency to this situation.This differentiation can be through comparison radio target 10 and with reference to guided ware 100A, the realization of the dissimilarity of 100B characteristics of signals, for example; The 30A at the traverse measurement station; 30B is relatively from their difference of signal intensity, relatively they (10,100A; The difference of the emissive power of 100B) reporting separately, and the difference that compares their multipath transmisstion distribution characteristics figure.Bootstrap technique to search described here also is applicable to the search of using robot; Wherein robot replaces reseaching staff's function; One is installed in partly replacing with reference to guided ware 100A with reference to a transmitter and a compass sensor (or claiming geomagnetic sensor) in the robot; The function of 100B (wherein the function of compass sensor or geomagnetic sensor will combine Fig. 9 to specify hereinafter); A display device that is installed on the robot control desk replaces with reference to guided ware 100A another part function of 100B.Others remain unchanged.

Further referring to Fig. 4, traverse measurement station 30A (or 30B) and with reference to guided

ware

100A, 100B also comprises another group radio set, wireless local net (WLAN) transceiver preferably, in order to through wireless path 120A ', 120C ' connects each other.Through wireless path 120A '; 120C ' transmits and is used to be presented at reference to guided ware 100A; Information on the 100B display screen, with display radio target 10 with respect to reference to guided ware 100A, the relative orientation of 100B; Also simultaneously further display radio target 10 with respect to traverse measurement station 30A, the relative orientation of 30B.The information guiding that these showed is hand-held with reference to guided ware 100A, each step search action of the reseaching staff of 100B.Relevant display packing combines Fig. 5 further to discuss below.

Fig. 5 has provided one and has been shown in reference to guided

ware

100A, 100B display screen and traverse measurement station 30A, the preferred embodiment of the two dimensional image on the 30B display screen.Shown radio target 10 among the figure, with reference to guided

ware

100A, 100B, and traverse measurement station 30A, the absolute and relative orientation of 30B, and superimposed with it be pre-stored in this area map and the remote sensing photo in the system.Relevant figure preferably uses colored show (limit by the document specification, not shown colour), and relevant symbol is indicated radio target 10 respectively among the figure; With reference to guided ware 100A; 100B, and traverse measurement station 30A, the position of 30B; The map and the remote sensing photo that cover on it access from system memory device, in order to indicate the mutual alignment of above-mentioned each target and other object of reference of ground.

Existing hypothesis, is described when base station transmitter is equipped with at the traverse measurement station through Fig. 6 as the radio target with mobile phone, at vehicle-mounted pattern and the positioning system under the car pattern and another embodiment of correlation method.Combine the described method of Fig. 1 the same with preceding text, when radio target 10 for example dials emergency relief telephone 120, rescue center's (not shown) will be equipped with the breakdown lorry 30A of traverse measurement station equipment, and 30B sends rescue center to and learns roughly target area.Radio target 10 is sent signal and is communicated by letter with base station 20A through wireless path 40A, under some situation, also while and other base station communication, for example shown in the figure, communicates by letter with base station 20B through wireless path 40B.As traverse measurement station 30A; 30B and radio target 10 enough near the time; Traverse

measurement station

30A, 30B can detect the signal from radio target 10, for example through the path 50 shown in the figure and the up direction (direction from radio target 10 to traverse measurement station 30A) in path 200.So,

traverse measurement station

30A, 30B can begin to measure and constantly revise the orientation of radio target 10.When certain traverse measurement station (for example 30A) is close to a certain degree with radio target 10; Wireless path between the two (for example 200) quality can become than (the 40A for example of the path between radio target 10 and base station; 40B) quality is not bad, and at this moment, corresponding traverse measurement station 30A will start the base station transmitter that wherein loads; And notification service base station 20A sends switching command for radio target 10, it switched to traverse measurement station 30A communicate by letter.After receiving and carrying out switching command, radio target 10 is set up the two-way communication with traverse measurement station 30A, shown in wireless path 200, stops and

base station

20A, and 20B is to communication path 40A, 40B.Since between radio target 10 and the traverse measurement station 30A closely, its communication path better quality, calling for help person is more reliable with rescue personnel's the meeting of communicating by letter.Have benefited from closely; The base station transmitter that traverse measurement station 30A loads more can make the average transmit power of radio target 10 reduce more through the power control instruction that many communication standards have; Make the battery air time of radio target 10 prolong, help the location and the search work of well afoot.The base station transmitter that traverse measurement station 30A loads more can be coordinated its emitted power steering order with the activity of its location survey mutually, further prolongs the battery air time, and signal to noise ratio (S/N ratio) or signal-to-noise ratio when optimizing location survey are to improve measuring accuracy.The base station transmitter that other characteristic that radio target 10 transmitted is loaded by traverse measurement station 30A also can controlled and is coordinated mutually with the location survey activity, more helps the raising and the battery service life of bearing accuracy.Combine the described method of Fig. 4 the same with preceding text; Behind definite radio target 10 residing spots, the vehicle that is equipped with traverse measurement station 30A is stopped at the place, spot, and is hand-held with reference to guided ware 100A; The rescue personnel of 100B gets off from 30A, goes near radio target 10.But saidly with Fig. 4 different be, with reference to guided ware 100A, will set up with traverse measurement station 30A with reference to transmitter (hereinafter will combine Fig. 9 to further specify) among the 100B communicate by letter, like wireless path 210A in scheming, shown in the 210B, rather than with base station 20A.This wireless path 210A; Other characteristic of 210B then with Fig. 4 in describe the same, for example, have identical mode of operation with wireless path 200 that radio target 10 is set up and (as be both GSM or be both CDMA; Deng); And use same frequency as far as possible, (when adopting FDMA) then used approaching with it frequency as far as possible in the time can not using same frequency.Using with reference to guided ware 100A, the 100B guiding is to the search aspect of radio target 10, and method is also identical with the description of Fig. 4.In method shown in Figure 6; Wireless path 210A, the down direction of 210B (base station transmitter of 30A is to reference to guided ware 100A from the traverse measurement station, among the 100B with reference to the direction of receiver under the transmitter); Except being used to transmit calling for help person and reseaching staff's the speech; Preferably also be used for doing a new job, promptly transmit and be used to be presented at reference to guided ware 100A, on the 100B screen for information about.So just saved traverse measurement station 30A mentioned above, 30B and with reference to guided ware 100A, the wireless local net transceiver among the 100B.In addition, the base station transmitter of traverse measurement station 30A is sent out to reference to guided ware 100A, the power control instruction of 100B; Also can obtain with reference to guided ware 100A the advantage that 100B emissive power and the location survey activity of traverse measurement station 30A are coordinated mutually, the signal to noise ratio (S/N ratio) when measuring to optimize; Reach with reference to guided ware 100A, the more high position precision of 100B position improves the relative positioning precision to radio target 10 indirectly; Simultaneously also can prolong guided ware 100A, the battery life of 100B.Other characteristic that frequency and traverse measurement station base station transmitter are signaled needs suitably to select, and guarantees that not to base station 20B, the user that the operation of 20B and they are served causes interference.

As the radio target, the instance through Fig. 7 is depicted in positioning system and correlation method under the three dimensional pattern with mobile phone in existing supposition.Shown in figure, in recommended embodiment, when at least one traverse measurement station 30 during sufficiently near radio target 10, or when at least one traverse measurement station 30 after the stop of spot, the enforcement of location survey begins in three-dimensional coordinate, to carry out.Radio target 10 and be the degradation factors of location survey precision on the surface level no longer just like this with reference to the height of guided ware 100.Further, radio target 10 and also measured simultaneously and be presented on the display screen with reference to guided ware 100 and traverse measurement station 30 with reference to the height of guided ware 100 offers the user as one of information of search location.The display packing of recommending is the bright height of the other mark of each the localizing objects symbol on two-dimentional display graphics; Or under the operator controls, in the other object height numeral that ejects of relevant localizing objects symbol.The numerical value of relevant height recommends to adopt the relative height value with respect to traverse measurement station 30 height of living in.As another embodiment, also can adopt three-dimensional picture to the demonstration that comprises locating information highly.

Attention: in above explanation, the number at traverse measurement station 30 and be exemplary with reference to the number of guided ware 100.Implementing and using when of the present invention, traverse measurement station 30 can be one or more; Number with reference to guided ware 100 can also be one or more; Traverse measurement station 30 is also not necessarily identical with number with reference to guided ware 100.

Block diagram shown in Figure 8 is the block diagram of traverse measurement station preferred embodiment.Make an explanation with regard to its each function and mutual relationship thereof at present.As shown in the figure, the preferred embodiment at traverse measurement of the present invention station 30 comprises an antenna 305, one receivers 310, one gps antennas 315; One GPS receiver, 320, one digital signal processing sub systems, 325, one schools card antenna 330; One correct transmission machine and receiver mobile telephone 335, show and user interface section 345, one wireless local net (WLAN) antennas 350; One wireless local net transceiver, 355, one gravity sensors 360, and a compass (earth magnetism) sensor 365.As option means, traverse measurement station 30 also can further comprise a base station transmitter 370 and an emitting antenna 375.

Antenna 305 is used for receiving from radio target 10, with reference to guided

ware

100, and 100A, the signal of 100B is to measure their position.Antenna 305 is array antenna preferably; Like this; Not only can carry out time of arrival (TOA) or measurement time of arrival poor (TDOA) (the remodeling algorithm that comprises these rudimentary algorithms), can also arrive the measurement of angle (AOA) measurement and other signal parameter above-mentioned signal to above-mentioned signal.And antenna 305 is the cubical array antenna preferably, that is, a plurality of receiving elements of its antenna are measured thereby can in three dimensions, arrive angle (AOA) to above-mentioned signal in three-dimensional each axial expansion.Antenna 305 preferably is installed on the top of vehicle or ship, and the bottom of helicopter or other aircraft is so that to obtaining comparatively wide visual field from the incoming signal between land or the water column structure.

Receiver 310 is converted to base band with the radiofrequency signal that antenna 305 receives, and with its digitizing.The function of receiver 310 is known by one of skill in the art, comprises amplification, down coversion, and filtering, automatic gain control, analog to digital conversion, or the like, need not to give unnecessary details at this.For carrying out the arrival measurement of angle of signal, receiver 310 is array acceptor preferably, and it is made up of series of identical receiving cable, and its low-converter uses local frequency source common or mutual genlocing.Said frequency source is preferably provided by GPS receiver 320.The digitizing baseband signal output of receiver 310 offers digital signal processing sub system 325 and further processes, and this will be explained below.

As another optional embodiment, antenna 305 can be the narrow beam antenna that is installed on the whirligig and has angular transducer, arrives angle (AOA) in order to measuring-signal.Said whirligig preferably can be done rotation so that arrive measurement of angle at three dimensions on the 3 D stereo angle.

The signal that gps antenna 315 receives from GPS (stellar-based global-positioning system) satellite; Or from the signal of other intimate position location satellite; GLONASS (GLONASS) for example, Big Dipper Navsat, or (Galileo) global position system slightly of the markon in the proposal; Or the like, but in style of writing, be called gps antenna without exception.This antenna preferably is installed on the top of mobile platform, to obtain the optimum field to overhead satellites.Received signal is sent to GPS receiver 320.

GPS receiver 320 is used to receive the gps satellite signal that gps antenna 315 receives or the signal of other similar satellite.Through reception and processing, following output or coherent signal are provided: precise frequency and time reference source to other unit at traverse measurement station 30 to above-mentioned satellite-signal; Traverse

measurement station

30,30A, the present position of 30B and motion state for information about, comprise longitude and latitude, highly, direction of motion, also possibly comprise movement velocity.

Card antenna 330 in school is radio frequency effusion sources, is used for correction array antenna 305 and array acceptor 310.The manufacturing of school card antenna 330 makes each unit of it and array antenna 305 have fixing known propagation delay.It preferably is manufactured in the same solid mechanism with array antenna 305, has definite time delay with the EM coupling between each unit of guaranteeing school card antenna 330 and array antenna 305 (shown in scheming 340).Inject the correction signal of school card antenna 330 and send, will detail below by correct transmission machine 335.School card antenna 330 is in addition also in order to receive the radio target 10 serving base station 20A that do for oneself, the signal of 20B.

Correct transmission machine in correct transmission machine and the receiver mobile telephone 335 partly produces the signal that is used for correction array antenna 305 and array acceptor 310.This correct transmission machine preferably can be provided with like this, and it is produced with radio target 10 and with reference to guided ware 100,100A, and the signal of 100B emission has the correction signal of same frequency and modulation format.Like this, the correction of array antenna 305 and array acceptor 310 can be carried out under the actual working state of traverse measurement station 30 location surveys.After obtaining the parameter (for example frequency and modulating mode) of radio target 10, before beginning that it is positioned measurement, preferably use the parameter of above-mentioned acquisition that self-correcting is carried out at traverse measurement station 30.Receiver mobile telephone in correct transmission machine and the receiver mobile telephone 335 partly is used for receiving the radio target 10 serving base station 20A that do for oneself, and the signal of 20B has related parameter and network timing information with what obtain to comprise in the signaling message.In fact; When the radio target 10 of being searched for only limits to mobile phone; In fact correct transmission machine and receiver mobile telephone 335 are exactly one can be moved the mobile phone that measuring station 30 is provided with running parameter flexibly, comprises its transmitter section and receiver section.

Show with user interface section 345 to comprise that one is accepted the display screen of data from digital signal processing sub system 325, in order to show locating information, for example; Its demonstration possibly comprise radio target 10, with reference to guided ware 100,100A; 100B, and

traverse measurement station

30,30A; Absolute and the relative orientation of 30B, highly, this superimposed with it area map, and the remote sensing photo etc. that reflects this zone geomorphological structure.In Fig. 5, provided an example.This unit also comprises user interface, accepts the control of user to traverse measurement station 30.

Wireless local net (WLAN) antenna 350 is sent to image or the graphic parameter signal that digital signal processing sub system 325 provides with reference to guided ware 100 through wireless path with transceiver 355,100A, and 100B is so that show on reference to the guided ware display screen.Though 355 be called as wireless local net transceiver at this, and recommend to adopt wireless local net transceiver, this does not get rid of and uses other type transceiver to come embodiment of the present invention.

Gravity sensor 360 is used for the degree of tilt to digital signal processing sub system 325 reporting vehicles (or other carries the mobile platform at traverse measurement station 30), in the calculating of digital signal processing sub system 325, to correct arriving measurement of angle.

Compass (earth magnetism) sensor 365 is when vehicle (or other carries the mobile platform at traverse measurement station 30) stop; To digital signal processing sub system 325 these vehicles of report (or other mobile platform) towards, in order in the calculating of digital signal processing sub system 325, to correct to arriving measurement of angle.When vehicle (or other mobile platform) moved, the moving direction that the most handy GPS records was proofreaied and correct this magnetic sensor, to eliminate the influence of car body magnetic interference.

As another selection, gravity sensor 360 can be used based on gyrostatic sensor with geomagnetic sensor 365 and substitute, or is substituted by an acceleration transducer and correlation computations processing.

Digital signal processing sub system 325 comprises signal processor and device; Such as special IC (ASIC), field-programmable gate array (FPGA), digital signal processor (DSP) chip; Microcontroller and general purpose microprocessor; Semiconductor memory, extensive memory storage (like hard disk or CD), peripherals etc.The function of digital signal processing sub system 325 in traverse measurement station 30 comprises: the array receiver carries out self-correcting; To from radio target 10, with reference to guided ware 100,100A, the signal of 100B implement to arrive preset angle configuration (AOA), time of arrival (TOA) method, or time of arrival poor (TDOA) method calculating (remodeling that comprises these methods), or calculate the parameter of being correlated with it; Calculating is from radio target 10, with reference to guided ware 100, and 100A, the longitude and latitude at 100B and traverse measurement station 30 and height; 30 whens motion at the traverse measurement station, the information calculations direction of motion that provides according to GPS receiver 320; 30 when static at the traverse measurement station, the input of base area Magnetic Sensor 365 confirm vehicle (or other carries the mobile platform at traverse measurement station 30) towards, confirm the pitch angle of vehicle (or other carries mobile platform) according to the input of gravity sensor 360; With the azimuthal coordinates point at traverse measurement station 30 (provide or by this digital signal processing subsystem 325 calculate obtain by GPS receiver 320) and radio target 10 with reference to guided ware 100; 100A; The azimuthal coordinates point of 100B is with superimposed from the one's respective area electronic chart that extensive memory storage accesses; And according to the direction of motion of vehicle (or other carry of mobile platform) or stop towards, above-mentioned figure is rotated to the appropriate display angle; According to the operational order of operator, display graphics is carried out convergent-divergent, translation, rotation and change to attributes, and generate last display graphics or image from user interface 345 inputs; Export said display message to display unit 345, and export said relevant display message to wireless local net transceiver 355, further be sent to reference to guided ware 100,100A, 100B display screen pay and show; Control and all functions parts that are provided with in the traverse measurement station 30.When traverse measurement station 30 be equipped with the station carry base station transmitter 370 with it under during antenna 375 (detailing below); Digital signal processing sub system 325 further (with receiver 310) shoulders the digital processing function of bearing a base station; As to radio target 10 or with reference to guided ware 100,100A, the coding and decoding of 100B receiving and transmitting signal; Power control, the processing of signaling and communication protocol etc.

As a kind of optional embodiment, traverse measurement station 30 also can further comprise a station carry base station transmitter 370 and one under emitting antenna 375.Stand and carry the function that base station transmitter 370 is born an ordinary base station transmitter, comprise with digital signal processing sub system 325 and receiver 310 and realize signaling and communication protocol, power control; Also comprise digital-to-analog conversion, modulation, up-conversion; Power amplification, and be radiated in the air through antenna 375.As what in explanation, discussed to Fig. 6; When be equipped with the station carry base station transmitter 370 and under during emitting antenna 375, bear above-described wireless local net transceiver 355 and under the function of antenna 350, to reference to guided ware 100; 100A, 100B transmits video data.

Block diagram shown in Figure 9 among the present invention with reference to the preferred embodiment block diagram of guided ware 100.The function and the mutual relationship thereof of blocks are made detailed description at present.As shown in the figure; The present invention comprises one with reference to transmitter 440 with reference to the preferred embodiment of guided ware 100; One is used for being used for reference to antenna 450, one wireless local net (WLAN) transceivers 430, of transmitter the antenna 460 of wireless local net transceiver; One microprocessor 410, shows and user interface section 420.In another optional solid yardage case, also further comprise a GPS receiver 480 and affiliated antenna 490, and a compass (earth magnetism) sensor 470.

With reference to transmitter 440 be one can be by the air interface of radio target 10, with the device of identical modulation system and identical (or close) frequency emissioning signal with it.Depend on the communication standard that is adopted, the receiver that the common requirement of this transmitter matches is with it worked together, with the function that realizes stipulating such as in the communication standards such as power control and communication protocol processing.Therefore; In this case; When radio target 10 is when deferring to the mobile phone handsets of certain communication standard, reference transmitter 440 in fact also is mobile phone handsets of deferring to this communication standard, and it comprises the mobile phone receiver that does not obviously indicate among the figure.Said reference transmitter (and affiliated receiver) 440 is preferably supported multiband, many communication standards, and can carry out the phone Speech Communication with radio target 10 grades through it as a common mobile phone.As previously mentioned, the major function of reference transmitter 440 is signals that emission is similar to radio target 10 emission, and in order to being moved measuring

station

30,30A, 30B confirm the relative orientation of itself and radio target 10.

Wireless local net transceiver 430 reaches affiliated antenna 460 and is installed in traverse measurement station 30; 30A; Corresponding wireless local net transceiver 355 (referring to Fig. 8) among the 30B intercoms mutually, is shown in the data with reference to guided ware 100 video datas and user interface section 420 in order to reception.Though this unit 430 is called as wireless local net transceiver, and recommends to adopt wireless local net transceiver, the present invention not to get rid of and use the transceiver of other type to come embodiment of the present invention.

Microprocessor 410 is used to control and be provided with all the controllable function unit with reference in the guided ware 100.It also receives the user through the operational order that shows and user interface section 420 provides, and to implementing control with reference to guided ware 100, comprises the control to showing, like convergent-divergent, and translation, rotation changes graphic attribute and display format etc.

As an optional embodiment; Also comprise a geomagnetic sensor 470 with reference to guided ware 100; It to microprocessor 410 report with reference to guided ware 100 bodies hand-held towards; According to towards microprocessor 410 automatically to display screen 420 on images displayed implement rotation, what make institute's display image can be according to the direct search of decision oneself direction of walking about of the direction that shows in the image to, user towards the related side of automatic aligning surrounding environment; Find out all directions and need not manual work, convenient search to radio target 10.

As another optional embodiment, also comprise a GPS receiver 480 and affiliated gps antenna 490 with reference to guided ware 100, they have the occasion of enough field intensity to the absolute orientation of microprocessor 410 reports with reference to guided ware 100 at gps signal.The orientation of being reported sends traverse measurement station 30 to through wireless local net transceiver 430 and affiliated antenna 460.Receive from orientation with reference to GPS receiver in the guided ware 100 480 report, traverse measurement station 30 will with it revise that traverse measurement station 30 oneself records about orientation with reference to guided ware 100.

As another optional embodiment; As the narration of preceding text about Fig. 6 and Fig. 8; When traverse measurement station 30 comprises that base station transmitter 370 and affiliated antenna 375 are carried in a station; Bear the function that wireless local net transceiver 430 reaches affiliated antenna 460 with reference to transmitter (and attached receiver) 440 and affiliated antenna 450, for example, receive the data that are used to be shown in display 420.In this optional embodiment, wireless local net transceiver 430 and affiliated antenna 460 can remove in reference to guided ware 100.

Method and system mentioned above, when being applied to not be other business of E911 business, the emission process of radio target 10 can be that radio target 10 is initiated, and can also be 10 terminating of radio target; Can someone get involved, can also be unmanned the intervention.For example, emission process can be that radio target 10 is triggered by some means and startup voluntarily; Can also be that people or machine are got phone, and this phone be begun emission by 10 terminating of radio target; It can also be certain custom-designed special emission process.

In whole instructions and claims, comprise that in the accompanying drawings term " radio target " is interchangeable mutually with " targeted radio emitter " or " radio transmitting apparatus "; Term " with reference to transmitter " is interchangeable mutually with " moving with reference to radio transmitting apparatus " or " with reference to radio transmitting apparatus ".In addition, as previously mentioned, when " with reference to transmitter " and " guided ware " were merged into a device, this device that has with reference to transmitter and guided ware dual-use function was called as " with reference to guided ware ".Based on context, when speaking of, possibly refer to function, also possibly refer to the function of guided ware, or both have concurrently with reference to transmitter with reference to guided ware.When relating to guided ware, possibly refer to independent guided ware, or refer to guided ware function with reference to guided ware.When relating to reference to transmitter or during with reference to wireless launcher, possibly refer to independent with reference to transmitter or independent with reference to wireless launcher, also possibly refer to reference to guided ware with reference to transmitter function.

The embodiment that describes around here is the instance that comprises with structure, system or the method for the corresponding element of element of the present invention.This written explanation can make this area professional possess manufacturing and use the ability of the embodiment that comprises the element that changes with the corresponding warp of element of the present invention.Therefore, category of the present invention comprises not and contrary other structure according to the invention, system or method, also comprises other structure, system or method with no essential distinction according to the invention.

Claims

1. orientation that is used for confirming at least one radio transmitting apparatus; And can cooperate with guided ware equipment, search machine people or with reference to radio transmitting apparatus; Be used to guide removable measuring station equipment, it is characterized in that it comprises the search of said radio transmitting apparatus:

First antenna;

First receiver, its input end and said first antenna are coupled, and are used to receive from said radio transmitting apparatus, guided ware equipment, search machine people or with reference to the signal of radio transmitting apparatus;

Second antenna;

Second receiver, its input end and said second antenna are coupled, and are used to receive positioning satellite signal, to said first receiver precision frequency source and timing are provided, and output is about the orientation of this removable measuring station and towards digitizing position location satellite information;

One demonstration and user interface section are used for showing location and search for boot information to the user, and accept the control of user to this removable measuring station;

Third antenna;

One transmitter is coupled with said third antenna, transmits to said guided ware equipment to be used to be presented at the information on its screen;

One gravity sensor and a geomagnetic sensor are used to the orientation of confirming removable measuring station and reach towards information is provided; And

One digital signal processing unit is with said first and second receiver, transmitter; Gravity sensor and geomagnetic sensor; Show with user interface section to be coupled respectively that the signal that said first receiver is provided is implemented signal parameter and measured, confirm said traverse measurement station the orientation and towards; Said radio transmitting apparatus is implemented location estimation and accurately revised; Accept the user through the steering order that said demonstration and user interface section provide, be created in the information that said demonstration and user interface section show, control other each parts at this traverse measurement station.

2. removable according to claim 1 measuring station equipment is characterized in that said first antenna is an array antenna, and said first receiver is an array receiver, and its each array channel is mutual phase locking.

3. removable according to claim 1 measuring station equipment, when the location with the object of search for boot be one and wireless communications network base station intercom mutually wireless launcher the time, it is characterized in that it further comprises:

The 4th antenna;

One base station transmitter; It and said the 4th antenna are coupled, and are coupled with said digital signal processing unit, are used to make said removable measuring station equipment to possess the function of a base station; Make said radio transmitting apparatus; With reference to radio transmitting apparatus, the guided ware device, or the search machine philtrum one of at least affiliated transceiver can switch to said removable measuring station equipment; And can be used for the information of transmitting and displaying, or be used for the information of transmitting and displaying in search machine people control desk in guided ware device display screen;

Said first receiver further provides the function of base station receiver; And

Said digital signal processing unit further provides the digital signal processing function relevant with base station functions.

4. removable according to claim 1 measuring station equipment is characterized in that it further comprises:

One the 5th antenna is used to transmit and proofreaies and correct said first antenna and said first receiver, and when said radio transmitting apparatus intercoms with wireless communications network base station mutually, also is used for receiving from said signal of base station; And

One correct transmission machine and affiliated receiver mobile telephone; It and said the 5th antenna are coupled; Also be coupled, be used to produce signal said first antenna and said first receiver enforcement correction with said digital signal processing unit, and when said wireless launcher intercoms with wireless communications network base station mutually; Be used to receive the signal of base station that said wireless launcher is communicated by letter with it, and the information that receives is offered said digital signal processing unit.

5. removable according to claim 1 measuring station equipment is characterized in that, said gravity sensor and geomagnetic sensor are substituted by a gyro sensor.

6. removable according to claim 1 measuring station equipment is characterized in that, said gravity sensor and geomagnetic sensor are substituted by an acceleration transducer.

7. one kind with reference to guided ware equipment, be used for working in coordination with to confirm with at least one measuring station the orientation of targeted radio emitter, and guiding is characterized in that to the search of this targeted radio emitter it comprises:

First antenna;

One with reference to radio transmitter, and it and said first antenna are coupled, and produces the signal with targeted radio signal similar that emitter produces;

Second antenna;

One transceiver, it and said second antenna are coupled, and receive orientation direction and display message that said measuring station is sent, and communication protocol signaling between emission, reception and the said measuring station;

One microprocessor, it and saidly be coupled with reference to radio transmitter and said transceiver, accept also to handle orientation direction and the display message of receiving by said transceiver, each functional unit that also control is coupled with it is set; And

One demonstration and user interface section are coupled with said microprocessor, accept the user to the steering order with reference to guided ware, and it is sent to said microprocessor, show orientation direction and the display message that said microprocessor is accepted and handled to the user.

8. it is characterized in that with reference to guided ware equipment that as claim 7 is said it further comprises:

One location satellite-signal antenna

One location satellite signal receiver; It and said positioning satellite signal antenna are united and said microprocessor is coupled respectively; Be used to receive positioning satellite signal to obtain absolute location information; And with the said microprocessor of said direct information, and then mail to measuring station via said transceiver and said second antenna.

One geomagnetic sensor, it and said microprocessor are coupled, provide about said with reference to guided ware towards information, the processing that is used for image rotation and shows.

9. search machine people who comes the ferret out radio transmitting apparatus with at least one measuring station or removable measuring station collaborative work is characterized in that it comprises:

One robot;

One with reference to radio transmitting apparatus; This device is installed on said robot; Can launch the radio signal that transmits and have identical or close rf propagation characteristic and can detect characteristic with the targeted radio emitter, be used for assisting said measuring station or removable measuring station to implement relative position and estimate; And

One geomagnetic sensor, this geomagnetic sensor are installed on said robotic vision subsystem, in order to confirm said robot vision towards.