CN102065536B - User terminal positioning method and device, user terminal navigation method and device - Google Patents
User terminal positioning method and device, user terminal navigation method and device Download PDFInfo
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- CN102065536B CN102065536B CN200910221634.9A CN200910221634A CN102065536B CN 102065536 B CN102065536 B CN 102065536B CN 200910221634 A CN200910221634 A CN 200910221634A CN 102065536 B CN102065536 B CN 102065536B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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Abstract
The invention provides a user terminal positioning method and a device, wherein the user terminal positioning method and the device can obtain different preliminary location information determined by using different positioning technologies by the same user terminal, and melt all the different preliminary location information to obtain the final position information of the user terminal. The invention further provides a user terminal navigation method and a device, wherein the user terminal navigation method and the device can obtain different preliminary location information determined by using different positioning technologies by the same user terminal, melt all the different preliminary location information to obtain the final position information of the user terminal, and then determine and provide the navigation information formed by the final location information based on the final location information. The user terminal positioning method and the device, the user terminal navigation method and the device can combine more than one positioning technology to position the user terminal, therefore the positioning is much closer to the real value than any one positioning technology, so that the positioning precision of the user terminal is obviously improved.
Description
Technical field
The present invention relates to the positioning field of communicating by letter, be specifically related to user terminal localization method, device and user terminal air navigation aid, device.
Background technology
Common user terminal localization method is divided into two classes substantially at present: a class is based on mobile network's location, the another kind of location that is based on GPS; But there is setting accuracy problem separately respectively in different location technologies, as: the coverage rate based on the location technology of GPS is relatively poor, and the gps signal very poor or easy interruption in place such as in indoor, tunnel can't effectively accurately be located in this case.Be subjected to the influence of multiple unfavorable factors such as radio wave multipath, non-line-of-sight propagation, noise, interference and channel frequency characteristic easily based on mobile network's location technology, make that the electric wave pattern measurement value relevant with user terminal location occurs inevitably than mistake, cause positioning accuracy to occur than large deviation.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of user terminal localization method and device, to improve the user terminal positioning accuracy.
Another object of the present invention is to provide a kind of user terminal air navigation aid and device, to provide navigation information on the basis of improving the user terminal positioning accuracy.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of user terminal localization method, this method comprises:
Obtain using the preliminary positional information of the determined difference of different location technologies at same user terminal; All described preliminary positional informations are merged, obtain the final position information of described user terminal;
Wherein, described mixing operation comprises: determine to use corresponding all the information distribution coefficients of different location technologies, and according to the represented weight of determined information distribution coefficient corresponding each preliminary positional information is weighted calculating;
Described mixing operation comprises to be determined to use under the situation of corresponding all the information distribution coefficients of different location technologies, and definite method of described information distribution coefficient is:
β2＝0，n≤2；
β2＝[1-0.99]*(n-2)/10，n＞2，p≤2；
β2＝[1-(2/p)]*(n-2)/10，n＞2，2＜p≤5；
β2＝[1-(1/p)]*(n-2)/10，n＞2，5＜p≤10；
β2＝[1-(1/2p)]*(n-2)/10，n＞2，p＞10；
β 2=1, the GPS no signal;
β1＝1-β2；
β 1, β 2 represent respectively to use A-GPS location technology and the corresponding information distribution coefficient of OTDOA location technology in the formula, and p represents the GPS position dilution of precision, and n represents the number of base stations that user terminal can observe;
Perhaps, set in advance the fixed value of β 1 and β 2.
Definite method of described information distribution coefficient is:
Obtain the accuracy of described location technology, calculate the corresponding information distribution coefficient of location technology according to this accuracy;
Perhaps, set in advance the fixed value of information distribution coefficient.
Described location technology is that GPS location technology and the OTDOA observation of A-GPS network assistance arrives the time difference location technology.
Further determine navigation information according to described final position information and provide, determine that the method for this navigation information is:
Resulting final position information is located continuously as navigation information for user terminal in front and back at every turn;
Perhaps, locating resulting final position information in conjunction with each for user terminal, is that user terminal is located resulting final position information and upgraded based on feeding back at the last time, will upgrade income value as navigation information.
A kind of user terminal air navigation aid, this method comprises:
Obtain using the preliminary positional information of the determined difference of different location technologies at same user terminal; All described preliminary positional informations are merged, obtain the final position information of described user terminal; According to the final position information that obtains, determine the navigation information that is constituted by this final position information and provide;
Wherein, described mixing operation comprises: determine to use corresponding all the information distribution coefficients of different location technologies, and according to the represented weight of determined information distribution coefficient corresponding each preliminary positional information is weighted calculating;
Described mixing operation comprises to be determined to use under the situation of corresponding all the information distribution coefficients of different location technologies, and definite method of described information distribution coefficient is:
β2＝0，n≤2；
β2＝[1-0.99]*(n-2)/10，n＞2，p≤2；
β2＝[1-(2/p)]*(n-2)/10，n＞2，2＜p≤5；
β2＝[1-(1/p)]*(n-2)/10，n＞2，5＜p≤10；
β2＝[1-(1/2p)]*(n-2)/10，n＞2，p＞10；
β 2=1, the GPS no signal;
β1＝1-β2；
β 1, β 2 represent respectively to use A-GPS location technology and the corresponding information distribution coefficient of OTDOA location technology in the formula, and p represents the GPS position dilution of precision, and n represents the number of base stations that user terminal can observe;
Perhaps, set in advance the fixed value of β 1 and β 2.
The method of determining described navigation information is:
Resulting final position information is located continuously as navigation information for user terminal in front and back at every turn;
Perhaps, locating resulting final position information in conjunction with each for user terminal, is that user terminal is located resulting final position information and upgraded based on feeding back at the last time, will upgrade income value as navigation information.
Described update method is:
Preliminary positional information at different location technologies, calculate current preliminary positional information and the preceding once difference of preliminary positional information respectively, and all differences that obtain are merged, to merge the final position information addition of income value and a preceding gained again, with the addition income value as upgrading income value.
A kind of user terminal positioner, this device comprise continuous fusion decision package, merge performance element;
Wherein, described fusion decision package is used corresponding all the information distribution coefficients of different location technologies when being used for being defined as the user terminal location, and is notified described fusion performance element with determined information distribution coefficient;
Described fusion performance element, be used for receiving and use the preliminary positional information of the determined difference of different location technologies at same user terminal, and use the described information distribution coefficient of receiving merges to obtain described user terminal to described preliminary positional information final position information;
Wherein, described fusion performance element is used for when carrying out described mixing operation: the weight represented according to the information distribution coefficient of receiving is weighted calculating to corresponding each preliminary positional information;
Described mixing operation comprises to be determined to use under the situation of corresponding all the information distribution coefficients of different location technologies, and definite method of described information distribution coefficient is:
β2＝0，n≤2；
β2＝[1-0.99]*(n-2)/10，n＞2，p≤2；
β2＝[1-(2/p)]*(n-2)/10，n＞2，2＜p≤5；
β2＝[1-(1/p)]*(n-2)/10，n＞2，5＜p≤10；
β2＝[1-(1/2p)]*(n-2)/10，n＞2，p＞10；
β 2=1, the GPS no signal;
β1＝1-β2；
β 1, β 2 represent respectively to use A-GPS location technology and the corresponding information distribution coefficient of OTDOA location technology in the formula, and p represents the GPS position dilution of precision, and n represents the number of base stations that user terminal can observe;
Perhaps, set in advance the fixed value of β 1 and β 2.
Described fusion decision package links to each other with the locating information receiving element, is used for receiving using the preliminary positional information of the determined described difference of different location technologies at same user terminal.
Described locating information receiving element is A-GPS locating information receiving element and OTDOA locating information receiving element.
A kind of user terminal guider, this device comprise continuous fusion decision package, merge performance element, navigation information description unit;
Wherein, described fusion decision package is used corresponding all the information distribution coefficients of different location technologies when being used for being defined as the user terminal location, and is notified described fusion performance element with determined information distribution coefficient;
Described fusion performance element, be used for receiving and use the preliminary positional information of the determined difference of different location technologies at same user terminal, and use the described information distribution coefficient receive described preliminary positional information is merged to obtain the final position information of described user terminal, and then determine the navigation information that is constituted by this final position information and offer described navigation information description unit;
Described navigation information description unit is used for providing continuous navigation information according to the final position information of receiving;
Wherein, described fusion performance element is used for when carrying out described mixing operation: the weight represented according to the information distribution coefficient of receiving is weighted calculating to corresponding each preliminary positional information;
Described mixing operation comprises to be determined to use under the situation of corresponding all the information distribution coefficients of different location technologies, and definite method of described information distribution coefficient is:
β2＝0，n≤2；
β2＝[1-0.99]*(n-2)/10，n＞2，p≤2；
β2＝[1-(2/p)]*(n-2)/10，n＞2，2＜p≤5；
β2＝[1-(1/p)]*(n-2)/10，n＞2，5＜p≤10；
β2＝[1-(1/2p)]*(n-2)/10，n＞2，p＞10；
β 2=1, the GPS no signal;
β1＝1-β2；
β 1, β 2 represent respectively to use A-GPS location technology and the corresponding information distribution coefficient of OTDOA location technology in the formula, and p represents the GPS position dilution of precision, and n represents the number of base stations that user terminal can observe;
Perhaps, set in advance the fixed value of β 1 and β 2.
User terminal localization method of the present invention, device and user terminal air navigation aid, device, all can position user terminal in conjunction with more than a kind of location technology, adopt any location technology to position all more close to actual value than simple, therefore can obviously improve the user terminal positioning accuracy.
Description of drawings
Fig. 1 is the user terminal positioning flow figure of one embodiment of the invention;
Fig. 2 is the user terminal positioner figure of one embodiment of the invention;
Fig. 3 is user terminal positioning flow sketch of the present invention;
Fig. 4 is the user terminal guider figure of another embodiment of the present invention;
Fig. 5 is user terminal flow of navigation sketch of the present invention.
Embodiment
On general thought, the invention provides a kind of user terminal localization method, comprise obtaining using the preliminary positional information of the determined difference of different location technologies at same user terminal; All described preliminary positional informations are merged, obtain the final position information of described user terminal.
The present invention also provides a kind of user terminal positioner, comprises continuous fusion decision package, merges performance element; Wherein, described fusion decision package is used corresponding all the information distribution coefficients of different location technologies when being used for being defined as the user terminal location, and is notified described fusion performance element with determined information distribution coefficient; Described fusion performance element, be used for receiving and use the preliminary positional information of the determined difference of different location technologies at same user terminal, and use the described information distribution coefficient of receiving merges to obtain described user terminal to described preliminary positional information final position information.
The present invention provides a kind of user terminal air navigation aid again, comprises obtaining using the preliminary positional information of the determined difference of different location technologies at same user terminal; All described preliminary positional informations are merged, obtain the final position information of described user terminal; According to the final position information that obtains, determine the navigation information that is constituted by this final position information and provide.
The present invention provides a kind of user terminal guider again, and this device comprises continuous fusion decision package, merges performance element, navigation information description unit; Wherein, described fusion decision package is used corresponding all the information distribution coefficients of different location technologies when being used for being defined as the user terminal location, and is notified described fusion performance element with determined information distribution coefficient; Described fusion performance element, be used for receiving and use the preliminary positional information of the determined difference of different location technologies at same user terminal, and use the described information distribution coefficient receive described preliminary positional information is merged to obtain the final position information of described user terminal, and then determine the navigation information that is constituted by this final position information and offer described navigation information description unit; Described navigation information description unit is used for providing continuous navigation information according to the final position information of receiving.
Referring to Fig. 1, Fig. 1 is the user terminal positioning flow figure of one embodiment of the invention, and this flow process may further comprise the steps:
Step 100: user terminal is to location server initiation Location Request and with self residential quarter ID of living in, A-GPS (Assisted GPS, the GPS of network assistance) status report of module is given location server, enter step 110 under the situation that application A-GPS mode positions, and the next step 140 that directly enters of situation that application OTDOA (Observed Time Difference Of Arriva1, observation arrives the time difference) mode positions.
Step 110: whether location server judges according to the A-GPS module status of user terminal that user terminal is current can realize the GPS function, if can realize the GPS function, enters step 111; Otherwise directly enter step 120.
Step 111: location server transmits the GPS supplementary relevant with this position according to the Position Approximate (can be determined by the information such as residential quarter ID of user terminal to send up by location server) of user terminal to user terminal.If be in no occlusion area, user terminal can receive from the GPS supplementary of location server smoothly to catch satellite and then to receive the GPS primary signal, can promote like this gps signal first locking time ability.And, user terminal is restituted signal after receiving the GPS primary signal, according to pseudorange (pseudorange be often referred to the distance that the be subjected to various GPS error effects) information of demodulation gained calculated signals self to satellite, again the pseudorange information that calculates is sent to location server.
Step 112: after location server transmits the GPS supplementary to user terminal, can in the certain hour section, wait for the pseudorange information that user terminal is sent.
Step 113: location server judges that whether the wait user terminal returns pseudorange information overtime, if overtime, enters step 120; Otherwise, enter step 130.
The accuracy P1 of step 120: A-GPS location is set to 0, enters step 150.
Step 130: location server is according to from user terminal pseudorange information with from the supplementary of assist location equipment (as the differential GPS base station etc.) user terminal being carried out the GPS information calculations, obtain the estimated position X1 of user terminal, and the location server record carries out the PDOP (GPS position dilution of precision) of A-GPS location to user terminal.
Step 131: location server enters step 150 according to the accuracy P1 that the PDOP that records calculates user terminal.
Step 140: the different due ins of the different base station down-bound pilot frequency signal that user terminal measurement can observe are also gathered, and the time difference that a plurality of base stations that will collect afterwards receive user terminal signal sends to location server.
Step 141: the described time difference that location server sends according to user terminal is utilized compute mode estimation user terminal location X2 and accuracy P2 such as hyperbolic model, and record can embody the number of base stations of setting accuracy.
Step 150: according to using accuracy P1, the P2 that A-GPS mode and OTDOA mode are obtained respectively, location server definite application A-GPS mode and the corresponding information distribution factor beta 1 of OTDOA mode, β 2.
Choosing of information distribution coefficient is very important.The information distribution coefficient of supposing A-GPS and OTDOA location is respectively β 1 and β 2, then generally should satisfy β 1+ β 2=1.β 1 is more big, and it is more big to represent the shared weight of A-GPS, and vice versa.During concrete the application, accuracy P1, the P2 that can adopt A-GPS mode and OTDOA mode to be obtained respectively decides the value of β 1, β 2.P1 can weigh according to PDOP (the GPGSA statement that PDOP can be from the navigation message of GPS obtains), and between 0.5 to 99.9, this value is more little usually, represents that accuracy is more high.P2 can weigh according to the number of base stations n that user terminal can observe, and the number of base stations n that user terminal can observe is more big, and the expression accuracy is more high.
Afterwards, as long as can reasonably select β 1 and β 2 according to P1, P2.The algorithm that can determine β 1 and β 2 has multiple, and wherein a kind of reference algorithm is as follows:
β2＝O，n≤2；
β2＝[1-0.99]*(n-2)/10，n＞2，p≤2；
β2＝[1-(2/p)]*(n-2)/10，n＞2，2＜p≤5；
β2＝[1-(1/p)]*(n-2)/10，n＞2，5＜p≤10；
β2＝[1-(1/2p)]*(n-2)/10，n＞2，p＞10；
β 2=1, the GPS no signal;
β1＝1-β2。
P refers to PDOP in the formula.
In actual applications, also can when each location, all recomputate β 1 and β 2, but set in advance fixed value (as: close 0.9, β, 2 values close 0.1 of β 1 value of β 1 and β 2, concrete scope decide by actual conditions, otherwise influencing setting accuracy gets final product); And, also can use the information such as parameter beyond P1, the P2 to determine β 1 and β 2, as long as determined β 1 and β 2 can rationally embody the accuracy weight that application A-GPS mode and OTDOA mode are obtained respectively.
Step 151: location server carries out information fusion according to 2 couples of X1 of determined β 1, β and X2, obtains the optimal estimation value X of user terminal location, and this X is sent to user terminal as the final position information of user terminal.
Described information fusion can take full advantage of the advantage of different location technologies, draws optimal estimation value X.Suppose certain Location Request for user terminal, the estimated value that the A-GPS location draws is X1, and accuracy is P1; The estimated value that the OTDOA location draws is X2, and accuracy is P2.X1, X2 are coordinates matrix in fact, and P1, P2 are error covariance matrixes.The concrete operations of information fusion normally are weighted calculating according to β 1, β 2 represented weights to corresponding X1, X2, and these computational methods generally should satisfy following formula: X=β 1*X1+ β 2*X2; β 1+ β 2=1; P
-1=P1
-1+ P2
-1
By above-mentioned Information Fusion as can be known, for multisensor input model (just many information input), even the poorest transducer of precision participates in also being conducive to after the information fusion raising of certainty of measurement.That is to say that the optimal estimation value that draws after the information fusion adopts any localization method more close to actual value than simple.
Have, for realizing the A-GPS location, on user terminal the GPS receiver module must be installed, this module is responsible for receiving GPS information; And user terminal also must have supporting software, carries out functions such as analyzing and processing with user's interactive interface with to gps navigation message with realization, at network side location server and assist location equipment will be installed also simultaneously.Communication networks such as present 3G can have been supported the A-GPS location.For realizing the OTDOA location, need to exist the technical support that can realize OTDOA in the communication network.
As seen from Figure 1, owing to can position user terminal in conjunction with more than a kind of location technology, therefore can obviously improve the user terminal positioning accuracy.For realizing operation shown in Figure 1, device as shown in Figure 2 can be set.Referring to Fig. 2, Fig. 2 is the user terminal positioner figure of one embodiment of the invention, this device comprises A-GPS locating information receiving element, the OTDOA locating information receiving element that links to each other with the locating information integrated unit, and the locating information integrated unit then is made of the fusion decision package that links to each other, fusion performance element.Described locating information integrated unit can independently be set to a device, or merges setting with other device; And this locating information integrated unit can be arranged at network side or user's side according to actual needs, as long as can operate as normal.
Wherein, A-GPS locating information receiving element receives the A-GPS locating information (as: X1, P1, PDOP etc.) at user terminal, and the A-GPS locating information of receiving is sent to the locating information integrated unit; OTDOA locating information receiving element receives the OTDOA locating information (as: the number of base stations n that X2, P2, user terminal can observe etc.) at user terminal, and the OTDOA locating information of receiving is sent to the locating information integrated unit.Described locating information can provide the device of position information of user's terminal from location server or other.
Fusion decision package in the locating information integrated unit can be determined β 1, β 2 according to the locating information (as: number of base stations n, P2 etc. that PDOP, P1, user terminal can observe) from A-GPS locating information receiving element and OTDOA locating information receiving element, or one or more among the β 1, the β 2 that directly determine to use are predefined; Afterwards, determined β 1, β 2 are sent to the fusion performance element.Merge performance element and carry out information fusion according to the β 1, the β 2 that receive and the X1 of X1, X2 and X2, obtain the optimal estimation value X of user terminal location, this X is sent to user terminal as the final position information of user terminal.
Be not difficult to find out from Fig. 1 and Fig. 2, in actual applications, related location technology should not be only limited to two kinds of A-GPS and OTDOA during concrete location, but can use the multiple location technology that can be the user terminal location, and as: can also use location technology based on Cell-ID (cellular cell ID), based in the location technology of AOA+TA (signal arrives angle+Timing Advance) etc. one or more.In this case, can with multiple location technology the user terminal locating information determined respectively regard preliminary positional information as, and these preliminary positional informations are sent to the locating information integrated unit, fusion decision package in the locating information integrated unit can be determined corresponding β respectively at different location technologies according to the preliminary positional information of receiving, or one or more among the β that directly determines will use respectively at different location technologies are predefined; Afterwards, determined β is sent to the fusion performance element.Merge performance element and according to the corresponding β of different location technologies that receives and preliminary positional information this preliminary positional information is carried out information fusion, obtain the optimal estimation value X of user terminal location, this X is sent to user terminal as the final position information of user terminal.
Need to prove, may be different at β, X deterministic process that different location technologies are carried out, should be able to revise (as: conventional operation replacement, parameter replacement or modification etc.) in this case at specific operation process targetedly and realize to support final location.
As seen, above-mentioned location thinking can be set forth by Fig. 3.Referring to Fig. 3, Fig. 3 is user terminal positioning flow sketch of the present invention, and this flow process may further comprise the steps:
Step 310: obtain using the preliminary positional information of the determined difference of different location technologies at same user terminal.
Step 320: all described preliminary positional informations are merged, obtain the final position information of described user terminal.
Under the prerequisite that realizes the user terminal location, can also further realize the navigation to user terminal.Realize the principle of navigation as shown in Figure 4, Fig. 4 is the user terminal guider figure of another embodiment of the present invention, this device is similar with device shown in Figure 2, but has added the navigation information description unit that is used for realizing navigation, and this unit links to each other with fusion performance element in the locating information integrated unit.
During concrete the application, merge performance element and resulting final position information is located for user terminal in front and back at every turn send to the navigation information description unit continuously, describe videos such as (need have support device) electronic map display according to the final position information of receiving with electronic chart and/or voice suggestion modes such as (audio frequency support devices such as audio output device need be arranged) in position provides continuous navigation information by the navigation information description unit.
In addition, each resulting final position information also can be the renewal final position information based on feedback at last final position information, concrete operations are: at the preliminary positional information of different location technologies, calculate current preliminary positional information and the preceding once difference of preliminary positional information respectively, and use the corresponding β that determines respectively at different location technologies (this β can be that current new that determine or predetermined fixed arranges) all differences that obtain are merged (concrete fusion method is dilated in aforementioned, do not repeat them here), to merge the final position information addition of income value and a preceding gained again, obtain current user terminal final position information at last.
This renewal final position information based on feedback can independently calculate by merging performance element, or finally draws through locating information receiving element, fusion decision package, fusion performance element etc. respectively under the situation that the information support is provided through other related device.And, as long as can obtain renewal final position information based on feedback smoothly, can also add being connected between the devices such as merging performance element and locating information receiving element, with for described feedback and information, data support etc. are provided.Have again, identical with the thinking that relates to when location, in above-mentioned navigation application, when specifically navigating related location technology also can be multiple can be the location technology of user terminal location.
As seen, above-mentioned navigation thinking can be set forth by Fig. 5.Referring to Fig. 5, Fig. 5 is user terminal flow of navigation sketch of the present invention, and this flow process may further comprise the steps:
Step 510: obtain using the preliminary positional information of the determined difference of different location technologies at same user terminal.
Step 520: all described preliminary positional informations are merged, obtain the final position information of described user terminal.
Step 530: according to the final position information that obtains, determine the navigation information that is constituted by this final position information.
In actual applications, user terminal can be communicators such as mobile phone, fixed station, mobile transceiver.
By the above as can be known, user terminal localization method of the present invention and device owing to can position user terminal in conjunction with more than a kind of location technology, therefore can obviously improve the user terminal positioning accuracy.And then user terminal air navigation aid of the present invention and device can provide navigation information on the basis of improving the user terminal positioning accuracy.
The above is preferred embodiment of the present invention only, is not for limiting protection scope of the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a user terminal localization method is characterized in that, this method comprises:
Obtain using the preliminary positional information of the determined difference of different location technologies at same user terminal; All described preliminary positional informations are merged, obtain the final position information of described user terminal;
Wherein, described mixing operation comprises: determine to use corresponding all the information distribution coefficients of different location technologies, and according to the represented weight of determined information distribution coefficient corresponding each preliminary positional information is weighted calculating;
Described mixing operation comprises to be determined to use under the situation of corresponding all the information distribution coefficients of different location technologies, and definite method of described information distribution coefficient is:
β2＝0，n≤2；
β2＝[1-0.99]*(n-2)/10，n＞2，p≤2；
β2＝[1-(2/p)]*(n-2)/10，n＞2，2＜p≤5；
β2＝[1-(1/p)]*(n-2)/10，n＞2，5＜p≤10；
β2＝[1-(1/2p)]*(n-2)/10，n＞2，p＞10；
β 2=1, the GPS no signal;
β1＝1-β2；
β 1, β 2 represent respectively to use A-GPS location technology and the corresponding information distribution coefficient of OTDOA location technology in the formula, and p represents the GPS position dilution of precision, and n represents the number of base stations that user terminal can observe;
Perhaps, set in advance the fixed value of β 1 and β 2.
2. method according to claim 1 is characterized in that, further determines navigation information according to described final position information and provides, and determines that the method for this navigation information is:
Resulting final position information is located continuously as navigation information for user terminal in front and back at every turn;
Perhaps, locating resulting final position information in conjunction with each for user terminal, is that user terminal is located resulting final position information and upgraded based on feeding back at the last time, will upgrade income value as navigation information.
3. a user terminal air navigation aid is characterized in that, this method comprises:
Obtain using the preliminary positional information of the determined difference of different location technologies at same user terminal; All described preliminary positional informations are merged, obtain the final position information of described user terminal; According to the final position information that obtains, determine the navigation information that is constituted by this final position information and provide;
Wherein, described mixing operation comprises: determine to use corresponding all the information distribution coefficients of different location technologies, and according to the represented weight of determined information distribution coefficient corresponding each preliminary positional information is weighted calculating;
Described mixing operation comprises to be determined to use under the situation of corresponding all the information distribution coefficients of different location technologies, and definite method of described information distribution coefficient is:
β2＝0，n≤2；
β2＝[1-0.99]*(n-2)/10，n＞2，p≤2；
β2＝[1-(2/p)]*(n-2)/10，n＞2，2＜p≤5；
β2＝[1-(1/p)]*(n-2)/10，n＞2，5＜p≤10；
β2＝[1-(1/2p)]*(n-2)/10，n＞2，p＞10；
β 2=1, the GPS no signal;
β1＝1-β2；
β 1, β 2 represent respectively to use A-GPS location technology and the corresponding information distribution coefficient of OTDOA location technology in the formula, and p represents the GPS position dilution of precision, and n represents the number of base stations that user terminal can observe;
Perhaps, set in advance the fixed value of β 1 and β 2.
4. method according to claim 3 is characterized in that, determines that the method for described navigation information is:
Resulting final position information is located continuously as navigation information for user terminal in front and back at every turn;
Perhaps, locating resulting final position information in conjunction with each for user terminal, is that user terminal is located resulting final position information and upgraded based on feeding back at the last time, will upgrade income value as navigation information.
5. method according to claim 4 is characterized in that, described update method is:
Preliminary positional information at different location technologies, calculate current preliminary positional information and the preceding once difference of preliminary positional information respectively, and all differences that obtain are merged, to merge the final position information addition of income value and a preceding gained again, with the addition income value as upgrading income value.
6. a user terminal positioner is characterized in that, this device comprises continuous fusion decision package, merges performance element;
Wherein, described fusion decision package is used corresponding all the information distribution coefficients of different location technologies when being used for being defined as the user terminal location, and is notified described fusion performance element with determined information distribution coefficient;
Described fusion performance element, be used for receiving and use the preliminary positional information of the determined difference of different location technologies at same user terminal, and use the described information distribution coefficient of receiving merges to obtain described user terminal to described preliminary positional information final position information;
Wherein, described fusion performance element is used for when carrying out described mixing operation: the weight represented according to the information distribution coefficient of receiving is weighted calculating to corresponding each preliminary positional information;
Described mixing operation comprises to be determined to use under the situation of corresponding all the information distribution coefficients of different location technologies, and definite method of described information distribution coefficient is:
β2＝0，n≤2；
β2＝[1-0.99]*(n-2)/10，n＞2，p≤2；
β2＝[1-(2/p)]*(n-2)/10，n＞2，2＜p≤5；
β2＝[1-(1/p)]*(n-2)/10，n＞2，5＜p≤10；
β2＝[1-(1/2p)]*(n-2)/10，n＞2，p＞10；
β 2=1, the GPS no signal;
β1＝1-β2；
β 1, β 2 represent respectively to use A-GPS location technology and the corresponding information distribution coefficient of OTDOA location technology in the formula, and p represents the GPS position dilution of precision, and n represents the number of base stations that user terminal can observe;
Perhaps, set in advance the fixed value of β 1 and β 2.
7. device according to claim 6 is characterized in that, described fusion decision package links to each other with the locating information receiving element, is used for receiving using the preliminary positional information of the determined described difference of different location technologies at same user terminal.
8. device according to claim 7 is characterized in that, described locating information receiving element is A-GPS locating information receiving element and OTDOA locating information receiving element.
9. a user terminal guider is characterized in that, this device comprises continuous fusion decision package, merges performance element, navigation information description unit;
Wherein, described fusion decision package is used corresponding all the information distribution coefficients of different location technologies when being used for being defined as the user terminal location, and is notified described fusion performance element with determined information distribution coefficient;
Described fusion performance element, be used for receiving and use the preliminary positional information of the determined difference of different location technologies at same user terminal, and use the described information distribution coefficient receive described preliminary positional information is merged to obtain the final position information of described user terminal, and then determine the navigation information that is constituted by this final position information and offer described navigation information description unit;
Described navigation information description unit is used for providing continuous navigation information according to the final position information of receiving;
Wherein, described fusion performance element is used for when carrying out described mixing operation: the weight represented according to the information distribution coefficient of receiving is weighted calculating to corresponding each preliminary positional information;
Described mixing operation comprises to be determined to use under the situation of corresponding all the information distribution coefficients of different location technologies, and definite method of described information distribution coefficient is:
β2＝0，n≤2；
β2＝[1-0.99]*(n-2)/10，n＞2，p≤2；
β2＝[1-(2/p)]*(n-2)/10，n＞2，2＜p≤5；
β2＝[1-(1/p)]*(n-2)/10，n＞2，5＜p≤10；
β2＝[1-(1/2p)]*(n-2)/10，n＞2，p＞10；
β 2=1, the GPS no signal;
β1＝1-β2；
β 1, β 2 represent respectively to use A-GPS location technology and the corresponding information distribution coefficient of OTDOA location technology in the formula, and p represents the GPS position dilution of precision, and n represents the number of base stations that user terminal can observe;
Perhaps, set in advance the fixed value of β 1 and β 2.
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| CN200910221634.9A CN102065536B (en) | 2009-11-11 | 2009-11-11 | User terminal positioning method and device, user terminal navigation method and device |
| PCT/CN2010/072254 WO2010148769A1 (en) | 2009-11-11 | 2010-04-27 | User terminal location method and equipment thereof and user terminal navigation mehtid and equipment thereof |
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| CN200910221634.9A CN102065536B (en) | 2009-11-11 | 2009-11-11 | User terminal positioning method and device, user terminal navigation method and device |
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| CN102821461A (en) * | 2011-06-07 | 2012-12-12 | 深圳市嘀咕网科技有限公司 | Method and system for position judgment and corresponding mobile terminals |
| TWI462061B (en) * | 2011-12-09 | 2014-11-21 | Wistron Corp | Method and device of automatic vehicle location monitoring and related communication system |
| CN102736093B (en) * | 2012-06-11 | 2013-09-11 | 北京邮电大学 | Fused positioning method and device |
| CN102854490A (en) * | 2012-08-22 | 2013-01-02 | 湖南爱瑞杰科技发展股份有限公司 | Hybrid positioning method and hybrid positioning system for moving objects |
| CN104185225A (en) * | 2014-09-11 | 2014-12-03 | 南京大学 | Indoor and outdoor seamless positioning switching method based on scene classification |
| CN105844572B (en) * | 2016-03-25 | 2022-04-15 | 腾讯科技（深圳）有限公司 | Congestion risk monitoring method and congestion risk monitoring device |
| CN106896391A (en) * | 2017-03-14 | 2017-06-27 | 北京京东尚科信息技术有限公司 | The localization method and device of unmanned plane |
| CN106912023A (en) * | 2017-03-22 | 2017-06-30 | 世纪恒通科技股份有限公司 | A kind of various dimensions accurate positioning method |
| CN108064019B (en) * | 2017-12-29 | 2021-02-05 | 北京奇宝科技有限公司 | Intelligent positioning method, device, server and computer readable storage medium |
| CN111368862A (en) * | 2018-12-25 | 2020-07-03 | 中兴通讯股份有限公司 | Method for distinguishing indoor and outdoor marks, training method and device of classifier and medium |
| CN110823176A (en) * | 2019-11-14 | 2020-02-21 | 广西电网有限责任公司电力科学研究院 | Method, equipment and medium for monitoring inclined settlement of transformer substation enclosure wall |
| CN112437400A (en) * | 2020-11-23 | 2021-03-02 | 维沃移动通信有限公司 | Position determination method and device and electronic equipment |
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| CN100389630C (en) * | 2004-06-01 | 2008-05-21 | 华为技术有限公司 | Mixed position implementing method based on network |
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