CN105430744A - Positioning method and positioning system - Google Patents

Positioning method and positioning system Download PDF

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Publication number
CN105430744A
CN105430744A CN201510934098.2A CN201510934098A CN105430744A CN 105430744 A CN105430744 A CN 105430744A CN 201510934098 A CN201510934098 A CN 201510934098A CN 105430744 A CN105430744 A CN 105430744A
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China
Prior art keywords
base station
mobile terminal
geographical location
information
location information
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Granted
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CN201510934098.2A
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CN105430744B (en
Inventor
刘文毅
张辉
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Radio And Tv Measurement And Testing Group Co ltd
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Guangzhou GRG Metrology and Test Technology Co Ltd
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Priority to CN201510934098.2A priority Critical patent/CN105430744B/en
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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
    • 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
    • G01S5/0257—Hybrid positioning

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a positioning method and a positioning system. The method comprises the steps of sending positioning request signals; receiving positioning request response returned by each base station according to the positioning request signal, wherein the positioning request response comprises GPS geographical location information of the corresponding base station; and positioning mobile terminals according to a sending time for sending the positioning request signals, receiving times for receiving the positioning request responses/receiving times when the base stations receive the positioning request signals, and received GPS geographical location information of each base station corresponding to each positioning request response. According to the positioning method and the positioning system, a large amount of mobile terminals can be positioned only through combining GPS positioning based on satellite positioning of the base stations with limited quantity, the number of communication times between each positioned mobile terminal and a satellite is greatly reduced, the usage of the satellite can be furthest reduced, and dependence on the communication signal state of the satellite is reduced, and the cost is lowered.

Description

Localization method and navigation system
Technical field
The present invention relates to running fix field, particularly a kind of localization method and navigation system.
Background technology
The GPS (Global Position System) of current main flow, all by Continuous plus many usable satellites and ground GPS (GlobalPositioningSystem, global positioning system) three-dimensional position relation between receiver and reach pinpoint object, in the process, ground control segment needs the satellite to running to carry out continuous surveillance, and space segment must ensure the usable satellite having more than 4 on each moment each place in vain.But the occasion that current every field uses GPS (Global Position System) is numerous, needs the quantity of the terminal positioned day by day huge, such as, in the terminals such as current intelligent movable mobile phone, generally GPS locating module has all been installed.Adopt current this satellite positioning tech, on the basis of the location requirement of One's name is legion like this, sharply increase with the interconnected number of times of satellite, need to expend a lot of satellite resources.
Summary of the invention
Based on this, the object of the embodiment of the present invention is to provide a kind of localization method and navigation system, and it can reduce use satellite to greatest extent, reduces by positioning end and the interconnected number of times of satellite, reduces the dependence to satellite communication signals situation, reduce costs.
For achieving the above object, the embodiment of the present invention by the following technical solutions:
A kind of localization method, comprises step:
Send positioning request signal;
Receive the Location Request response that each base station returns according to described positioning request signal, described Location Request response comprises the GPS geographical location information of corresponding base station;
According to the transmitting time sending positioning request signal, time of reception/base station of receiving the response of each Location Request receive described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location processing and determine mobile terminal.
A kind of localization method, comprises step:
Receive the positioning request signal that mobile terminal sends;
The GPS geographical location information of this base station is obtained according to described positioning request signal;
Location Request response is sent to described mobile terminal, described Location Request response comprises the GPS geographical location information of this base station, by mobile terminal according to send positioning request signal transmitting time, receive time of reception/base station that each Location Request responds receive described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location that mobile terminal is determined in computing.
A kind of localization method, comprises step:
Receive the report information receiving the positioning request signal of mobile terminal that base station sends, this report information comprises the identifying information of described mobile terminal, the identifying information of this base station;
According to the report information that each base station received sends, determine whether the transmitting power needing to adjust mobile terminal;
If so, send transmitting power to described mobile terminal and increase instruction, after increasing instruction increase transmitting power by described mobile terminal according to described transmitting power, resend described positioning request signal.
A kind of navigation system, comprise mobile terminal, this mobile terminal comprises:
Signal emission module, for sending positioning request signal;
Response receiver module, for receiving the Location Request response that each base station returns according to described positioning request signal, described Location Request response comprises the GPS geographical location information of corresponding base station;
Locating module, for receive according to the transmitting time sending positioning request signal, time of reception/base station of receiving the response of each Location Request described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location processing and determine mobile terminal.
A kind of navigation system, comprise test side, base station, this test side, base station comprises:
Signal receiving module, for receiving the positioning request signal that mobile terminal sends;
Position information acquisition module, for obtaining the GPS geographical location information of this base station according to described positioning request signal;
Signal response module, for sending Location Request response to described mobile terminal, described Location Request response comprises the GPS geographical location information of this base station, by mobile terminal according to send positioning request signal transmitting time, receive time of reception/base station that each Location Request responds receive described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location that mobile terminal is determined in computing.
A kind of navigation system, comprises control centre's end, and this control centre end comprises:
Report receiver module, for receiving the first report information receiving the positioning request signal of mobile terminal that base station sends, this first report information comprises the identifying information of described mobile terminal, the identifying information of this base station;
Control end adjustment analysis module, for the first report information sent according to each base station received, determines whether the transmitting power needing to adjust mobile terminal;
Instruction sending module, for when the determination result of described control end adjustment analysis module is for being, send transmitting power to described mobile terminal and increase instruction, after increasing instruction increase transmitting power by described mobile terminal according to described transmitting power, resend described positioning request signal.
According to the scheme of the embodiment of the present invention as above, abandon general GPS locating module, direct mode mobile terminal positioned based on satellite, when positioning mobile terminal, directly with satellite, this mobile terminal is not positioned, but by sending positioning request signal to each base station, mobile terminal is positioned based on the transmitting time sending positioning request signal, the GPS geographical location information of time of reception/base station time of reception and each base station of receiving described positioning request signal that receives the response of each Location Request by mobile terminal.After base station sets, its position is just determined, its GPS geographical location information can not change again, and the limited amount of base station, thus only need locate in conjunction with the GPS based on satellite fix of a limited number of base station, just can position the mobile terminal of numerous quantity, greatly reduce the number of times by the mobile terminal of locating and satellite communication, use satellite can be reduced to greatest extent, reduce the dependence to satellite communication signals situation, reduce costs.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the applied environment of the present invention program in an embodiment;
Fig. 2 is the schematic flow sheet of localization method of the present invention in an embodiment;
Fig. 3 is the schematic flow sheet of localization method of the present invention in second embodiment;
Fig. 4 is the schematic flow sheet of localization method of the present invention in the 3rd embodiment;
Fig. 5 is the interaction flow schematic diagram of localization method of the present invention in a concrete example;
Fig. 6 is the structural representation of navigation system of the present invention in an embodiment;
Fig. 7 is the structural representation of the position information acquisition module of test side, base station in a concrete example;
Fig. 8 is the structural representation of the position information acquisition module of test side, base station in another concrete example.
Embodiment
For making object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is described in further detail.Should be appreciated that embodiment described herein only in order to explain the present invention, do not limit protection scope of the present invention.
The schematic diagram of the applied environment of the present invention program in an embodiment has been shown in Fig. 1, as shown in Figure 1, in embodiment of the present invention scheme, when locating mobile terminal 100, what relate between multiple equipment is mutual, comprises the mobile terminal 100 shown in Fig. 1, base station 101, control centre 102 and satellite 103.Wherein, mobile terminal 100 is carried out network by network with control centre 102 and is connected and communicates, mobile terminal 100 can adopt GPRS (GeneralPacketRadioService, general packet radio service technology) communicate with control centre 102, this mobile terminal 100 can be the intelligent terminal that intelligent movable mobile phone, Intelligent flat, intelligent vehicle mounted terminal etc. need to position, normally portable, also can be fixed intelligent terminal.Network service also can be carried out by wired or wireless network and control centre 102 in base station 101.The GPS geographical location information that satellite fix determines self is carried out based on satellite 103 in base station 101.
Mobile terminal 100 is when needs position, mobile terminal 100 sends positioning request signal, after each base station 101 receives this positioning request signal, Location Request response is sent to each mobile terminal 100, by mobile terminal 100 according to the transmitting time sending positioning request signal, time of reception/the mobile terminal 100 receiving this positioning request signal in conjunction with each base station 101 receives the time of reception of the Location Request response that each base station returns, and the GPS geographical location information of each base station 101, comprehensively determine the position location of mobile terminal.
Schematic diagram shown in composition graphs 1, is described each embodiment of localization method and navigation system below.
Embodiment one
The schematic flow sheet of the localization method in an embodiment has been shown in Fig. 2.In this embodiment, be described for the processing procedure of mobile terminal 100.
As shown in Figure 2, the localization method in the present embodiment comprises:
Step S201: send positioning request signal;
Step S202: receive the Location Request response that each base station returns according to described positioning request signal, described Location Request response comprises the GPS geographical location information of corresponding base station, and can also include base station receives the time of reception that this base station receives positioning request signal simultaneously;
Step S203: according to the transmitting time sending positioning request signal, time of reception/base station of receiving the response of each Location Request receive described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location processing and determine mobile terminal.
According to the scheme of the embodiment of the present invention as above, abandon general GPS locating module, the mode directly based on satellite, mobile terminal positioned, when positioning mobile terminal, directly with satellite, this mobile terminal is not positioned, but by sending positioning request signal to each base station, by mobile terminal based on the transmitting time sending positioning request signal, time of reception/the base station receiving the response of each Location Request receives the time of reception of described positioning request signal, and the GPS geographical location information of each base station positions mobile terminal, after base station sets, its position is just determined, its GPS geographical location information can not change again, and the limited amount of base station, thus only need locate in conjunction with the GPS based on satellite fix of a limited number of base station, just can position the mobile terminal of numerous quantity, greatly reduce the number of times by the mobile terminal of locating and satellite communication, use satellite can be reduced to greatest extent, reduce the dependence to satellite communication signals situation, reduce costs.
Wherein, when mobile terminal positions process in above-mentioned steps S203, any possible mode can be adopted to carry out.In a concrete example of the present invention, can calculate based on TDOA (time of advent is poor) probabilistic localization algorithm, provide maximum fiducial probability point, and the maximum fiducial probability point of result of calculation is defined as the position location of mobile terminal, based on TDOA probabilistic localization algorithm, concrete determines that the mode of position location can adopt current existing any mode to carry out.In addition, after the position location obtaining mobile terminal, this position location can also be shown in mobile terminal, the user for mobile terminal checks.
In addition, as shown in Figure 2, the localization method in the present embodiment can also comprise:
Step S2041: receive the transmitting power increase instruction that control centre sends;
Step S205: increase transmitting power, can be specifically increase instruction according to described transmitting power to increase transmitting power, return the step S201 sending positioning request signal.
In the case, mobile terminal can also increase instruction based on the transmitting power of control centre, increases transmitting power, with the positioning request signal making more base station can receive mobile terminal, to improve positioning precision or Position location accuracy.
On the other hand, as shown in Figure 2, the localization method in the present embodiment can also comprise:
Step S2042: the Location Request response sent according to each base station received, determines whether to need to adjust transmitting power, if so, enters step S205;
Step S205: increase transmitting power, returns the step S201 sending positioning request signal.
Wherein, judge whether to need the mode of the transmitting power adjusting mobile terminal can have multiple in above-mentioned steps S2042.
Wherein in a kind of mode, the Location Request response that mobile terminal can send according to each base station received, determines the number of the Location Request response received; When this number is less than default number of base stations threshold value, judge the transmitting power needing to adjust mobile terminal.Because mobile terminal is combining the transmitting time sending positioning request signal, the time of reception of each base station, and the GPS geographical location information of each base station, position computing when determining the position location of mobile terminal, the number receiving the base station of the positioning request signal of mobile terminal can have influence on precision and the accuracy of location Calculation, the more positioning precisioies of number of base station are better, therefore, by setting default number of base stations threshold value, when the number of the mobile-terminated Location Request response received is less, the number of the base station of the positioning request signal receiving mobile terminal is described, the locating information of available base station when positioning, mobile terminal is few, thus the transmitting power sending positioning request signal can be strengthened in mobile terminal, with the positioning request signal enabling more base station receive mobile terminal, improve positioning precision.Wherein, this default number of base stations threshold value can set based on actual needs.
In another mode, GPS geographical location information in the Location Request response that can send according to each base station received, judge whether corresponding each base station is in the situation weak-strong test in radio wave field strength distribution situation map, if so, judge the transmitting power needing to adjust mobile terminal.Mobile terminal needs to preserve radio wave field strength distribution situation map in advance, and this radio wave field strength distribution situation map can be provided by control centre.
Embodiment two
The schematic flow sheet of the localization method in another embodiment has been shown in Fig. 3.Be described for the processing procedure of base station in this embodiment.
As shown in Figure 3, the localization method in the present embodiment comprises:
Step S301: receive the positioning request signal that mobile terminal sends;
Step S302: the GPS geographical location information obtaining this base station according to described positioning request signal;
Step S303: send Location Request response to described mobile terminal, described Location Request response comprises the GPS geographical location information of this base station, the time of reception that this base station receives above-mentioned positioning request signal can also be included simultaneously, by mobile terminal according to send positioning request signal transmitting time, receive time of reception/base station that each Location Request responds receive described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location that mobile terminal is determined in computing.
Wherein, when obtaining the GPS geographical location information of this base station in above-mentioned steps S302, various possible mode can be adopted to carry out.
Wherein in a kind of mode, the GPS geographical location information of this base station can be determined in base station by satellite fix.Thus when needs position mobile terminal, satellite fix, after the positioning request signal receiving mobile terminal, can be carried out in real time to obtain the GPS geographical location information of this base station in base station.
In another mode, the GPS geographical location information of this base station can be obtained from the local data library inquiry of base station.In the case, the GPS geographical location information of self, after the GPS geographical location information being obtained self by satellite fix, is stored in local data base, to inquire about when needed and to apply by base station.Because base station is after setting, position can not change, thus without the need to each mobile terminal is located time the position of satellite to base station all will be used to position.
In another mode, first can obtain the GPS geographical location information of this base station from the local data library inquiry of base station, and when Query Result is not for having a GPS geographical location information, be determined the GPS geographical location information of this base station by satellite fix.Wherein, the GPS geographical location information of self obtained by satellite fix can also be stored in local data base further, so that inquiry and application when follow-up needs.
In another mode, can be send retrieval request to control centre, this retrieval request comprises the identifying information of this base station, retrieves whether there be the GPS geographical location information corresponding with described identifying information in a database by described control centre; Receive the retrieval response that described control centre returns according to described retrieval request, described retrieval response is determined according to the result for retrieval of described retrieval by described control centre; When described result for retrieval is for being, described retrieval response comprises the GPS geographical location information corresponding with described identifying information that described control centre retrieves from database, and this GPS geographical location information is defined as the GPS geographical location information of this base station; When described result for retrieval is no, described retrieval response comprises the information that satellite fix need be carried out in base station, carries out satellite fix, determine the GPS geographical location information of this base station according to this retrieval response.
Correspondingly, after determining the GPS geographical location information of base station, the GPS geographical location information of the base station determining to obtain by satellite fix can also be sent to described control centre, by described control centre, the GPS geographical location information of this base station is stored into described database.
In the case, base station self can store the GPS geographical location information of self, but after determining the GSP geographical location information of self, is stored into control centre, obtains when needed from control centre again.The GPS geographical location information of base station is stored into control centre, can also be convenient to other do in control centre application based on the GPS geographical location information of base station.Such as basis mentioned below receives the transmitting power etc. that the number of the positioning request signal of mobile terminal or GPS geographical location information judge whether to need to adjust mobile terminal.
As shown in Figure 3, in a concrete example, the localization method in the present embodiment also comprises receive the positioning request signal of mobile terminal in step S301 after:
Step S3012: to control centre's transmission and reception to the first report information of the positioning request signal of mobile terminal, this first report information comprises the identifying information of described mobile terminal, the identifying information of this base station.
In the case, base station is by sending to control centre by the first report information of the positioning request signal receiving mobile terminal, control centre accordingly can based on the first report information of each base station, analyze the transmitting power the need of adjustment mobile terminal, to improve positioning precision or Position location accuracy.
For the object being convenient to illustrate, first to send the first report information to control centre in the schematic diagram of Fig. 3, the GPS geographical location information obtaining this base station is again example explanation, in actual techniques implementation procedure, these two processes can be not in accordance with the order shown in Fig. 3, can be synchronously carry out.
Embodiment three
The schematic flow sheet of the localization method in the 3rd embodiment has been shown in Fig. 4, in this example, is be described for the processing procedure of control centre's end.
As shown in Figure 4, the method in the present embodiment comprises:
Step S401: receive the first report information receiving the positioning request signal of mobile terminal that base station sends, this first report information comprises the identifying information of described mobile terminal, the identifying information of this base station;
Step S402: the first report information sent according to each base station received, determines whether the transmitting power needing to adjust mobile terminal, if so, enters step S403;
Step S403: send transmitting power to described mobile terminal and increase instruction, after increasing instruction increase transmitting power, resends described positioning request signal by described mobile terminal according to described transmitting power.
In the case, base station is when receiving the positioning request signal that mobile terminal sends, need the first report information of the positioning request signal to control centre's transmission and reception to mobile terminal, thus, control centre can based on the first report information of each base station, analyze the transmitting power the need of adjustment mobile terminal, to improve positioning precision or Position location accuracy.
Wherein, control centre judges whether to need the mode of the transmitting power adjusting mobile terminal can have multiple in above-mentioned steps S402.
Wherein in a kind of mode, the first report information that control centre can send according to each base station received, determines the number of the base station of the positioning request signal receiving described mobile terminal; When this number is less than default number of base stations threshold value, judge the transmitting power needing to adjust mobile terminal.Because mobile terminal is combining the transmitting time sending positioning request signal, the time of reception of each base station, and the GPS geographical location information of each base station, position computing when determining the position location of mobile terminal, the number receiving the base station of the positioning request signal of mobile terminal can have influence on precision and the accuracy of location Calculation, the more positioning precisioies of number of base station are better, therefore, by setting default number of base stations threshold value, when the number of base station of the positioning request signal receiving mobile terminal is less, mobile terminal can be controlled and strengthen the transmitting power sending positioning request signal, with the positioning request signal enabling more base station receive mobile terminal, improve positioning precision.Wherein, this default number of base stations threshold value can set based on actual needs.
In another mode, the first report information that control centre can send according to each base station received, judge whether each base station receiving the positioning request signal of described mobile terminal is in the situation weak-strong test in radio wave field strength distribution situation map, if so, the transmitting power needing to adjust mobile terminal is judged.
In the case, control centre needs to preserve radio wave field strength distribution situation map in advance.Accordingly, as shown in Figure 4, the method in the present embodiment can also comprise step:
Step S4001: receive the second report information that each base station sends when receiving the signal that mobile terminal adopts assigned frequency electric wave to send, described second report information comprises the GPS geographical location information of described assigned frequency, field intensity and base station;
Step S4002: according to the second report information of each base station, adopts city wireless radio waves propagation model to analyze, sets up described radio wave field strength distribution situation map.
Thus, based on the radio wave field strength distribution situation map of above-mentioned foundation, the signal strength signal intensity of the signal received when directly reflecting the running fix signal of reception mobile terminal, base station and the position residing for base station, thus can confirm to there emerged a base station accordingly and whether be in weak-strong test in radio wave field strength distribution situation map, when being in weak-strong test, just can control mobile terminal and strengthen the transmitting power sending positioning request signal, with the positioning request signal enabling more base station receive mobile terminal, improve positioning precision.
Based on each embodiment as above, the schematic flow sheet of the satellite-based localization method in a concrete example has been shown in Fig. 5, is be that example is described in conjunction with the reciprocal process between the test side, base station of mobile terminal, base station, control centre in this concrete example.
As previously mentioned, the main location thought of the embodiment of the present invention is that the position of geographical position to mobile terminal of reference base station positions, and therefore, the positioning precision of accuracy on mobile terminal of base station location has direct impact.Before original execution embodiment of the present invention scheme, accurate satellite-based GPS location can be carried out repeatedly to the position of base station itself, and final believable positioning result data (i.e. the GPS geographical location information of each base station) are saved in the local data base of base station self, or after sending to control centre, be saved in the local data base controlling control centre, also can be saved in the database of base station self and the database of control centre, to carry out calling and reference during application in follow-up needs simultaneously.Concrete any mode that is existing and that later may occur at present can be adopted to carry out the mode that GPS location is carried out in base station.
Subsequently, control centre connects each base station, it can be specifically the monitoring receiver connecting each base station, check that whether the open state of base station is good, when using first, satellite fix instruction need be sent to each base station, GPS locating module is opened based on this satellite fix instruction in base station, carry out the collection of architecture template data, determine the GPS geographical location information of base station, and will the local data base that successful GPS geographical location information is saved in base station self be gathered and/or the database being uploaded to control centre is preserved.When non-use first, regularly GPS location can be carried out every some time periods, determine the GPS geographical location information of base station, and the GPS geographical location information that base station self stores is compared and upgraded, and be uploaded to control centre, compare with the GPS geographical location information stored in the database of control centre and upgrade.
In addition, in use, it is normal etc. that the monitoring receiver normal boot-strap of base station, environmental monitoring project normal (such as humiture, radio interference etc.), environmental index can also be detected and control in control centre, concrete detection and control mode can adopt current existing mode to carry out, and repeats no longer in detail at this.
Control centre can send to mobile terminal and open Location Request, mobile terminal is after receiving this unlatching Location Request, the open state can testing mobile terminal whether good, monitoring communications band whether can with, whether not with frequently, the interference such as adjacent frequency and intermodulation, and monitoring frequency range is set and Real-Time Monitoring, reaching, open state is good, communications band can be used, without with interference such as frequency, adjacent frequency and intermodulation ideally, can open or open Location Request.
After above-mentioned preliminary preparation, when opening positioning scenarios, each mobile terminal adopts assigned frequency electric wave to send signal, namely assigned frequency radio wave is sent, after each base station receiver receives this signal, the second report information sent during the signal adopting assigned frequency electric wave to send to control centre's transmission and reception to mobile terminal, this second report information comprises the identifying information of described assigned frequency, field intensity and base station.By second report information of control centre according to each base station, adopt city wireless radio waves propagation model to analyze, set up described radio wave field strength distribution situation map.Concrete city wireless radio waves propagation model and carry out based on city wireless radio waves propagation model analyzing the specific implementation setting up radio wave field strength distribution situation map can be adopt any mode that is existing and that later may occur at present to carry out.
After starting by allowing each mobile terminal to locate, repeatedly initiatively launch the radio wave of assigned frequency, received by the radio receiver of the base station in each corner, city, connect and scan the data that receive and must have frequency and field intensity data, by arranging the GPS geographical location information of field intensity data and base station receiver place, city wireless radio waves propagation model is adopted to analyze, utilize the exploitation of electronic chart, can the electronic chart of the heart in the controlling be set up and render the radio wave field strength distribution situation map of whole urban area.The radio wave field strength distribution situation map that control centre sets up, can also be sent to mobile terminal 100, so that mobile terminal 100 can judge the need of adjustment transmitting power accordingly.
When opening positioning scenarios, mobile terminal sends positioning request signal, the monitoring receiver of the base station near search.
After the monitoring receiver of base station receives the positioning request signal that mobile terminal sends, obtain the GPS geographical location information of self, also to control centre's transmission and reception to the first report information of the positioning request signal of mobile terminal, this first report information comprises the identifying information of described mobile terminal, the identifying information of this base station.The identifying information of base station here can be the information such as the receiver sequence number of base station.
Base station obtains the mode of the GPS geographical location information of self, as mentioned above, can be adopt any one in above-mentioned each mode to carry out, such as real time GPS location, inquire about from local data base, carry out real time GPS location, from control centre's inquiry etc. when not existing in the local database.
After base station obtains the GPS geographical location information of self, send Location Request response to mobile terminal, the response of this Location Request comprises the GPS geographical location information of this base station, can also include the time of reception that this base station receives positioning request signal simultaneously.
Mobile-terminated receive the Location Request response that each base station returns after, when including this base station during Location Request responds and receive the time of reception of positioning request signal simultaneously, then according to the GPS geographical location information of the time of reception that mobile terminal sends the transmitting time of positioning request signal, each base station receives this positioning request signal and each base station 101, can comprehensively determine the position location of mobile terminal.When not including this base station during Location Request responds and receiving the time of reception of positioning request signal, the time of reception of the Location Request response that then mobile terminal can send the transmitting time of positioning request signal according to mobile terminal, the mobile-terminated each base station received returns, and the GPS geographical location information of each base station 101, comprehensively determine the position location of mobile terminal.After the position location obtaining mobile terminal, this position location can also be shown on the electronic chart of mobile terminal.
Mobile terminal, when positioning computing, can adopt any possible mode to carry out.In a concrete example of the present invention, can calculate based on TDOA (time of advent is poor) probabilistic localization algorithm, provide maximum fiducial probability point, and the maximum fiducial probability point of result of calculation is defined as the position location of mobile terminal, and this position location is shown on the display interface of the electronic chart of mobile terminal.Based on TDOA probabilistic localization algorithm, concrete determines that the mode of position location can adopt current existing any mode to carry out, based on TDOA probabilistic localization algorithm, maximum probability anchor point generally has more present each monitoring station TDOA auditory localization cues and to cross place the most intensive, shown in such as, P point in Fig. 1.
In addition, mobile terminal is after receiving the Location Request response that each base station returns, the Location Request response can also determining further to receive number whether be less than default number of base stations threshold value, and whether each base station of each Location Request response correspondence received is in the situation weak-strong test in radio wave field strength distribution situation map, as long as meet any one in these two conditions, then can judge to need the transmitting power to mobile terminal to adjust, thus increasing transmitting power, when sending positioning request signal next time, just can send according to the transmitting power after this increasing.The amplitude of concrete increase transmitting power, can set based on actual needs, the transmitting power amplitude that such as each increase is fixing, or increases transmitting power of prescribed percentage etc., and the embodiment of the present invention is not specifically limited this.
This considers, when specifically positioning, allows mobile terminal start the object of positioning request signal to be to allow more base station receiver receive.But, due to a varied topography, the factors such as atural object stop, perhaps neighbouring little several base stations are only had to receive, base station possibly cannot reach the positioning accuracy request using TDOA probabilistic localization algorithm very little, therefore, can pass through to analyze the number of the base station of the positioning request signal receiving mobile terminal, or the more weak region of the radio wave field intensity situation whether being in city of these base stations is analyzed, if number is less or be in the more weak region of radio wave field intensity situation, by increasing the radio transmit power of mobile terminal, the object allowing more base stations receive can be reached, to improve positioning precision.
On the other hand, after control centre receives the first report information of base station, the GPS geographical location information that the local data library searching of the heart is corresponding with the identifying information of described current base station in the controlling.Retrieving the GPS geographical location information corresponding with described identification information, and this GPS geographical location information is preserved complete, then can by graphically mark and the display on heart display interface in the controlling of this base station.
If the local data base of the heart does not retrieve the GPS geographical location information corresponding with the identifying information of described current base station in the controlling, or the GPS geographical location information information content that retrieval obtains is imperfect (such as only preserves the identifying information of base station, there is no corresponding GPS geographical location information etc.), then the base station to correspondence sends satellite fix instruction.
After base station receives the satellite fix instruction of control centre's transmission, obtain the local GPS geographical location information stored, or carry out satellite fix according to this satellite fix instruction, obtain the GPS geographical location information of this base station, then by this locality store or send to control centre by the GPS geographical location information that satellite fix obtains.By control centre, the GPS geographical location information of this base station is stored into database, control centre is based on this GPS geographical location information simultaneously, can by graphically mark and the display on display interface of this base station.
Control centre is when showing the quantity of the icon of each base station and base station, in conjunction with the GPS geographical location information of each base station, the orientation deployment scenarios of each base station can be controlled as far as possible, remain on the monitoring station that each orientation all exists base station as far as possible, instead of monitoring station concentrates on same orientation in a large number, to avoid reducing positioning precision.
Control centre is after receiving the first report information of each base station and determine the GPS geographical location information of each base station, can also determine whether the number of the base station of the positioning request information receiving described mobile terminal is less than default number of base stations threshold value further, and whether each base station of positioning request signal receiving described mobile terminal is in the situation weak-strong test in radio wave field strength distribution situation map, as long as meet any one in these two conditions, just can judge to need the transmitting power to mobile terminal to adjust, thus increase instruction to mobile terminal transmitted power.Concrete default number of base stations threshold value, can set based on actual needs, such as 3.
Mobile-terminated this power that receives increases instruction, after increasing instruction increase transmitting power, resends positioning request signal, repeats said process according to transmitting power.The amplitude of concrete increase transmitting power, can set based on actual needs, can be specified by control centre, also can be independently determined by mobile terminal, the transmitting power amplitude that such as each increase is fixing, or increasing transmitting power of prescribed percentage etc., the embodiment of the present invention is not specifically limited this.
Based on the localization method of each example of the present invention as above, by positioning end (mobile terminal) without the need to using any GPS locating module, only communication and GPS locating module need be installed on base station, by satellite fix base station location, and by carrying out TDOA probabilistic localization in conjunction with base station location to mobile terminal, the object that mobile terminal is positioned just can be reached.Due to the limited and invariant position of base station number, by by means of intensive base station distribution, decrease by positioning end and the interconnected number of times of satellite fix, reduce the dependence to satellite communication signals situation, thus reaching the object reduced costs, extensibility also improves greatly.
And topmost position fixing process is transplanted to ground by embodiment of the present invention scheme, greatly reduce the instructions for use to satellite resource, alleviate current satellite resource and use nervous state.And, by simcity regional feature situation, use the mode of ultrashort wave artificial urban radio propagation model to carry out emulation and locate, solve satellite fix and too rely on the phenomenon such as delay, retardance that network communication state causes.
Embodiment of the present invention scheme preferably can be applied to the suburban areas of base station intensity, base station, current outskirts of a town is intensive, by taking into full account and simulate the distribution of ground terrain and its features etc., city wireless radio waves propagation model is used to analyze signal power, position reference can be provided for the area of signal difference, improve positioning precision.And owing to being position based on intensive base station, positioning result completes on the basis of mass data acquisition and processing, with a high credibility.
Based on the thought that each embodiment with above-mentioned localization method is identical, the embodiment of the present invention also provides a kind of navigation system.Embodiment of the present invention system relates to the communication process of multiterminal, comprises and being held by the mobile terminal of locating, the test side, base station being arranged on base station and the control centre that is arranged on control centre.The navigation system of the embodiment of the present invention, can comprise be arranged on by the mobile terminal of positioning equipment, be arranged on base station test side, base station, be arranged on control centre control centre end in any one or combine arbitrarily.
The structural representation of navigation system of the present invention in an embodiment has been shown in Fig. 6, the object illustrated for convenience, be include mobile terminal 61, test side, base station 62 and control centre's end 63 for example to be described in shown in Fig. 6, this exemplary illustration is not in order to form restriction to the present invention program simultaneously.
As shown in Figure 6, the mobile terminal 61 in the present embodiment system comprises:
Signal emission module 611, for sending positioning request signal;
Response receiver module 612, for receiving the Location Request response that each base station returns according to described positioning request signal, described Location Request response comprises the GPS geographical location information of corresponding base station;
Locating module 613, for receive according to the transmitting time sending positioning request signal, time of reception/base station of receiving the response of each Location Request described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location processing and determine mobile terminal.
Corresponding, in this embodiment, test side, base station 62 comprises:
Signal receiving module 621, for receiving the positioning request signal that mobile terminal sends;
Position information acquisition module 622, for obtaining the GPS geographical location information of this base station according to described positioning request signal;
Signal response module 623, for sending Location Request response to described mobile terminal, described Location Request response comprises the GPS geographical location information of this base station, by mobile terminal according to send positioning request signal transmitting time, receive time of reception/base station that each Location Request responds receive described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location that mobile terminal is determined in computing.
Based on the scheme of the embodiment of the present invention, in the process positioned, the concrete course of work can be as described below:
Mobile terminal 61 sends positioning request signal, this positioning request signal comprises the transmission transmitting time of this positioning request signal and the identifying information of this mobile terminal 61, the information receiving module 621 of test side, base station 62 receives this positioning request signal of mobile terminal 61 transmission, the GPS geographical location information of this base station is obtained by position information acquisition module 622, then send Location Request by signal response module 623 to mobile terminal to respond, the response of this Location Request comprises the GPS geographical location information of this base station, the time of reception that this base station receives positioning request signal can also be comprised simultaneously, the response receiver module 612 of mobile terminal 61 receives the Location Request response of base station transmission, and by locating module 613 according to the transmitting time sending positioning request signal, time of reception/the base station receiving the response of each Location Request receives the time of reception of described positioning request signal, what receive responds the GPS geographical location information of corresponding each base station with each Location Request, position the position location that mobile terminal is determined in process.
According to the scheme of the embodiment of the present invention as above, abandon general GPS locating module, the mode directly based on satellite, mobile terminal positioned, when positioning mobile terminal, directly with satellite, this mobile terminal is not positioned, but by sending positioning request signal to each base station, by mobile terminal based on the transmitting time sending positioning request signal, time of reception/the base station receiving the response of each Location Request receives the time of reception of described positioning request signal, and the GPS geographical location information of each base station positions mobile terminal, after base station sets, its position is just determined, its GPS geographical location information can not change again, and the limited amount of base station, thus only need locate in conjunction with the GPS based on satellite fix of a limited number of base station, just can position the mobile terminal of numerous quantity, greatly reduce the number of times by the mobile terminal of locating and satellite communication, use satellite can be reduced to greatest extent, reduce the dependence to satellite communication signals situation, reduce costs.
Wherein, the structural representation of the position information acquisition module 622 in a concrete example has been shown in Fig. 7.As shown in Figure 7, this position information acquisition module 622 can only comprise local search module 6221, also can only comprise GPS locating module 6222, also can comprise local search module 6221 and GPS locating module 6222 simultaneously.
When position information acquisition module 622 only comprises local search module 6221, this local search module 6221, for obtaining the GPS geographical location information of this base station from the local data library inquiry of base station.
In the case, the GPS geographical location information of self, after the GPS geographical location information being obtained self by satellite fix, is stored into this locality, to inquire about when needed and to apply by each base station.Because base station is after setting, position can not change, thus without the need to each mobile terminal is located time the position of satellite to base station all will be used to position.
When position information acquisition module 622 only comprises GPS locating module 6222, this GPS locating module 6222, for determining the GPS geographical location information of this base station by satellite fix.Thus, when needed, directly can carry out satellite fix in real time to obtain the GPS geographical location information of this base station by GPS locating module 6222.
When position information acquisition module 622 comprises local search module 6221 and GPS locating module 6222 simultaneously, local search module 6221 is for obtaining the GPS geographical location information of this base station from the local data library inquiry of base station, and when Query Result is not for having a GPS geographical location information, positioning instruction is sent to GPS locating module 6222, GPS locating module 6222 for when receiving the positioning instruction of described local search module 6221, for being determined the GPS geographical location information of this base station by satellite fix.
In the case, this locality, after the GPS geographical location information of self obtained by satellite fix, can be stored in each base station, so that carry out when needing inquiring about and applying.Because base station is after setting, position can not change, thus without the need to each mobile terminal is located time the position of satellite to base station all will be used to position.As remedial measure, when the GPS geographical location information imperfection of base station stored does not store even, local search module 6221 can also indicate GPS locating module 6222 to carry out satellite fix to obtain GPS geographical location information, can improve the acquisition of the GPS geographical location information to base station further.
The structural representation of the position information acquisition module 622 in another embodiment has been shown in Fig. 8.As shown in Figure 8, the position information acquisition module 622 in this example comprises retrieval request module 6223, retrieval response receiver module 6224, GPS locating module 6222, positional information determination module 6225.Wherein:
Retrieval request module 6223, for sending retrieval request to control centre, this retrieval request comprises the identifying information of this base station, retrieves whether there be the GPS geographical location information corresponding with described identifying information in a database by described control centre;
Retrieval response receiver module 6224, for receiving the retrieval response that described control centre returns according to described retrieval request, whether described retrieval response has the result for retrieval of the GPS geographical location information corresponding with described identifying information to determine by described control centre according to retrieving in a database, when described result for retrieval is for being, described retrieval response comprises the GPS geographical location information corresponding with described identifying information that described control centre retrieves from database, when described result for retrieval is no, described retrieval response comprises the information that satellite fix need be carried out in base station;
GPS locating module 6222, for determining the GPS geographical location information of this base station by satellite fix;
Positional information determination module 6225, for the retrieval response received according to retrieval response receiver module 6224, when described retrieval response comprises GPS geographical location information, this GPS geographical location information in retrieval response is defined as the GPS geographical location information of this base station, described retrieval response comprise base station need carry out the information of satellite fix time, send positioning instruction to GPS locating module 6222, determined the GPS geographical location information of this base station by GPS locating module 6222.
Correspondingly, as shown in Figure 6, the test side, base station 62 in the present embodiment can also comprise:
Position message module 625, the GPS geographical location information for the base station obtained by GPS locating module 6222 sends to control centre 63, by control centre 63, the GPS geographical location information of this base station is stored into described database.
As shown in Figure 6, the control centre's end 63 in the present embodiment can comprise:
Report receiver module 631, for receiving the first report information receiving the positioning request signal of mobile terminal that base station sends, this first report information comprises the identifying information of described mobile terminal, the identifying information of this base station;
Control end adjustment analysis module 632, for the first report information sent according to each base station received, determines whether the transmitting power needing to adjust mobile terminal;
Instruction sending module 633, for when the determination result of described control end adjustment analysis module is for being, send transmitting power to described mobile terminal and increase instruction, after increasing instruction increase transmitting power by described mobile terminal according to described transmitting power, resend described positioning request signal.
Correspondingly, as shown in Figure 6, the test side, base station 62 in the present embodiment can also comprise:
Information reporting module 624, for when receiving described positioning request signal, to control centre's transmission and reception to the first report information of the positioning request signal of mobile terminal, this first report information comprises the identifying information of described mobile terminal, the identifying information of this base station.
Correspondingly, as shown in Figure 6, the mobile terminal 61 in the present embodiment can also comprise:
Command reception module 614, the transmitting power sent for receiving control centre increases instruction.
Now, above-mentioned signal emission module 611, also for according to after described transmitting power increase instruction increase transmitting power, sends positioning request signal.
In the case, control centre based on the first report information of each base station, can also analyze the transmitting power the need of adjustment mobile terminal, to improve positioning precision or Position location accuracy.
Control end adjustment analysis module 632 judges whether to need the mode of the transmitting power adjusting mobile terminal can have multiple, specifically, as shown in Figure 6, this control end adjustment analysis module 632 can also comprise any one in control end number determination module 6321, control end area determination module 6332 or comprise the two simultaneously.
Wherein, this control end number determination module 6321, for the first report information sent according to each base station received, determines the number of the base station of the positioning request signal receiving described mobile terminal, when this number is less than default number of base stations threshold value, judge the transmitting power needing to adjust mobile terminal.Owing to sending the transmitting time of positioning request signal in conjunction with mobile terminal, each base station receives the time of reception of positioning request signal or the mobile-terminated time receiving the Location Request response of base station, and the GPS geographical location information of each base station obtained, position computing when determining the position location of mobile terminal, the number receiving the base station of the positioning request signal of mobile terminal can have influence on precision and the accuracy of location Calculation, the more positioning precisioies of number of base station are better, therefore, by setting default number of base stations threshold value, when the number of the base station receiving mobile terminal is less, mobile terminal can be controlled and strengthen the transmitting power sending positioning request signal, with the positioning request signal enabling more base station receive mobile terminal, improve positioning precision.Wherein, this default number of base stations threshold value can set based on actual needs.
And this control end area determination module 6232, for each first report information according to reception, judge whether each base station receiving the positioning request signal of described mobile terminal is in the situation weak-strong test in radio wave field strength distribution situation map, if so, judge the transmitting power needing to adjust mobile terminal.
In the case, control centre needs to preserve radio wave field strength distribution situation map in advance.Accordingly, as shown in Figure 6, the control centre's end 63 in the present embodiment can also comprise:
Distribution map sets up module 630, for receiving the second report information that each base station sends when receiving the signal that mobile terminal adopts assigned frequency electric wave to send, described second report information comprises the GPS geographical location information of described assigned frequency, field intensity and base station, and according to the second report information of each base station, adopt city wireless radio waves propagation model to analyze, set up radio wave field strength distribution situation map.
Thus, based on the radio wave field strength distribution situation map of above-mentioned foundation, directly reflect the signal strength signal intensity of the signal received when base station receives the running fix signal of unusual fluctuation list and the position residing for base station, thus can confirm to there emerged a base station accordingly and whether be in weak-strong test in radio wave field strength distribution situation map, when being in weak-strong test, just can control mobile terminal and strengthen the transmitting power sending positioning request signal, with the positioning request signal enabling more base station receive mobile terminal, improve positioning precision.
The radio wave field strength distribution situation map that control centre 63 obtains, can also send to mobile terminal 61, self analyze the need of increasing power for mobile terminal 61.
Accordingly, as shown in Figure 6, the mobile terminal 61 of the present embodiment can also comprise mobile terminal adjustment analysis module 615, for the Location Request response sent according to each base station received, determines whether to need to adjust transmitting power.
Now, above-mentioned signal emission module 611, also for when mobile terminal adjustment analysis module 615 judges to need adjustment transmitting power, after increasing transmitting power, sends positioning request signal.
Mobile terminal adjustment analysis module 615 judges whether to need the mode of the transmitting power adjusting mobile terminal can have multiple, specifically, as shown in Figure 6, adjustment analysis module 615 in this mobile terminal can also comprise any one in mobile terminal number determination module 6151, mobile terminal area determination module 6152 or comprise the two simultaneously.
Wherein, mobile terminal number determination module 6151, for the Location Request response sent according to each base station received, determines the number of the Location Request response received; When this number is less than default number of base stations threshold value, judge the transmitting power needing to adjust mobile terminal.
Because mobile terminal is combining the transmitting time sending positioning request signal, the time of reception of each base station, and the GPS geographical location information of each base station, position computing when determining the position location of mobile terminal, the number receiving the base station of the positioning request signal of mobile terminal can have influence on precision and the accuracy of location Calculation, the more positioning precisioies of number of base station are better, therefore, by setting default number of base stations threshold value, when the number of the mobile-terminated Location Request response received is less, the number of the base station of the positioning request signal receiving mobile terminal is described, the locating information of available base station when positioning, mobile terminal is few, thus the transmitting power sending positioning request signal can be strengthened in mobile terminal, with the positioning request signal enabling more base station receive mobile terminal, improve positioning precision.Wherein, this default number of base stations threshold value can set based on actual needs.
In addition, mobile terminal area determination module 6152, GPS geographical location information during Location Request for sending according to each base station received responds, judge whether corresponding each base station is in the situation weak-strong test in radio wave field strength distribution situation map, if so, the transmitting power needing to adjust mobile terminal is judged.Wherein, this radio wave field strength distribution situation map can be provided by control centre or be stored into mobile terminal 61 in advance.
The other technologies feature of embodiment of the present invention system and identical in said method embodiment, repeat no longer in detail at this.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this specification is recorded.
The above embodiment only have expressed several execution mode of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection range of patent of the present invention should be as the criterion with claims.

Claims (20)

1. a localization method, is characterized in that, comprises step:
Send positioning request signal;
Receive the Location Request response that each base station returns according to described positioning request signal, described Location Request response comprises the GPS geographical location information of corresponding base station;
According to the transmitting time sending positioning request signal, time of reception/base station of receiving the response of each Location Request receive described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location processing and determine mobile terminal.
2. localization method according to claim 1, is characterized in that;
Also comprise step: receive the transmitting power increase instruction that control centre sends; Increase instruction according to described transmitting power and increase transmitting power, return the step of described transmission positioning request signal;
Or
According to the Location Request response that each base station received sends, determine whether to need to adjust transmitting power, after if so, increasing transmitting power, return the step of described transmission positioning request signal.
3. localization method according to claim 2, is characterized in that, according to the Location Request response that each base station received sends, determine whether to need the mode adjusting transmitting power to comprise in following manner any one:
According to the Location Request response that each base station received sends, determine the number of the Location Request response received; When this number is less than default number of base stations threshold value, judge the transmitting power needing to adjust mobile terminal;
According to the GPS geographical location information in the Location Request response that each base station received sends, judge whether corresponding each base station is in the situation weak-strong test in radio wave field strength distribution situation map, if so, judge the transmitting power needing to adjust mobile terminal.
4. a localization method, is characterized in that, comprises step:
Receive the positioning request signal that mobile terminal sends;
The GPS geographical location information of this base station is obtained according to described positioning request signal;
Location Request response is sent to described mobile terminal, described Location Request response comprises the GPS geographical location information of this base station, by mobile terminal according to send positioning request signal transmitting time, receive time of reception/base station that each Location Request responds receive described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location that mobile terminal is determined in computing.
5. localization method according to claim 4, is characterized in that, the mode obtaining the GPS geographical location information of this base station according to described positioning request signal comprise in following each mode any one:
The GPS geographical location information of this base station is determined by satellite fix;
The GPS geographical location information of this base station is obtained from the local data library inquiry of base station;
Obtain the GPS geographical location information of this base station from the local data library inquiry of base station, and when Query Result is not for having a GPS geographical location information, determined the GPS geographical location information of this base station by satellite fix;
Send retrieval request to control centre, this retrieval request comprises the identifying information of this base station, retrieves whether there be the GPS geographical location information corresponding with described identifying information in a database by described control centre; Receive the retrieval response that described control centre returns according to described retrieval request, described retrieval response is determined according to the result for retrieval of described retrieval by described control centre; When described result for retrieval is for being, described retrieval response comprises the GPS geographical location information corresponding with described identifying information that described control centre retrieves from database, and this GPS geographical location information is defined as the GPS geographical location information of this base station; When described result for retrieval is no, described retrieval response comprises the information that satellite fix need be carried out in base station, carries out satellite fix, determine the GPS geographical location information of this base station according to this retrieval response.
6. localization method according to claim 5, is characterized in that, also comprises step:
The GPS geographical location information of the base station determining to obtain by satellite fix is sent to described control centre, by described control centre, the GPS geographical location information of this base station is stored into described database.
7. localization method according to claim 4, is characterized in that, when receiving described positioning request signal, also comprises step:
To control centre's transmission and reception to the first report information of the positioning request signal of mobile terminal, this first report information comprises the identifying information of described mobile terminal, the identifying information of this base station.
8. a localization method, is characterized in that, comprises step:
Receive the first report information receiving the positioning request signal of mobile terminal that base station sends, this first report information comprises the identifying information of described mobile terminal, the identifying information of this base station;
According to the first report information that each base station received sends, determine whether the transmitting power needing to adjust mobile terminal;
If so, send transmitting power to described mobile terminal and increase instruction, after increasing instruction increase transmitting power by described mobile terminal according to described transmitting power, resend described positioning request signal.
9. localization method according to claim 8, is characterized in that, according to the first report information that each base station received sends, determine whether to need the mode of the transmitting power adjusting mobile terminal to comprise in following manner any one:
According to the first report information that each base station received sends, determine the number of the base station of the positioning request signal receiving described mobile terminal; When this number is less than default number of base stations threshold value, judge the transmitting power needing to adjust mobile terminal;
According to each first report information received, judge whether each base station receiving the positioning request signal of described mobile terminal is in the situation weak-strong test in radio wave field strength distribution situation map, if so, judge the transmitting power needing to adjust mobile terminal.
10. localization method according to claim 9, is characterized in that, also comprises step:
Receive the second report information that each base station sends when receiving the signal that mobile terminal adopts assigned frequency electric wave to send, described second report information comprises the GPS geographical location information of described assigned frequency, field intensity and base station;
According to the second report information of each base station, adopt city wireless radio waves propagation model to analyze, set up described radio wave field strength distribution situation map.
11. 1 kinds of navigation systems, is characterized in that, comprise mobile terminal, and this mobile terminal comprises:
Signal emission module, for sending positioning request signal;
Response receiver module, for receiving the Location Request response that each base station returns according to described positioning request signal, described Location Request response comprises the GPS geographical location information of corresponding base station;
Locating module, for receive according to the transmitting time sending positioning request signal, time of reception/base station of receiving the response of each Location Request described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location processing and determine mobile terminal.
12. navigation systems according to claim 11, is characterized in that: command reception module and/or mobile terminal adjustment analysis module,
Described command reception module, the transmitting power sent for receiving control centre increases instruction;
Described mobile terminal adjustment analysis module, for the Location Request response sent according to each base station received, determines whether to need to adjust transmitting power;
Described signal emission module, after the analysis result also for increasing instruction or described mobile terminal adjustment analysis instruction according to described transmitting power increases transmitting power, sends positioning request signal.
13. navigation systems according to claim 12, is characterized in that, described mobile terminal adjustment analysis module comprises mobile terminal number determination module and/or mobile terminal area determination module:
Described mobile terminal number determination module, for the Location Request response sent according to each base station received, determines the number of the Location Request response received; When this number is less than default number of base stations threshold value, judge the transmitting power needing to adjust mobile terminal;
Described mobile terminal area determination module, GPS geographical location information during Location Request for sending according to each base station received responds, judge whether corresponding each base station is in the situation weak-strong test in radio wave field strength distribution situation map, if so, judge the transmitting power needing to adjust mobile terminal.
14. 1 kinds of navigation systems, is characterized in that, comprise test side, base station, and this test side, base station comprises:
Signal receiving module, for receiving the positioning request signal that mobile terminal sends;
Position information acquisition module, for obtaining the GPS geographical location information of this base station according to described positioning request signal;
Signal response module, for sending Location Request response to described mobile terminal, described Location Request response comprises the GPS geographical location information of this base station, by mobile terminal according to send positioning request signal transmitting time, receive time of reception/base station that each Location Request responds receive described positioning request signal time of reception, receive respond the GPS geographical location information of corresponding each base station with each Location Request, position the position location that mobile terminal is determined in computing.
15. navigation systems according to claim 14, is characterized in that, also comprise:
Information reporting module, for when receiving described positioning request signal, to control centre's transmission and reception to the first report information of the positioning request signal of mobile terminal, this first report information comprises the identifying information of described mobile terminal, the identifying information of this base station.
16. navigation systems according to claim 14, is characterized in that:
Described position information acquisition module comprises GPS locating module, for being determined the GPS geographical location information of this base station by satellite fix;
Or
Described position information acquisition module comprises local search module, for obtaining the GPS geographical location information of this base station from the local data library inquiry of base station;
Or
Described position information acquisition module comprises GPS locating module, local search module;
Local search module, for obtaining the GPS geographical location information of this base station from the local data library inquiry of base station, and when Query Result is not for having a GPS geographical location information, sends positioning instruction to GPS locating module;
GPS locating module, for when receiving the positioning instruction of described local search module, for determining the GPS geographical location information of this base station by satellite fix;
Or
Described position information acquisition module comprises retrieval request module, retrieval response receiver module, GPS locating module, positional information determination module:
Retrieval request module, for sending retrieval request to control centre, this retrieval request comprises the identifying information of this base station, retrieves whether there be the GPS geographical location information corresponding with described identifying information in a database by described control centre;
Retrieval response receiver module, for receiving the retrieval response that described control centre returns according to described retrieval request, whether described retrieval response has the result for retrieval of the GPS geographical location information corresponding with described identifying information to determine by described control centre according to retrieving in a database, when described result for retrieval is for being, described retrieval response comprises the GPS geographical location information corresponding with described identifying information that described control centre retrieves from database, when described result for retrieval is no, described retrieval response comprises the information that satellite fix need be carried out in base station;
GPS locating module, for determining the GPS geographical location information of this base station by satellite fix;
Positional information determination module, for the retrieval response received according to described retrieval response receiver module, when described retrieval response comprises GPS geographical location information, this GPS geographical location information in retrieval response is defined as the GPS geographical location information of this base station, described retrieval response comprise base station need carry out the information of satellite fix time, send positioning instruction to GPS locating module, determined the GPS geographical location information of this base station by GPS locating module.
17. navigation systems according to claim 16, is characterized in that, also comprise:
Position message module, the GPS geographical location information for the base station obtained by GPS locating module sends to described control centre, by described control centre, the GPS geographical location information of this base station is stored into described database.
18. 1 kinds of navigation systems, is characterized in that, comprise control centre's end, and this control centre end comprises:
Report receiver module, for receiving the first report information receiving the positioning request signal of mobile terminal that base station sends, this first report information comprises the identifying information of described mobile terminal, the identifying information of this base station;
Control end adjustment analysis module, for the first report information sent according to each base station received, determines whether the transmitting power needing to adjust mobile terminal;
Instruction sending module, for when the determination result of described control end adjustment analysis module is for being, send transmitting power to described mobile terminal and increase instruction, after increasing instruction increase transmitting power by described mobile terminal according to described transmitting power, resend described positioning request signal.
19. navigation systems according to claim 18, is characterized in that, described control end adjustment analysis module comprises control end number determination module and/or control end area determination module:
Described control end number determination module, for the first report information sent according to each base station received, determine the number of the base station of the positioning request signal receiving described mobile terminal, when this number is less than default number of base stations threshold value, judge the transmitting power needing to adjust mobile terminal;
Described control end area determination module, for each first report information according to reception, judge whether each base station receiving the positioning request signal of described mobile terminal is in the situation weak-strong test in radio wave field strength distribution situation map, if so, judge the transmitting power needing to adjust mobile terminal.
20. navigation systems according to claim 19, is characterized in that, also comprise:
Distribution map sets up module, for receiving the second report information that each base station sends when receiving the signal that mobile terminal adopts assigned frequency electric wave to send, described second report information comprises the GPS geographical location information of described assigned frequency, field intensity and base station, and according to the second report information of each base station, adopt city wireless radio waves propagation model to analyze, set up radio wave field strength distribution situation map.
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CN106376079A (en) * 2016-10-28 2017-02-01 四川九洲电器集团有限责任公司 Positioning method, mobile equipment and mobile device
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