CN106255064A - A kind of position error detection method and device - Google Patents
A kind of position error detection method and device Download PDFInfo
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- CN106255064A CN106255064A CN201610756032.3A CN201610756032A CN106255064A CN 106255064 A CN106255064 A CN 106255064A CN 201610756032 A CN201610756032 A CN 201610756032A CN 106255064 A CN106255064 A CN 106255064A
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- tdoa
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- test point
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
-
- 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
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses a kind of position error detection method and device, relate to field of computer technology, main purpose is, by calculating and showing that the precision of TDOA value reflects the positioning precision of alignment system intuitively, to provide data foundation as the positioning precision positioning equipment in calibration alignment system.The main technical scheme of the present invention is: obtain the actual range between test point and testing base station；Described actual range is substituted in preset TDOA location algorithm and calculates the TDOA theoretical value between test point and testing base station；Obtain the TDOA measured value between the described test point of the actual measurement of alignment system and described testing base station；Calculate and export the difference of described TDOA theoretical value and described TDOA measured value, obtain TDOA error amount.Present invention is mainly used for quantum chemical method TDOA error amount.
Description
Technical field
The present invention relates to field of locating technology, particularly relate to a kind of position error detection method and device.
Background technology
Along with the development of development of Mobile Internet technology, location-based service (LocationBased Severs, LBS) has obtained extensively
Pay close attention to.According to statistics, have more than 80% relevant with " position " in the information that people are used, people are seamless to indoor and outdoor location
Demand is also being continuously increased.And satellite navigation system has, and signal is weak, easily the shortcoming such as be disturbed, inside urban canyons, building etc.
Block, disturb the most serious region to be difficult to normal work, and positioning precision can even cannot position by degradation.Therefore, closely
Within several years, occurring in that the newest localization method or alignment system, such as architecture system, Wi-Fi alignment system, pseudo satellite, pseudolite are fixed
Position systems etc., utilize they stronger signals can realize the seamless coverage of city indoor and outdoor surroundings.
At present, the existing numerous studies of location technology based on land mobile communication net, owing to ground network signal covers good
Good, therefore indoor user can be positioned.In various alignment systems based on mobile radio communication, the basic fixed position of employing is former
Reason is about similar, is all to be joined by the feature of transmitting signal between detection mobile station and multiple fixed positions transceiver
Number, as radio wave field strength, propagation time or time difference, angle of incidence etc. estimate the geometric position of target MS.At present, based on
The location technology of Land-Mobile-Network is based primarily upon cell ID (Cell-Identity, CellID), Timing Advance
(Timing Advance, TA), the uplink signal time of advent (Time of Arrival, TOA), uplink signal arrive
Reach time difference (Time Difference of Arrival, TDOA) and direction of arrival degree (Angle of Arrival,
AOA) downlink, being applied to time division multiple acess (Time Division Multiple Address, TDMA) system strengthens sight
Survey time difference (Enhanced-Observed Time Difference, E-OTD) etc..Wherein, Beijing University of Post & Telecommunication propose
Alignment system based on TC-OFDM signal system, utilizes location and the integral fusion of signal of communication, it is achieved that high-precision extensively
Territory indoor and outdoor is seamless location.In this alignment system, most important resolving parameter is exactly TDOA value.But current in Cellular Networks
Due to nonideal wireless channel environment in network so that multipath transmisstion, non line of sight between location terminal (mobile station) and base station
(NLOS) propagation generally exists.These all can make the TDOA value detected error occur, thus affects positioning precision.And it is the most right
Also not having concrete quantization means in following the tracks of of TDOA value precision with detection, the positioning precision causing positioning terminal equipment cannot be accurate
Really regulation.
Summary of the invention
In view of this, the present invention provides a kind of position error detection method and device, and main purpose is by calculating also
The precision of displaying TDOA value reflects the positioning precision of alignment system intuitively, positions determining of equipment as in calibration alignment system
Position precision provides data foundation.
For reaching above-mentioned purpose, the present invention provides following technical scheme:
According to one aspect of the present invention, it is proposed that a kind of position error detection method, the method includes:
Obtain the actual range between test point and testing base station；
Described actual range is substituted in preset TDOA location algorithm and calculates the TDOA between test point and testing base station
Theoretical value；
Obtain the TDOA measured value between the described test point of the actual measurement of alignment system and described testing base station；
Calculate and export the difference of described TDOA theoretical value and described TDOA measured value, obtain TDOA error amount.
Preferably, described substitution by described actual range calculates test point and test base in preset TDOA location algorithm
TDOA theoretical value between standing includes:
According to signal propagation time between test point and multiple testing base station described in described actual distance calculation；
When calculating the signal propagation of remaining testing base station on the basis of a testing base station in the plurality of testing base station
Between poor；
Described signal propagation time difference is converted to the TDOA theoretical value of described testing base station.
Preferably, the TDOA between the described test point of the actual measurement of described acquisition alignment system and described testing base station measures
Value includes:
The signal obtained between the test point and testing base station measured by the signal receiving/transmission device in described alignment system is propagated
Time；
Difference according to described signal propagation time determines the TDOA measured value of described testing base station.
Preferably, the actual range between described acquisition test point and testing base station includes:
Determine that the geographical coordinate of described test point and described testing base station, described geographical coordinate include latitude and longitude coordinates and height
Degree coordinate；
The coordinate being converted under Mercator's coordinate system by described geographical coordinate calculates described test point and described testing base station
Actual range.
Preferably, described calculating export the difference of described TDOA theoretical value and described TDOA measured value and include:
By repeatedly obtaining described actual distance calculation many groups TDOA theoretical value；
Described many group TDOA theoretical values are utilized to calculate many group TDOA error amounts with described TDOA measured value；
By the described meansigma methods output displays organizing TDOA error amount more.
According to another aspect of the present invention, it is proposed that a kind of position error detection device, including:
First acquiring unit, for obtaining the actual range between test point and testing base station；
First computing unit, calculates for the actual range that described first acquiring unit obtains substitutes into preset TDOA location
Method calculates the TDOA theoretical value between test point and testing base station；
Second acquisition unit, for obtaining between described test point and the described testing base station of the actual measurement of alignment system
TDOA measured value；
Second computing unit, for calculating and export the TDOA theoretical value and described second that described first computing unit obtains
The difference of the TDOA measured value that acquiring unit obtains, obtains TDOA error amount.
Preferably, described first computing unit includes:
First computing module, for according to signal between test point and multiple testing base station described in described actual distance calculation
Propagation time；
Second computing module, for the signal propagation time calculated according to described first computing module, with the plurality of
The signal propagation time calculating remaining testing base station on the basis of a testing base station in testing base station is poor；
Modular converter, for being converted to described testing base station by the signal propagation time difference that described second computing module calculates
TDOA theoretical value.
Preferably, described second acquisition unit includes:
Acquisition module, for obtaining the test point and testing base station measured by the signal receiving/transmission device in described alignment system
Between signal propagation time；
Determining module, the difference of the signal propagation time for obtaining according to described acquisition module determines described testing base station
TDOA measured value.
Preferably, described first acquiring unit includes:
Determining module, for determining the geographical coordinate of described test point and described testing base station, described geographical coordinate includes
Latitude and longitude coordinates and height coordinate；
Computing module, by being converted into the described geographical coordinate determining that module determines based on the coordinate under Mercator's coordinate system
Calculate the actual range of described test point and described testing base station.
Preferably, described second computing unit includes:
Computing module, for by repeatedly obtaining described actual distance calculation many groups TDOA theoretical value；
Described computing module is additionally operable to, and utilizes described many group TDOA theoretical values to calculate many groups with described TDOA measured value
TDOA error amount；
Output module, the meansigma methods output display of the many groups TDOA error amount for described computing module is obtained.
A kind of position error detection method of the present invention and device, be to derive TDOA by orientation distance reverse push
Theoretical value, the actual TDOA measured value measured compares with in same position, calculates TDOA error amount, it is achieved that right
The quantitative analysis of TDOA value.And then, the calculating parameter of location terminal inner can be regulated by the quantitative analysis of TDOA error amount,
Improve the precision of the TDOA value that terminal obtains, improve the positioning precision of terminal further, thus improve determining of whole alignment system
Position precision.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, and in order to allow above and other objects of the present invention, the feature and advantage can
Become apparent, below especially exemplified by the detailed description of the invention of the present invention.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit common for this area
Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as the present invention
Restriction.And in whole accompanying drawing, it is denoted by the same reference numerals identical parts.In the accompanying drawings:
Fig. 1 shows a kind of position error detection method flow chart that the embodiment of the present invention proposes；
Fig. 2 shows the another kind of position error detection method flow chart that the embodiment of the present invention proposes；
Fig. 3 shows that a kind of position error that the embodiment of the present invention proposes detects the composition frame chart of device；
Fig. 4 shows that the another kind of position error that the embodiment of the present invention proposes detects the composition frame chart of device.
Detailed description of the invention
It is more fully described the exemplary embodiment of the present invention below with reference to accompanying drawings.Although accompanying drawing shows the present invention
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention and should be by embodiments set forth here
Limited.On the contrary, it is provided that these embodiments are able to be best understood from the present invention, and can be by the scope of the present invention
Complete conveys to those skilled in the art.
Embodiments providing a kind of position error detection method, the method is applied based on mobile communication system
Location technology is measured the error amount of TDOA.Wherein, TDOA (time of advent is poor) is a kind of wireless location technology, and TDOA location is
A kind of utilize time difference to carry out the method positioned, be time difference rather than the arrival being arrived two base stations by detection signal
Absolute time determines the position of mobile station, reduces the requirement to time synchronized.Three different base stations are used to measure
Two TDOA, and mobile station is positioned on the hyp intersection point that two TDOA determine.TDOA is alignment system based on multi-site,
Therefore signal to carry out location must have the base station of more than at least 3 to measure simultaneously.And the survey of current TDOA location
Appointing between value, and actual value and so there is certain error, this error is then to be caused by the error of TDOA value, and current
For the detection mode that the error quantization also neither one of TDOA value is the most feasible, the embodiment of the present invention is aiming at TDOA value
Error carries out the method that detection calculates, and the method concrete steps are as it is shown in figure 1, include:
101, the actual range between test point and testing base station is obtained.
The purpose of alignment system seeks to determine that the position coordinates of target, the most basic Yu common application are exactly by target
Location positioning in map.Owing to the position of the position that is positioned in map with the actual place of target can exist error, therefore,
The precision of location to be improved is accomplished by determining the size of error amount.And error of based on TDOA location technology is primarily present in location
Equipment self is with route of transmission, and therefore, the positioning precision improving location equipment self can be effectively improved TDOA location technology
Degree of accuracy.
In the embodiment of the present invention, the error of TDOA value to be calculated, first have to it is confirmed that test environment, test point and test
Base station.Wherein it is determined that test environment is to reduce the interference that route of transmission is caused, in the present embodiment, preferred test environment
For open area, between test point and testing base station, have good signal route of transmission.Test point is anchor point, i.e. positions terminal
Position, also be location signal source.Testing base station is the base station using TDOA location technology to position test point, test
The quantity of base station is typically no less than 3.
Owing to test point is measurable with the physical environment of testing base station, therefore, the reality between test point and testing base station
Border distance can be measured by reality and obtain.Concrete metering system has a lot, in-plant by laser ranging, infrared
The equipment such as range finding directly obtain, and the most also can be calculated by actual geographical coordinate position, and the present invention implements
Example is not specifically limited for the acquisition mode of actual range.
102, actual range is substituted into the TDOA calculating between test point and testing base station in preset TDOA location algorithm
Theoretical value.
Owing to TDOA refers to that signal arrives the time difference of two base stations, therefore, in the speed of signal and apart from known feelings
Under condition, it is possible to obtain the signal time from test point to testing base station, and then it is known that signal arrives two test bases
Time difference between standing, i.e. TDOA value.So, in above-mentioned test environment, the spread speed of signal can be approximated to be the light velocity,
And the distance of test point and testing base station has been obtained by 101 steps, in the case of propagation path is good, it is possible to calculate
TDOA value between testing base station, defining this TDOA value is the TDOA theoretical value obtained by computing formula.
103, the TDOA measured value between the test point of the actual measurement of alignment system and testing base station is obtained.
After obtaining TDOA theoretical value, in the case of the test environment of test point Yu testing base station is the most constant, by fixed
Position system carries out the actual measurement of TDOA value, is namely sent framing signal by test point, testing base station receives, according to measurement
The time sent and receive determines the framing signal propagation time from test point to testing base station, and then calculates between testing base station
Time difference, i.e. TDOA value, define this TDOA value and measure, for alignment system is actual, the TDOA measured value obtained.
104, calculate and export the difference of TDOA theoretical value and TDOA measured value, obtain TDOA error amount.
For identical test point, testing base station, in preferable test environment, the TDOA theoretical value that step 102 calculates
Identical value is should be with the TDOA measured value of step 103 calculating.And in the case of test environment is identical, theoretical value and measured value
There is location equipment that the reason of difference is then primarily present in testing base station and error is existed for the calculating of time.This be due to
Different testing base stations when the time of calculating it cannot guarantee that the most identical, in the case of the required precision of time is the highest,
Time difference between testing base station is the biggest, which results in TDOA value and there is error, the position that final body positions now
Error is there is also with time location.The embodiment of the present invention is by calculating the difference of TDOA theoretical value and TDOA measured value, it is possible to
Tester is allowed to know clearly the TDOA error amount of different testing base station, so that it is determined that the positioning precision of each base station, for rear
The hardware and software debugging of continuous location provides data support.
A kind of position error detection method that the embodiment of the present invention provides, is to derive TDOA by orientation distance reverse push to manage
Opinion value, the actual TDOA measured value measured compares with in same position, calculates TDOA error amount, it is achieved that to TDOA
The quantitative analysis of value.And then, the device parameter of locating base station can be regulated by the quantitative analysis of TDOA error amount, thus improve
The positioning precision of whole alignment system.Additionally, the detection method that the embodiment of the present invention is used is simple to operate, test environment is wanted
Ask the highest, it is possible to obtain TDOA error amount quickly and accurately, provide reliable data ginseng for follow-up debugging location soft hardware equipment
Number.
Further, for the position error detection method that more detailed explanation is above-mentioned, especially TDOA theoretical value
Calculating process, the embodiment of the present invention additionally provides a kind of position error detection method, describes TDOA error amount by way of example in detail
Calculating process, concrete steps are as in figure 2 it is shown, include:
201, the actual range between test point and testing base station is calculated according to geographical coordinate.
Owing to test point is selected by tester, and the position of testing base station is relatively-stationary, therefore, and test point
It is confirmable with the geographical coordinate of testing base station.Wherein, geographical coordinate refers to latitude and longitude coordinates in embodiments of the present invention
And height coordinate, height coordinate is then indicated by height above sea level.Sat by longitude coordinate, latitude coordinate and height
Mark, it is possible to determine the three dimensional space coordinate of test point and testing base station, calculates between Two coordinate point based on identical coordinate system
Distance, it is possible to obtain the actual range between test point and testing base station.
Further, owing to, in current map application, the coordinate system mostly used is Mercator's coordinate system, therefore,
In map application, the position of test point Yu testing base station is carried out accurate marker, it is necessary to converted further by geographical coordinate
For Mercator's coordinate, by calculating the actual range of test point and testing base station under Mercator's coordinate.For geographical coordinate with
Converting of Mercator's coordinate needs to carry out according to certain conversion principle, owing to this transformation process is complex, and changes skill
Art is the most highly developed, so concrete transformation process will not do expansion explanation in embodiments of the present invention.
Wherein, Mercator's coordinate obtains based on Mercator projection, and Mercator projection is made with All Around The World scope, equator
For standard parallel, the first meridian is as central meridian, and both intersection points are zero, is just to north east, to west south is
Negative.South poles is the most upper and lower side of map, and east-west direction is in the rightest, left of map.
In the embodiment of the present invention, the testing base station set is as 4, and corresponding sequence number is respectively 1,2,3,4, measured,
Actual range between the test point and the testing base station that obtain is d1, d2, d3, d4.
202, poor according to the signal propagation time between actual distance calculation test point and multiple testing base station.
When calculating TDOA theoretical value, it is assumed that in test environment, the spread speed of signal is the light velocity, and test point and survey
Examination does not has shelter between base station, it can be ensured that signal can straightline propagation.In the case, between test point and testing base station
Signal propagation time is the quotient of actual range and the light velocity, signal propagation time TOA1=d1/v, TOA2=that 4 base stations are corresponding
D2/v, TOA3=d3/v, TOA4=d4/v, wherein, v is the light velocity (299792458m/s).
After the propagation time obtaining each base station, the signal propagation time calculating other base stations on the basis of base station 1 is poor,
The most each testing base station is relative to the TDOA value of base station 1, TDOA1=TOA1-TOA1, TDOA2=TOA1-TOA2, TDOA3=TOA1-
TOA3, TDOA4=TOA1-TOA4.
203, the TDOA theoretical value of testing base station is calculated according to signal propagation time difference.
By the calculating of step 202, TDOA theoretical value corresponding to obtained each testing base station due to distance numerical value with
There is the difference of relatively large level in the numerical value of speed, therefore, the value obtained is relatively small, for the ease of checking, also for can be with
The actual TDOA measured value measured is corresponding, needs to carry out TDOA theoretical value the conversion of unit, and its standard is measured according to TDOA
The unit of value converts, and during the present invention implements, the unit conversion of TDOA value is 200 nanosecond, in order to follow-up output exhibition
Show.
204, the TDOA measured value between the test point of the actual measurement of alignment system and testing base station is obtained.
When obtaining TDOA measured value, can be by arranging location terminal in test point, with the location in testing base station
Device carries out the transmitting-receiving of framing signal, measures actual TDOA value by calculating the propagation time of actual location signal.Wherein, fixed
Containing the device for receiving and dispatching framing signal, this device and the positioner phase in testing base station in alignment system in the terminal of position
Correspondence, one end sends framing signal, and the other end receives framing signal, is sent and the time received by mark in framing signal
Just can calculate the signal propagation time between test point and testing base station, and then, arrive each by resolving same test point
The signal propagation time of testing base station calculates the difference with Reference BTS just can calculate the TDOA measured value of each testing base station.
205, calculate and export the difference of TDOA theoretical value and TDOA measured value, obtain TDOA error amount.
Just can be for the TDOA theoretical value of a test point and TDOA measured value by above-mentioned step, in order to lower ring
The interference that border error causes, can repeatedly calculate with TDOA measured value TDOA theoretical value, remove its large deviations bigger
Interference data, carry out output and show after the results averaged that will obtain.
Additionally, due to TDOA error amount is the difference of TDOA theoretical value and TDOA measured value, itself and the concrete position of test point
Put unrelated.Therefore, when calculating TDOA error amount, it is also possible to take multiple test point, the actual range obtaining different test point comes
Calculate many group TDOA theoretical values, meanwhile, in corresponding test point, measure actual TDOA measured value by location terminal, thus
Calculate TDOA error amount.So, it is also possible to obtain the TDOA error amount organized, then it is averaged more and obtain each testing base station
TDOA error amount.
Finally, the TDOA error amount obtained is carried out output and shows, in the present embodiment, this TDOA error amount can be shown
In the terminal of location, in conjunction with the map application in this location terminal, TDOA error amount is illustrated in map interface, allows test person
Member reads TDOA error amount in the way of directly perceived, quantization.Thus compare the positioning precision error amount of testing base station, for follow-up
Location soft hardware equipment debugging accumulation reference data.
As realizing the concrete device of said method, embodiments provide a kind of position error detection device, should
Device embodiment is corresponding with preceding method embodiment, and for ease of reading, this device embodiment is no longer in preceding method embodiment
Detail content repeat one by one, it should be understood that the device in the present embodiment correspondence can realize preceding method embodiment
In full content.This position error detection device may be used for detecting the detection and localization equipment of TDOA error amount or location terminal
In, judge the positioning precision error of the positioner in base station by measuring TDOA error amount, and then adjust positioner with
Improve the positioning precision of base station.The concrete structure of this position error detection device is as it is shown on figure 3, include:
First acquiring unit 31, for obtaining the actual range between test point and testing base station；
First computing unit 32, it is fixed that the actual range for being obtained by described first acquiring unit 31 substitutes into preset TDOA
Position algorithm calculates the TDOA theoretical value between test point and testing base station；
Second acquisition unit 33, for obtaining between described test point and the described testing base station of the actual measurement of alignment system
TDOA measured value；
Second computing unit 34, for calculating and export TDOA theoretical value that described first computing unit 32 obtains with described
The difference of the TDOA measured value that second acquisition unit 33 obtains, obtains TDOA error amount.
Further, as shown in Figure 4, described first computing unit 32 includes:
First computing module 321, for according to described in described actual distance calculation between test point and multiple testing base station
Signal propagation time；
Second computing module 322, for the signal propagation time calculated according to described first computing module 321, with institute
The signal propagation time calculating remaining testing base station on the basis of stating in multiple testing base station testing base station is poor；
Modular converter 323, for being converted to described survey by the signal propagation time difference that described second computing module 322 calculates
The TDOA theoretical value of examination base station.
Further, as shown in Figure 4, described second acquisition unit 33 includes:
Acquisition module 331, for obtaining the test point and test measured by the signal receiving/transmission device in described alignment system
Signal propagation time between base station；
Determining module 332, the difference of the signal propagation time for obtaining according to described acquisition module 331 determines described survey
The TDOA measured value of examination base station.
Further, as shown in Figure 4, described first acquiring unit 31 includes:
Determine module 311, for determining the geographical coordinate of described test point and described testing base station, described geographical coordinate bag
Include latitude and longitude coordinates and height coordinate；
Computing module 312, for being converted into the described geographical coordinate determining that module 311 determines under Mercator's coordinate system
Coordinate calculates the actual range of described test point and described testing base station.
Further, as shown in Figure 4, described second computing unit 34 includes:
Computing module 341, for by repeatedly obtaining described actual distance calculation many groups TDOA theoretical value；
Described computing module 341 is additionally operable to, and utilizes described many group TDOA theoretical values to calculate many with described TDOA measured value
Group TDOA error amount；
Output module 342, the meansigma methods output of the many groups TDOA error amount for being obtained by described computing module 341 is aobvious
Show.
In sum, a kind of position error detection method that the embodiment of the present invention is provided and device, be to pass through spacer
Derive TDOA theoretical value from reverse push, the actual TDOA measured value measured compares with in same position, calculates TDOA
Error amount, it is achieved that the quantitative analysis to TDOA value.And then, locating base station can be regulated by the quantitative analysis of TDOA error amount
Device parameter, thus improve the positioning precision of whole alignment system.Additionally, the detection method behaviour that the embodiment of the present invention is used
Make simple, less demanding to test environment, it is possible to obtain TDOA error amount quickly and accurately, for follow-up debugging location software and hardware
Equipment provides reliable data parameters.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not has the portion described in detail in certain embodiment
Point, may refer to the associated description of other embodiments.
It is understood that the correlated characteristic in above-mentioned cloud server and device can mutually reference.It addition, above-mentioned reality
Executing " first ", " second " in example etc. is for distinguishing each embodiment, and does not represent the quality of each embodiment.
Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, and the system of foregoing description,
The specific works process of device and unit, is referred to the corresponding process in aforementioned cloud server embodiment, the most superfluous at this
State.
Algorithm and display are not intrinsic to any certain computer, virtual system or miscellaneous equipment relevant provided herein.
Various general-purpose systems can also be used together with based on teaching in this.As described above, construct required by this kind of system
Structure be apparent from.Additionally, the present invention is also not for any certain programmed language.It is understood that, it is possible to use various
Programming language realizes the content of invention described herein, and the description done language-specific above is to disclose this
Bright preferred forms.
In description mentioned herein, illustrate a large amount of detail.It is to be appreciated, however, that the enforcement of the present invention
Example can be put into practice in the case of not having these details.In some instances, it is not shown specifically known cloud service
Device, structure and technology, in order to do not obscure the understanding of this description.
Similarly, it will be appreciated that one or more in order to simplify that the present invention helping understands in each inventive aspect, exist
Above in the description of the exemplary embodiment of the present invention, each feature of the present invention is grouped together into single enforcement sometimes
In example, figure or descriptions thereof.But, the cloud server of the disclosure should not be construed to reflect an intention that i.e. institute
Claimed invention requires than the more feature of feature being expressly recited in each claim.More precisely,
As the following claims reflect, inventive aspect is all spies less than single embodiment disclosed above
Levy.Therefore, it then follows claims of detailed description of the invention are thus expressly incorporated in this detailed description of the invention, the most each right
Requirement itself is all as the independent embodiment of the present invention.
Those skilled in the art are appreciated that and can carry out the module in the equipment in embodiment adaptively
Change and they are arranged in one or more equipment different from this embodiment.Can be the module in embodiment or list
Unit or assembly are combined into a module or unit or assembly, and can put them in addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit excludes each other, can use any
Combine all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so disclosed appoint
What cloud server or all processes of equipment or unit are combined.Unless expressly stated otherwise, this specification (includes companion
With claim, summary and accompanying drawing) disclosed in each feature can be special by the replacement providing identical, equivalent or similar purpose
Levy and replace.
Although additionally, it will be appreciated by those of skill in the art that embodiments more described herein include other embodiments
Some feature included by rather than further feature, but the combination of the feature of different embodiment means to be in the present invention's
Within the scope of and form different embodiments.Such as, in the following claims, embodiment required for protection appoint
One of meaning can mode use in any combination.
The all parts embodiment of the present invention can realize with hardware, or to run on one or more processor
Software module realize, or with combinations thereof realize.It will be understood by those of skill in the art that and can use in practice
Microprocessor or digital signal processor (DSP) realize denomination of invention according to embodiments of the present invention (in determining website
The device of Hyperlink rank) in the some or all functions of some or all parts.The present invention be also implemented as
Perform part or all equipment or device program (such as, the computer program of cloud server as described herein
And computer program).The program of such present invention of realization can store on a computer-readable medium, or can have
There is the form of one or more signal.Such signal can be downloaded from internet website and obtain, or at carrier signal
Upper offer, or provide with any other form.
The present invention will be described rather than limits the invention to it should be noted above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference marks that should not will be located between bracket is configured to limitations on claims.Word " comprises " and does not excludes the presence of not
Arrange element in the claims or step.Word "a" or "an" before being positioned at element does not excludes the presence of multiple such
Element.The present invention and can come real by means of including the hardware of some different elements by means of properly programmed computer
Existing.If in the unit claim listing equipment for drying, several in these devices can be by same hardware branch
Specifically embody.Word first, second and third use do not indicate that any order.These word explanations can be run after fame
Claim.
Claims (10)
1. a position error detection method, it is characterised in that described method includes:
Obtain the actual range between test point and testing base station；
Described actual range is substituted into the TDOA calculating between test point and testing base station in preset TDOA location algorithm theoretical
Value；
Obtain the TDOA measured value between the described test point of the actual measurement of alignment system and described testing base station；
Calculate and export the difference of described TDOA theoretical value and described TDOA measured value, obtain TDOA error amount.
Method the most according to claim 1, it is characterised in that described actual range is substituted into preset TDOA location algorithm
In the TDOA theoretical value that calculates between test point and testing base station include:
According to signal propagation time between test point and multiple testing base station described in described actual distance calculation；
The signal propagation time calculating remaining testing base station on the basis of a testing base station in the plurality of testing base station is poor；
Described signal propagation time difference is converted to the TDOA theoretical value of described testing base station.
Method the most according to claim 1, it is characterised in that obtain described test point and the institute of the actual measurement of alignment system
The TDOA measured value stated between testing base station includes:
Obtain the signal propagation time between the test point and testing base station measured by the signal receiving/transmission device in described alignment system；
Difference according to described signal propagation time determines the TDOA measured value of described testing base station.
Method the most according to claim 1, it is characterised in that obtain the actual range bag between test point and testing base station
Include:
Determine that the geographical coordinate of described test point and described testing base station, described geographical coordinate include that latitude and longitude coordinates and height are sat
Mark；
The coordinate being converted under Mercator's coordinate system by described geographical coordinate calculates the reality of described test point and described testing base station
Border distance.
5. according to the method according to any one of claim 1-4, it is characterised in that calculate and export described TDOA theoretical value with
The difference of described TDOA measured value includes:
By repeatedly obtaining described actual distance calculation many groups TDOA theoretical value；
Described many group TDOA theoretical values are utilized to calculate many group TDOA error amounts with described TDOA measured value；
By the described meansigma methods output displays organizing TDOA error amount more.
6. a position error detection device, it is characterised in that described device includes:
First acquiring unit, for obtaining the actual range between test point and testing base station；
First computing unit, for substituting into the actual range that described first acquiring unit obtains in preset TDOA location algorithm
Calculate the TDOA theoretical value between test point and testing base station；
Second acquisition unit, surveys for obtaining the TDOA between the described test point of the actual measurement of alignment system and described testing base station
Value；
Second computing unit, the TDOA theoretical value obtained for calculating and export described first computing unit obtains with described second
The difference of the TDOA measured value that unit obtains, obtains TDOA error amount.
Device the most according to claim 6, it is characterised in that described first computing unit includes:
First computing module, for propagating according to signal between test point and multiple testing base station described in described actual distance calculation
Time；
Second computing module, for the signal propagation time calculated according to described first computing module, with the plurality of test
The signal propagation time calculating remaining testing base station on the basis of a testing base station in base station is poor；
Modular converter, for being converted to described testing base station by the signal propagation time difference that described second computing module calculates
TDOA theoretical value.
Device the most according to claim 6, it is characterised in that described second acquisition unit includes:
Acquisition module, for obtaining between the test point and testing base station measured by the signal receiving/transmission device in described alignment system
Signal propagation time；
Determining module, the difference of the signal propagation time for obtaining according to described acquisition module determines described testing base station
TDOA measured value.
Device the most according to claim 6, it is characterised in that described first acquiring unit includes:
Determining module, for determining the geographical coordinate of described test point and described testing base station, described geographical coordinate includes longitude and latitude
Degree coordinate and height coordinate；
Computing module, calculates institute for the coordinate being converted under Mercator's coordinate system by the described geographical coordinate determining that module determines
State the actual range of test point and described testing base station.
10. according to the device according to any one of claim 6-9, it is characterised in that described second computing unit includes:
Computing module, for by repeatedly obtaining described actual distance calculation many groups TDOA theoretical value；
Described computing module is additionally operable to, and utilizes described many group TDOA theoretical values to calculate many group TDOA by mistake with described TDOA measured value
Difference；
Output module, the meansigma methods output display of the many groups TDOA error amount for described computing module is obtained.
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| CN110572779A (en) * | 2019-08-30 | 2019-12-13 | 南京沃旭通讯科技有限公司 | System error estimation method of base station based on ToF model |
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