CN108594284B - TDOA (time difference of arrival) positioning performance detection method and system - Google Patents

TDOA (time difference of arrival) positioning performance detection method and system Download PDF

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CN108594284B
CN108594284B CN201810387879.8A CN201810387879A CN108594284B CN 108594284 B CN108594284 B CN 108594284B CN 201810387879 A CN201810387879 A CN 201810387879A CN 108594284 B CN108594284 B CN 108594284B
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CN108594284A (en
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徐弘良
叶筱康
郭锋
尹学锋
范昱洲
何塞·罗德里格斯·皮内罗
蔡雪松
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Shanghai Radio Monitoring Station
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • 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

Abstract

The invention provides a TDOA (time difference of arrival) positioning performance detection method and a TDOA positioning performance detection system, which adopt a propagation graph theory channel simulation technology and obtain channel impulse response of an actual test environment through digital map simulation of the environment, send an intermediate emission signal based on an emission signal and the channel impulse response of the actual test environment to a TDOA sensor of a TDOA positioning system to be tested, calculate the position of a source to be tested based on the intermediate emission signal by the TDOA positioning system to be tested, compare the position with the actual position of the source to be tested, and evaluate the positioning performance of the TDOA positioning system to be tested in the environment. The method is simple, quick and effective to implement, low in testing cost, high in testing efficiency, scientific and comprehensive in detection effect and has a huge application prospect.

Description

TDOA (time difference of arrival) positioning performance detection method and system
Technical Field
The invention belongs to the technical field of wireless communication, and relates to a positioning performance detection technology, in particular to a TDOA positioning performance detection technology.
Background
With the development of fifth generation mobile communication systems and wireless smart city applications, location-based communication services are increasingly demanded, and thus, positioning technology is receiving more and more attention. The positioning technology is mainly divided into two modes: geometry-based approaches and database-based approaches. The former includes the time of arrival, time difference of arrival (TDOA), and angle of arrival of the utilization signal. The latter utilizes machine learning algorithm to realize the mapping between the location characteristics and the geographic position, and predicts the position of the source to be measured. In these positioning methods, TDOA uses the difference in the distance of the signal from the source to be measured to multiple sensors to obtain the position of the source to be measured. The method is simple to implement, low in equipment cost, convenient to deploy and quite wide in application, and can be applied to target positioning in public areas such as airports, stations and the like.
The performance of the actual TDOA system is related to various factors, including the effectiveness and complexity of the TDOA positioning algorithm, and the performance of the positioning system hardware itself. Generally detecting the performance of a TDOA location system synthetically requires placing the system in a real test environment for field testing. However, testing in a real environment generally only allows the positioning performance of a positioning system in a single environment to be analyzed. If the positioning performance of the positioning system under more scenes needs to be analyzed, higher cost needs to be consumed. Therefore, the conventional TDOA positioning system performance detection technology cannot comprehensively and scientifically evaluate the positioning performance of the TDOA positioning system in various non Line of sight (NLOS) environments by continuously changing the environment, which is an important factor affecting the practical use effect of the TDOA positioning system.
Disclosure of Invention
The invention aims to provide a positioning performance detection technology of a TDOA (time difference of arrival) positioning system, which aims to overcome the problems of single environment, uncontrollable interference, high test cost and the like in the detection of the positioning performance of the TDOA positioning system in a real environment, and allows the performance detection system of the TDOA positioning system to be set up in a laboratory without arranging an actual TDOA positioning system in the real environment.
In order to achieve the above purpose, the solution of the invention is:
a TDOA positioning performance detection method includes obtaining channel impulse response of real test environment by adopting channel simulation technology simulation, sending intermediate emission signal based on emission signal and channel impulse response of real test environment to TDOA sensor of TDOA positioning system to be tested, calculating position of source to be tested by TDOA positioning system to be tested based on intermediate emission signal, comparing position with actual position of source to be tested, and evaluating positioning performance of TDOA positioning system to be tested.
Transmitting the intermediate transmission signal to a TDOA sensor of a TDOA positioning system to be tested by a radio frequency device; preferably, the radio frequency device is a general software radio peripheral; preferably, the intermediate transmission signal is a convolution of a transmission signal of a source to be tested and a channel impulse response of a real test environment; further preferably, the intermediate transmission signal is a sum of a gaussian white noise and a convolution of the transmission signal of the source to be tested and the channel impulse response of the real test environment.
The TDOA positioning performance detection method comprises the following steps:
(1) constructing a digital map of a real test environment by adopting a simulation technology;
presetting the positions of a source to be tested and a TDOA sensor of a TDOA positioning system to be tested in the digital map;
(2) calculating channel impulse response from the source to be detected to the TDOA sensor, and setting a transmitting signal of the source to be detected;
(3) calculating a convolution of the channel impulse response and the transmit signal, forming an intermediate transmit signal based on the convolution;
(4) sending the intermediate transmit signal to the TDOA sensor;
(5) and comparing the position of the source to be detected estimated by the TDOA positioning system to be detected according to the intermediate emission signal with a preset position of the source to be detected, and evaluating the positioning performance of the TDOA positioning system to be detected.
The digital map also relates to the geographic position and the size of each object in the real test environment; preferably, the geographic location of the object is represented by three-dimensional coordinates; further preferably, the three-dimensional coordinates of the geographic position of the object can be converted into longitude, latitude, and altitude of a GPS (Global Positioning System).
And (3) in the step (2), a graph theory algorithm is adopted to calculate the channel impulse response from the source to be measured to the TDOA sensor.
In the step (4), a radio frequency device is adopted to send the intermediate transmission signal to the TDOA sensor; preferably, the radio frequency device is a general software radio peripheral.
The intermediate transmission signal is the convolution of the channel impulse response and the transmission signal; preferably, the intermediate transmission signal is a sum of a convolution of the channel impulse response and the transmission signal and gaussian white noise.
A TDOA location performance detection system for realizing the TDOA location performance detection method comprises a first network structure and a second network structure; the first network structure comprises a first router, a first processor and at least three signal sending devices, wherein the first processor and the at least three signal sending devices are respectively connected with the first router; the second network structure comprises a second router, a second processor and at least three TDOA sensors, wherein the second processor is respectively connected with the second router; the signal transmitting devices and the TDOA sensors are equal in number and have a communication relation in a one-to-one correspondence manner; the first processor is used for simulating channel impulse response of a real test environment by adopting a channel simulation technology and calculating an intermediate transmission signal based on the channel impulse response and the transmission signal of the source to be tested; the signal transmitting device is used for transmitting the intermediate transmitting signal to the corresponding TDOA sensor; the TDOA sensor is used for predicting the position of the signal source according to the intermediate emission signal; the second processor is used for comparing the preset signal source position according to the signal source position estimated by the TDOA positioning system to be detected to which the TDOA sensor belongs, and evaluating the positioning performance of the TDOA positioning system to be detected.
The signal transmitting device is a radio frequency device; preferably, the radio frequency device is a general software radio peripheral.
The TDOA positioning performance detection system further comprises a GPS antenna, a GPS tame clock module and a clock distributor which are sequentially connected with one another; the clock distributor is also in communication connection with each radio frequency device; the GPS antenna is used for receiving GPS signals from a satellite and sending the GPS signals to the GPS tame clock module; the GPS taming clock module is used for taming an internal circuit based on the GPS signal and outputting a sine wave signal with a set frequency and a 1PPS (Pulse Per Second) signal to the clock distributor; the clock distributor divides the received sine wave signals and the 1PPS signals into multiple paths, and the multiple paths of sine wave signals and the multiple paths of PPS signals are respectively input into the corresponding signal sending devices so as to realize synchronous signal sending of multiple radio frequency devices; preferably, each said TDOA sensor is connected to a GPS antenna, so that each said TDOA sensor receives signals transmitted by corresponding said rf device synchronously; preferably, the set frequency is 10 MHz.
Due to the adoption of the scheme, the invention has the beneficial effects that: the TDOA positioning performance detection technology can be carried out in a laboratory, and can simulate different blocking environments and complex multi-path propagation environments between a source to be detected and a TDOA sensor to form a source signal to be detected with frequency, bandwidth and modulation mode supported by a radio frequency device (such as USRP) so as to scientifically evaluate the positioning capability of a TDOA positioning system to be detected under the NLOS condition. The method is simple, quick and effective to implement, low in testing cost, high in testing efficiency, scientific and comprehensive in detection effect and has a huge application prospect.
Drawings
FIG. 1 is a schematic structural diagram of a TDOA location performance detection system according to an embodiment of the present invention;
fig. 2 is a digital map constructed in this embodiment;
FIG. 3 is a schematic diagram showing the comparison of the amplitudes of the channel impulse responses between the source to be measured and the three TDOA sensors in the embodiment;
fig. 4 is impulse responses actually measured when three USRPs perform synchronous transmission in this embodiment;
FIG. 5 is a detection result for a TDOA location system obtained by the detection method of the embodiment;
FIG. 6 shows the detection results of another TDOA location system obtained by the detection method of the embodiment.
Detailed Description
The invention will be further described with reference to examples of embodiments shown in the drawings.
The invention provides a TDOA (time difference of arrival) positioning performance detection method, which is used for detecting the positioning performance of a TDOA system based on an electric wave channel propagation graph theory and a radio frequency technology (such as a hardware device based on USRP (universal software radio peripheral equipment)). The TDOA positioning performance detection method comprises the following steps:
(1) digital map for constructing real test environment
In order to simulate the process of transmitting a signal from a source to be tested in a real test environment, passing through a radio wave channel, and then receiving the signal by a TDOA sensor of a TDOA positioning system to be tested, it is necessary to preset the position of the source to be tested, the position of the TDOA sensor of the TDOA positioning system to be tested, and the geographic positions and physical dimensions (such as length, width, and height) of other objects in the real test environment, and construct a digital map of the real test environment. Therein, the geographical position of the object can be represented based on a three-dimensional coordinate System, in particular by three coordinates x, y and z, and can be converted into a longitude, a latitude and an altitude of a GPS (Global Positioning System). The conversion process needs to take into account the radius of the earth at different longitudes and latitudes.
If a relatively accurate digital map needs to be obtained, a three-dimensional scanner can be adopted to convert all objects in a real test environment of a limited area into data, or a digital map is imported to convert the 3D description of a certain real test environment into a data reading format required by propagation graph theory software. Alternatively, a specific NLOS propagation environment is set, and various TDOA positioning systems are compared, evaluated and analyzed.
(2) Calculating the channel impulse response of the signal from the preset source to be tested to the TDOA positioning system to be tested, and setting the emission signal of the source to be tested
In this embodiment, the channel impulse response is calculated by using the radio wave channel propagation graph theory principle. At the moment, the source to be measured, the TDOA positioning system and the object in the environment are all regarded as nodes, signal propagation paths among the nodes are regarded as line segments, and the propagation graph theory is based on the point-line topological structure.
First, the channel transfer function h (f) between the source under test and the TDOA positioning system at a specific frequency f is calculated using the following formula:
H(f)＝D(f)+R(f)[U-B(f)]-1T(f)
wherein: d (f) represents the channel transfer function of the signal directly propagating between the source to be measured and the TDOA sensor;
r (f) represents the channel transfer function of the signal propagating between the TDOA sensor and various objects in the environment;
u represents an identity matrix;
b (f) represents the channel transfer function of the signal propagating between the objects in the environment;
t (f) represents the channel transfer function of the signal propagating between the source under test and the objects in the environment.
And then, performing inverse Fourier transform on the channel transmission function H (f) to obtain a channel impulse response h (tau) of the signal in a propagation time delay domain between the source to be measured and the TDOA sensor, wherein the tau represents the time required for the signal to propagate on a propagation path.
If H (f) varies with time t, i.e. can be expressed as a time-varying channel transfer function H (t, f) (where t represents the current observation instant), the corresponding time-varying channel impulse response can be expressed as H (t, τ).
The emission signal of the source to be detected refers to a signal which is emitted by the source to be detected and is represented on a baseband, and a proper sequence can be selected to generate according to the requirement.
(3) Calculating a convolution of the channel impulse response with the transmit signal, forming an intermediate transmit signal based on the convolution
In this embodiment, gaussian white noise is added to the convolution to simulate the received signal of the TDOA sensor in the real test environment (in the present invention, the intermediate transmission signal may also be directly the convolution), and the intermediate transmission signal may be represented as:
Figure GDA0002781654900000051
wherein: y (t) represents an intermediate transmission signal;
x (t) represents a source-to-be-detected emission signal on a baseband;
h (τ) represents the channel impulse response in the propagation delay domain at baseband;
n (t) represents white gaussian noise.
(4) Sending the intermediate transmit signal to the TDOA sensor
In this embodiment, the intermediate transmission signal is sent to the TDOA sensor through a radio frequency device, which uses a Universal Software Radio Peripheral (USRP).
(5) Estimating the position of a source to be detected by a TDOA positioning system to be detected to which the TDOA sensor belongs, comparing the position with the preset position of the source to be detected, and calculating a positioning error so as to evaluate the positioning performance of the TDOA positioning system to be detected
Here, the TDOA to be measured positioning system calculates the position of the source to be measured based on its positioning algorithm according to the intermediate transmission signal that its TDOA sensor receives from the corresponding USRP, compares the calculation result with the position of the source to be measured set in step (1), and calculates the positioning error, thereby evaluating the positioning performance of the TDOA to be measured positioning system.
Take the longitude and latitude of the source to be measured as an example, theta0And
Figure GDA0002781654900000052
respectively representing the longitude and the latitude of a source to be detected, wherein the units are degrees;
Figure GDA0002781654900000053
and
Figure GDA0002781654900000054
respectively representing the estimated longitude and latitude of the source to be measured, and the unit is degree. Therefore, the positioning error rho between the preset position of the source to be measured and the estimated position of the source to be measured can be calculated and obtained, and the unit is meter. In practical applications, the calculation of the positioning error needs to take into account the relation between the radius of the earth and the longitude and latitude. In this embodiment, the earth is assumed to be perfectly spherical with a constant radius of 6371.004 km.
The invention also provides a TDOA positioning performance detection system for realizing the TDOA positioning performance detection method. The positioning performance detection system includes a first network structure and a second network structure. The first network structure comprises a first router, a first processor and at least three signal sending devices, wherein the first processor and the at least three signal sending devices are respectively connected with the first router; the second network structure comprises a second router, a second processor and at least three TDOA sensors, wherein the second processor is connected with the second router respectively, and the TDOA sensors belong to TDOA positioning systems to be detected. The signal transmitting devices and the TDOA sensors are equal in number and have a communication relationship in a one-to-one correspondence. The first processor is used for simulating the channel impulse response of the real test environment by adopting a channel simulation technology and calculating the intermediate transmission signal based on the channel impulse response and the transmission signal of the source to be tested. The signal transmitting device is used for transmitting an intermediate transmitting signal (the intermediate transmitting signal is the same as the intermediate transmitting signal in the TDOA locating performance detection method) to the corresponding TDOA sensor. The TDOA positioning system is used for estimating the position of the signal source according to the intermediate transmitting signal received by the TDOA sensor. The second processor is used for comparing the actually set position of the signal source according to the position of the signal source estimated by the TDOA positioning system and evaluating the positioning performance of the corresponding TDOA positioning system to be detected.
In this embodiment, the first processor and the second processor are both computers, which are respectively a first computer and a second computer. The signal sending device adopts a radio frequency device, in particular a Universal Software Radio Peripheral (USRP), and totally adopts three USRPs. Correspondingly, three TDOA sensors are arranged, and the three sensors belong to the same TDOA positioning system to be tested. FIG. 1 is a schematic structural diagram of the TDOA location performance detection system. The first router is connected with a first computer and three USRPs (respectively a first USRP, a second USRP and a third USRP), the first router is connected with a first network structure formed by the first router and the third router, the second router is connected with a second computer and three TDOA sensors (respectively a first TDOA sensor, a second TDOA sensor and a third TDOA sensor), and the second router is connected with a second network structure formed by the second router and the third router. The radio frequency ports of the three USRPs and the three TDOA sensors are correspondingly connected one by one, and a radio frequency communication relation is established. In addition, the first TDOA sensor, the second TDOA sensor and the third TDOA sensor are respectively connected to one GPS antenna, so that the three sensors synchronously receive radio frequency signals.
Setting the carrier frequency of each USRP and each TDOA sensor to be the same in a first computer and a second computer respectively; in the first computer, the sampling rate and the transmission gain of each USRP are set.
In this embodiment, the TDOA location performance detection system further includes a GPS antenna, a GPS tame clock module, and a clock distributor. The clock distributor is connected to each USRP, and as shown in fig. 1, "broken lines" connecting each USRP and the clock distributor indicate channels of 1PPS signals, and "solid lines" connecting each USRP and the clock distributor indicate channels of 10MHz sine wave signals. The GPS disciplined clock module is respectively in communication connection with the clock distributor and the GPS antenna.
For the purpose of realizing radio frequency synchronous transmission and stabilizing the USRP crystal oscillator, it is necessary to use a 1PPS (Pulse Per Second) signal and a 10MHz sine wave signal, respectively. The USRP crystal oscillator is arranged in the USRP and provides a clock frequency signal for the USRP so that the USRP can normally run. The 10MHz sine wave signal can make the built-in crystal oscillator of USRP avoid the phenomenon of clock frequency drift. The GPS discipline clock module receives a GPS signal from a satellite through a GPS antenna to discipline an internal circuit thereof, and finally outputs a 10MHz sine wave signal and a 1PPS signal to a clock distributor, and the clock distributor divides the received 10MHz sine wave signal and the 1PPS signal into a plurality of paths and inputs the paths to corresponding USRPs. In the first computer, a data packet buffering and waiting mechanism is further realized through C + + programming, so that a plurality of USRPs convert binary format data (the content of the data is the data of an intermediate transmission signal, namely the sum of convolution or convolution and white Gaussian noise) into radio frequency signals at the same time and transmit the radio frequency signals to the TDOA sensor.
In the embodiment, the USRPN210 produced by EttusResearch, which is subordinate to the national instruments, is used as a radio frequency device, and the sampling rate of the device is 25 million sampling points per second under the condition of 16-bit quantization precision; meanwhile, a clock distributor produced by EttusResearch is selected to carry out related radio frequency synchronous transmission operation, and eight identical output channels of 10MHz sine waves and 1PPS signals are provided. And connecting the USRPN210 with a corresponding radio frequency port of the TDOA positioning system to be detected, and starting the self-contained positioning software of the TDOA positioning system. The TDOA location system received signal at the analog baseband is stored in a file in binary format. Next, a plurality of USRPNs 210 are started on the computer, and the binary file is synchronously transmitted on radio frequency to the TDOA sensors of the corresponding TDOA positioning systems.
In the TDOA positioning performance detection system, the work of constructing the digital map is implemented by the first computer, the method of constructing the digital map is the same as the method of constructing the digital map in the TDOA positioning performance detection method, and fig. 2 shows the digital map constructed by the first computer. The source to be measured, the TDOA sensor and the objects in the environment are all treated as nodes whose positions are represented by three components x, y, z in a cartesian coordinate system. Marking a source to be detected as 1; the first, second, and third TDOA sensors are labeled 201, 202, 203, respectively. The Line of Sight (LOS) paths between the source 1 to be tested and the first TDOA sensor 201, and between the source 1 to be tested and the second TDOA sensor 202 are not blocked, and signals can directly strike the first TDOA sensor 201 and the second TDOA sensor 202 from the source 1 to be tested; the LOS path between signal source 1 and the third TDOA sensor 203 is blocked by a building, i.e., the signal cannot reach the third TDOA sensor 203 from signal source 1.
The work of calculating the channel impulse response is also performed by the first computer. Fig. 3 shows the amplitudes of the channel impulse responses between the source to be measured and the three TDOA sensors in this embodiment. As can be seen from FIG. 3, the amplitude of the channel impulse response between signal source 1 and the third TDOA sensor 203 is much lower than the amplitude of the channel impulse response between the signal source and the other two TDOA sensors.
In this embodiment, the carrier frequency is set to 2 GHz. After the carrier frequency is set, three USRP synchronous transmitting radio frequency signals are implemented on the first computer. Fig. 4 shows impulse responses actually measured when three USRPs perform synchronous transmission, and the accuracy of the three USRP radio frequency synchronization is verified by observing the relative time delays of the three impulse responses. In fig. 4, the time interval between two sampling points is 10 ns, and the distance corresponding to the synchronization error is 3 m. It can be observed from fig. 4 that the relative delays corresponding to the maximum amplitudes of the three signals are 4088.23 μ s, and the amplitudes are slightly different, which indicates that the distance corresponding to the time error of the three USRP synchronous transmissions is at most 3 m.
FIGS. 5 and 6 are the results of two TDOA location systems detected in the environment shown in FIG. 2 using the TDOA location performance testing system, i.e., the longitude and latitude of the source under test estimated over a period of time, respectively. As can be seen from a comparison between FIG. 5 and FIG. 6, the location of the source to be measured estimated by the first TDOA positioning system is near the predetermined location, while the location of the source to be measured estimated by the second TDOA positioning system is farther from the predetermined location. Therefore, the first positioning system can be considered to have better positioning performance in the environment shown in fig. 2.
The embodiments described above are intended to facilitate one of ordinary skill in the art in understanding and using the present invention. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the embodiments described herein, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims (5)

1. A TDOA positioning performance detection method is characterized in that: the method comprises the steps of obtaining channel impulse response of a transmission graph theory channel simulation technology based on digital map simulation of a real test environment, sending an intermediate emission signal based on an emission signal of a source to be tested and the channel impulse response of the real test environment to a TDOA sensor of the TDOA positioning system to be tested through a radio frequency device, calculating the position of the source to be tested by the TDOA positioning system to be tested based on the intermediate emission signal, comparing the position with the actual position of the source to be tested, and evaluating the positioning performance of the TDOA positioning system to be tested in the environment.
2. The TDOA location performance detection method of claim 1, wherein: the method comprises the following steps:
(1) constructing a digital map of a real test environment of a certain limited area;
converting all objects in the real test environment of the limited area into data through a three-dimensional scanner, or converting a three-dimensional description of a certain real test environment into data through importing a three-dimensional map, so as to obtain the position of the object in the digital map, wherein the geographic position of the object is represented by three-dimensional coordinates or longitude, latitude and altitude of a GPS;
presetting the positions of a source to be tested and a TDOA sensor of a TDOA positioning system to be tested in the digital map;
(2) calculating channel impulse response from the source to be measured to the TDOA sensor in the environment, and setting a transmitting signal of the source to be measured;
(3) calculating the convolution of the channel impulse response and the transmitting signal, and forming an intermediate transmitting signal based on the convolution, wherein the intermediate transmitting signal is the sum of the convolution of the channel impulse response and the transmitting signal and Gaussian white noise;
(4) the radio frequency device is a general software radio peripheral;
(5) and comparing the position of the source to be detected estimated by the TDOA positioning system to be detected according to the intermediate emission signal with a preset position of the source to be detected, and evaluating the positioning performance of the TDOA positioning system to be detected in the limited area environment.
3. The TDOA location performance detection method of claim 2, wherein: and (3) calculating the channel impulse response from the source to be measured to the TDOA sensor by adopting a propagation graph theory algorithm in the step (2).
4. A TDOA location performance detection system that implements the TDOA location performance detection method of any one of claims 1 to 3, characterized by: comprises a first network structure and a second network structure;
the first network structure comprises a first router, a first processor and at least three signal sending devices, wherein the first processor and the at least three signal sending devices are respectively connected with the first router;
the second network structure comprises a second router, a second processor and at least three TDOA sensors, wherein the second processor is respectively connected with the second router;
the signal transmitting devices and the TDOA sensors are equal in number and have a communication relation in a one-to-one correspondence manner;
the first processor is used for simulating the channel impulse response of a real test environment by adopting a propagation diagram theory channel simulation technology and calculating an intermediate transmitting signal based on the channel impulse response and the transmitting signal of the source to be tested;
the signal transmitting device is used for transmitting the intermediate transmitting signal to the corresponding TDOA sensor;
the TDOA sensor is used for predicting the position of the source to be detected according to the intermediate emission signal;
the second processor is used for comparing a preset position of a source to be detected according to the position of the source to be detected estimated by a TDOA positioning system to be detected to which the TDOA sensor belongs, and evaluating the positioning performance of the TDOA positioning system to be detected.
5. The TDOA location performance detection system of claim 4, wherein: the GPS antenna, the GPS tame clock module and the clock distributor are sequentially connected with one another; the clock distributor is also in communication connection with each radio frequency device;
the GPS antenna is used for receiving GPS signals from a satellite and sending the GPS signals to the GPS tame clock module;
the GPS taming clock module is used for taming an internal circuit based on the GPS signal and outputting a sine wave signal with set frequency and a 1PPS signal to the clock distributor;
the clock distributor divides the received sine wave signals and the 1PPS signals into multiple paths, and the multiple paths of sine wave signals and the multiple paths of PPS signals are respectively input into the corresponding signal sending devices, so that the multiple radio frequency devices synchronously send signals.
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