RU2258238C2 - Method of establishment of radio communication among mobile objects - Google Patents

Abstract

FIELD: radio navigation; locating mobile object position.

SUBSTANCE: base stations are located at preset operating ranges and random spread near vertices of conventional cells having form of regular polygons tightly adjoining each other by their sides and ensuring dense coverage of territory being served at preset mathematical expectation and dispersion of distance between nearest base stations; radio signals from previous base stations is transmitted to subsequent ones located within operating range of previous base stations; radio signals transmitted by each base station contain information pertaining to its ordinal number; position of mobile object is determined by preset operating ranges of base stations, by preset coordinates of reference stations, by preset mathematical expectation and dispersion of distance between nearest base stations.

EFFECT: facilitated procedure.

2 cl, 7 dwg

Description

The technical solution relates to radio navigation, and in particular to methods for determining the location of moving objects.

There is a known goniometric-rangefinding method for determining target coordinates in radar systems with an active response (see, for example, Theoretical Foundations of Radar. Edited by V.E.Dulevich. - M .: Soviet Radio, 1978, pp. 7-11), which consists in in that the radar station carries out non-directional radiation of interrogation radio signals, for the purpose of receiving these interrogation radio signals and emits response radio signals, at the specified radar station provides directional reception of radiofrequency signals, time lag the range and the direction of propagation of the received response radio signals determine the distance to the target and the angle between the given direction and the direction to the target, the coordinates of the target are determined from the values obtained at the specified radar station.

The specified method allows with high accuracy to measure the coordinates of the targets during the propagation of radio waves in free space. However, when measuring the coordinates of remote targets, the method requires the use of radar stations and for the purposes of high-power radio transmitting devices, which greatly complicates the method.

A known method for determining the location of a moving object (see RF patent for the invention No. 2195776, bull. No. 34 of 12/10/2002. A method for determining the location of a moving object / Uretsky Y. S., Kupershmidt P.V. et al.), Which consists in that in the centers of conditional cells, which are equal regular hexagons, densely covering the served territory, base stations with radiuses of coverage equal to the side length of each regular hexagon and with a unique identification on each of these base stations are placed m number, from the positioned mobile object, which is one of the mobile objects located within the served territory, carry the call signs of radio signals in a given frequency band, these callsign radio signals are received at base stations in whose areas the positioned moving object is located, from these base stations transmit information signals containing the identification numbers of these base stations, these information signals determine the position of positioned by a mobile object, and at the vertices of the indicated regular hexagons additional base stations are placed with the radius of coverage equal to the length of the side of each regular hexagon and with a unique identification number specified on each of these base stations, the base stations in which the moving objects are located are the base stations located in the centers and at the vertices of regular hexagons, in the areas of action of which there are moving objects transmitted by information signals and containing the identification numbers of the base stations in the areas of operation of which the positioned movable object is located, the corresponding information radio signals are transmitted, the transmission of information radio signals from these base stations is carried out to mobile objects located within the served territory, seven frequency bands of information radio signals transmitted from all base stations, and these predetermined frequency bands are non-overlapping, of the seven preset frequency bands at each base The stations specify one frequency band of informational radio signals transmitted from this base station, which does not overlap with the frequency bands of informational radio signals transmitted from the nearest base stations, out of the seven specified frequency bands on each mobile object, five frequency bands of informational radio signals received at this mobile object are set, moreover, these predetermined frequency bands are non-overlapping, at each of the base stations and at mobile objects located within the boundaries of the served territory, additional The location coordinates of all base stations, as well as the corresponding identification numbers and radii of the coverage areas of all base stations, the transmission of information radio signals from base stations in whose areas the positioned moving object is located, to mobile objects located within the served territory, consists of the fact that, first, one of these base stations emits informational radio signals in a given frequency band at all base stations that are near with respect to the indicated base station, receive information radio signals transmitted from the last base station and their emission in the corresponding predetermined frequency bands, then at all other base stations that are closest to the indicated base stations, receive information transmitted from the indicated base stations radio signals and their radiation in the corresponding predetermined frequency bands, then in the same manner sequentially, in all directions from the specified base station, the coverage area of which the positioned movable object is located, to the borders of the served territory at all other subsequent base stations that are closest to the previous base stations, receive information radio signals transmitted from previous base stations and emit them in the corresponding predetermined frequency bands, then carry out in a similar manner alternately transmitting information radio signals from all other base stations in whose coverage areas the positioned mobile object, to mobile objects located within the service area, while the emission of information radio signals in a given frequency band from each base station, except for the base station, the identification number of which is contained in the transmitted information radio signals, is carried out when one radio information signal is received at this base station from the frequency bands specified at this base station, on mobile objects located within the service area, are carried out in the specified bands On the other hand, the reception of information radio signals transmitted from each of the base stations in the areas of operation of which the positioned mobile object is located, the location of the positioned mobile object is determined on mobile objects located within the served territory and at base stations by identification numbers of base stations in the coverage areas of which the positioned moving object is located, as well as according to the additionally specified placement coordinates and the radii of the zones of action of these basic Ancy.

This method allows the use of low-power radio signals when determining the location of a moving object, however, it requires setting at each base station the frequency band of the radio signals transmitted from this base station, which is one of the seven specified frequency bands of the radio signals transmitted from all base stations and not overlapping with the radio frequency band transmitted from the nearest base stations. In this regard, the introduction of additional base stations, carried out, for example, in order to reduce the power of the emitted radio signals, requires laborious re-assignment of the frequency bands of the radio signals transmitted from each base station, which complicates the method. In addition, the method requires setting at each base station the coordinates of all base stations and their corresponding identification numbers, which also complicates the method.

The technical task to be solved is to simplify the method based on the transmission from each base station of radio signals containing information about the remoteness of a given base station from a moving object, and determining the location of a moving object from the information contained in the radio signals received at the reference stations.

The solution to the technical problem in the method of determining the location of a moving object, which consists in placing base stations with predetermined ranges, transmitting radio signals from a moving object, which are received at the first base stations, which are base stations, within the range of which a moving object is located, transmit from the first base stations, radio signals, receive radio signals transmitted from the first base stations, at the second base stations located within operating ranges of the first base stations, and transmit radio signals from the second base stations, then in the same manner, in all directions from the first base stations, receive radio signals transmitted from (k-1) -x base stations at all kx base stations located within operating ranges of (k-1) -th base stations, and ke base stations are not (k-2) -th base stations, where k = 3, 4, ..., K are positive integers, and transmit radio signals with kx base stations are transmitted from reference stations that are selected from the above bases output stations, signals to the object, on which the location of the moving object is determined by the given ranges of the base stations and according to the information contained in the signals transmitted from the reference stations, is achieved by placing the base stations with a random spread near the vertices of the conditional cells, which are equal regular polygons, densely adjacent to each other by their sides, densely covering the served territory, with given mathematical expectation and dispersion of the distance between the nearest base stations, the radio signals transmitted from the first base stations contain information that these base stations are the first base stations, the radio signals transmitted from the second base stations contain information that these base stations are the second base stations, radio signals, transmitted from kx base stations contain information that these base stations are k-th base stations, where k = 3, 4, ..., K are positive integers, signals transmitted from each reference station and on the object, they contain information contained in the radio signals received at this reference station, the location of the moving object is also determined by the given coordinates of the reference stations and by the specified expectation and variance of the distance between the nearest base stations, and the location of the moving object is what determine for each reference station a set of estimates of the coordinates of base stations for which the probability of an event consisting in the fact that within ranges the action of at least one of them is a moving object, not less than a given value, and a lot of estimates of the coordinates of base stations, for which the probability of an event consisting in the fact that within the range of their actions a moving object is not, not less than a specified value, which determine for all reference stations, many estimates of the coordinates of base stations, for which the probability of an event consisting in the fact that within the range of their action is a moving object of at least a given value, and many estimates of coordination t base stations for which the probability of an event consisting in the fact that within the limits of their range of action a moving object is not located is not less than a given value by which the location of a moving object is determined.

In this case, the radio signals transmitted from the nth base station, where n = 1, 2, ..., N are positive integers, N is the number of base stations, are the sum of the radio signals transmitted in M specified non-overlapping frequency bands, where M > log ₂ N, and the power of the radio signal transmitted in the mth frequency band, where m = 1, 2, ..., M are positive integers, is determined by n.

The term "moving object" is generally accepted (see, for example, Soloviev, Yu.A. Satellite Navigation Systems. - M.: Eco-Trends, 2000, p. 47). To mobile objects include, in particular, various vehicles equipped with transceiver equipment.

The terms “base station” and “reference station” are also generally accepted (see, for example, Gromakov Yu.A. Standards and mobile radio communication systems. - M .: Eko-Trends, 2000, p. 87-154; Aviation radio navigation: Reference book / Under the editorship of A.A. Sosnovsky. - M.: Transport, 1990, p. 43). The base and reference stations include, in particular, stationary objects equipped with transceiver equipment.

In figure 1. three groups of equal regular figures are shown, closely adjacent to each other with their sides, tightly covering the plane, for the case in which the number of regular triangles is six, the number of squares is four, and the number of regular hexagons is three.

Figure 2 shows conditionally base stations placed with a random spread near the vertices of the conditional cells, representing equal squares, tightly adjacent to each other with their sides, densely covering the served territory, and a moving object indicating the directions of radio signal transmission for the case in which the number of base stations equals sixty. Figure 2 also shows the coverage areas of six base stations, and the coverage areas of two base stations are not fully depicted, while the centers of these coverage areas are shifted to the tops of conditional cells representing equal squares that are closely adjacent to each other with their sides, densely covering the served territory near which the corresponding base stations are placed with random scatter.

Figure 3 shows conditionally temporary diagrams of the transmission of radio signals from a moving object, from the first base stations, from the second base stations and from the third base stations.

Figure 4 shows conventionally the spectra of radio signals transmitted from two nearest kx base stations located within the range of one of the (k + 1) -th base stations, and the spectrum at the input of this base station for the case in which the specified k-th base stations correspond to n = 17 and n = 28.

Figure 5 shows a system for implementing the method, comprising transceivers placed one at a base station, and a transmitter located on a moving object, for the case in which the number of base stations is fifteen.

6 shows a transceiver.

7 shows a transmitter.

The system for implementing the method shown in FIGS. 5-7 comprises one transceiver 3 and one transmitter 5 located on each of the N base stations 1 and on each reference station 2, which is selected from among the base stations 1, and located on the movable object 4 moreover, each transceiver 3 contains a receiving antenna 6, a first bandpass filter 7, a low noise amplifier 8, a first frequency converter 9, a first local oscillator 10, each transceiver 3 also contains M processing channels 11, M> log ₂ N, each of which contains a second swarm bandpass filter 12, demodulator 13, squaring unit 14, integrator 15, analog-to-digital converter 16, each transceiver 3 also contains a microcontroller 17, a memory unit 18, a task unit 19, M modulators 20, each of which contains a second converter 21 frequency, second local oscillator 22, analog switch 23, each transceiver 3 also contains an adder 24, a first power amplifier 25, a first transmitting antenna 26, a transmitter 5 contains a message source 27, a third frequency converter 28, a third local oscillator 29, a second power preamplifier 30, a second transmit antenna 31.

In each transceiver 3, the output of the receiving antenna 6 is connected to the input of the first band-pass filter 7, the output of which is connected to the input of a low-noise amplifier 8, the output of which is connected to the first input of the first frequency converter 9, the second input of which is connected to the output of the first local oscillator 10, the output of the first converter 9 frequency is connected to the inputs of the second band-pass filters 12 of the processing channels 11, in each of which the output of the second band-pass filter 12 is connected to the input of the demodulator 13 and to the input of the squaring unit 14, the output of which ohm is connected to the input of the integrator 15, the output of which is connected to the input of the analog-to-digital converter 16, the corresponding outputs of the analog-to-digital converters 16 are connected to the corresponding inputs of the microcontroller 17, the outputs of the demodulators 13 are connected to the corresponding inputs of the microcontroller 17, the outputs of which are connected to the corresponding first inputs of the second frequency converters 21 of modulators 20, in each of which the second input of the second frequency converter 21 is connected to the output of the second local oscillator 22, the output of the second the frequency generator 21 is connected to the switched input of the analog switch 23, the control inputs of the analog switches 23 are connected to the corresponding outputs of the microcontroller 17, the outputs of the analog switches 23 are connected to the corresponding inputs of the adder 24, the output of which is connected to the input of the first power amplifier 25, the output of which is connected to the input of the first transmitting antenna 26, the corresponding inputs of the microcontroller 17 are connected to the corresponding outputs of the memory unit 18 and the task unit 19, in the transmitter 5, the source 27 messages Nij is connected to a first input of the third frequency converter 28, a second input coupled to an output of the third local oscillator 29, the frequency output of the third inverter 28 is connected to the input of the second power amplifier 30, whose output is connected to an input of second transmitting antenna 31.

Base stations 1 are placed with a given mathematical expectation and dispersion of the distance between the nearest base stations 1.

The operating ranges of base stations 1 are set according to a given mathematical expectation and dispersion of the distance between the nearest base stations 1.

The tuning frequencies of the second local oscillators 22 coincide with the corresponding central values of the specified transmission frequency bands of the base stations 1 and the mobile unit 4, and the specified transmission frequency bands are non-overlapping. The bandwidths of the corresponding first bandpass filters 7 coincide with the corresponding predetermined frequency bands of the transmission, shifted down the frequency axis by the tuning frequency of the first local oscillator 10.

The essence of the method is as follows.

Base stations 1 are placed with given ranges of action and with given mathematical expectation and dispersion of the distance between the nearest base stations 1.

In a number of tasks, base stations 1 are placed on a served territory with random scatter around predetermined points. (Such a situation occurs, for example, when the base stations 1 are dropped from the aircraft, when, as a result of the influence of many random factors, the incidence points of the base stations 1 cannot be accurately calculated.) In this case, the distance between the nearest base stations 1 is a random value that should be characterized by mathematical expectation and dispersion.

Base station 1 is closest to a given base station 1 if the distance between them is not greater than the distance between a given base station 1 and any other base station 1. Therefore, several base stations 1 can be closest to this base station 1 if the distances between each of them and this base station 1 are approximately equal to each other and not greater than the distance between this base station 1 and any other base station 1.

If, when placing base stations 1 on the plane, the mathematical expectation of the distance between the nearest base stations 1 is set, then this is equivalent to placing base stations 1 with a random spread near the vertices of the conditional cells, which are equal regular polygons that are closely adjacent to each other with their sides, densely covering the served territory, and the lengths of the sides of the indicated regular polygons are equal to the specified mathematical expectation of the distance between the nearest base stations 1, and The version of the distance between the nearest base stations 1 determines the degree of dispersion of base stations 1 near the vertices of the conditional cells.

In the event that the served territory is a plane, equal regular polygons, tightly adjacent to each other with their sides, densely covering the served territory, only regular triangles, rectangles (squares) and hexagons can be, which is due to the following.

The value of the internal angle γ (Fig. 1) is equal to (see Bronstein I.N., Semendyaev K.A. Math reference book for engineers and university students. - M .: Nauka, 1980, p. 287)

where q is the number of sides of the polygon.

When densely placed on the plane of equal regular polygons, each vertex, for example, O (Fig. 1), is common to p polygons, and p is an integer not less than three and equal to

Only three values q = {3,4,6} satisfy these conditions, which was to be shown.

The placement of base stations 1 (Fig. 1) at the vertices of the conditional cells, which are equal regular triangles, tightly adjacent to each other with their sides, densely covering the served territory, is equivalent to the placement of base stations 1 in the centers and at the vertices of the conditional cells, which are equal regular hexagons that are tightly adjacent to each other by their sides, densely covering the served territory (see RF patent for invention No. 2195776, bull. No. 34 of 12/10/2002. Method for determining the location of a movable object / Uretsky Ya.S., Kupershmidt P.V. et al.).

The range of the base station 1 with the non-directional transmission from it of radio signals of power P _prd is the distance within which the power of these radio signals when they are non-directionally received at other base stations 1 is not less than the threshold value P _prmin .

The range of the base station 1 with the non-directional reception of radio signals on it is the distance within which the power of these radio signals created by the non-directional transmission from other base stations 1 and from the mobile object 4 of the radio signals of power P _prd is not less than the threshold value P _prmin .

If the corresponding values of the power R _{prd of the} transmitted radio signals and the threshold values of the power R _{prmin of the} received radio signals in both cases are equal, then the ranges of the base station 1 during transmission and reception of radio signals are the same and subject to the propagation of electromagnetic waves in free space are equal (see, for example , Theoretical Foundations of Radar. Edited by V.E.Dulevich. - M .: Soviet Radio, 1978, p.402)

where c is the speed of light in vacuum; ƒ - operating frequency.

By the range R of the action of base stations 1 we mean the equal range of action during transmission and reception of radio signals.

With the non-directional reception and non-directional transmission of radio signals in free space, the range R of action determines the circular coverage area of base station 1 centered at the location of this base station 1 and radius R.

The range R of the action of the base stations 1 is set according to the given mathematical expectation m _d and the variance D _{d of the} distance d between the nearest base stations 1.

(см., например, Справочник по теории вероятностей и математической статистике. - М.: Наука. Главная редакция физико-математической литературы, 1985, с.116, 117):For a uniform density ƒ (d) of the distribution of a random variable d over a segment

(see, for example, the Handbook of probability theory and mathematical statistics. - M.: Science. The main edition of the physics and mathematics literature, 1985, p. 116, 117):

moreover

the value of R is set by the formula:

Conditions (4) - (6), in particular, satisfy the relationship m _d = 300 m; D _d = 75 m ² ; R = 315 m.

Then, under conditions (4) - (6), the event is reliable, consisting in the fact that the number of base stations 1 located within the range R of each base station 1 does not exceed p defined by formula (2).

In the case of the placement of base stations 1 (Fig. 1) with a random spread near the vertices of the conditional cells, which are equal squares, closely adjacent to each other with their sides, densely covering the served territory, and if conditions (4) - (6) are fulfilled, it is reliable an event consisting in the fact that, within the range of R of the action of each base station 1, there are four base stations 1.

Radio signals are transmitted from the movable object 4, which are received at the first base stations 1, which are base stations 1, within the range of the action ranges R of which the movable object 4 is located.

Under the conditions (4) - (6), the event is reliable, consisting in the fact that the number of the first base stations 1 does not exceed four. Figure 2 shows the case in which the first base stations 1 are base stations 1 ₃₄ , 1 ₃₅ , 1 ₄₄ and 1 ₄₅ .

Radio signals are transmitted from the first base stations 1, containing information that these base stations 1 are the first base stations 1. Radio signals transmitted from the first base stations 1 are received at the second base stations 1 located within the range R of the first base stations 1 , and transmit from the second base stations 1 radio signals containing information that these base stations 1 are the second base stations 1. Then, in the same manner, sequentially, in all directions from the first base stations 1 receive radio signals transmitted from (k-1) -x base stations at all kx base stations 1 located within ranges R of action (k-1) -x base stations 1, and ke base stations 1 are not (k 2) -th base stations 1, where k = 3,4, ..., K are positive integers, and transmit from kx base stations 1 radio signals containing information that these base stations 1 are k-base stations 1.

In accordance with figure 2, the second base stations 1 are base stations 1 ₂₄ , 1 ₂₅ , 1 ₃₆ , 1 ₄₆ , 1 ₅₅ , 1 ₅₄ , 1 ₄₃ , 1 ₃₃ ; the third (k = 3) base stations 1 are base stations 1 ₁₄ , 1 ₁₅ , 1 ₂₆ , 1 ₃₇ , 1 ₄₇ , 1 ₅₆ , 1 ₅₃ , 1 ₄₂ , 1 ₃₂ , 1 ₂₃ ; the fourth (k = 4) base stations 1 are base stations 1 ₄ , 1 ₅ , 1 ₁₆ , 1 ₂₇ , 1 ₃₈ , 1 ₄₈ , 1 ₅₇ , 1 ₅₂ , 1 ₄₁ , 1 ₃₁ , 1 ₂₂ , 1 ₁₃ ; fifth (k = 5) base stations 1 are base stations 1 ₆ , 1 ₁₇ , 1 ₂₈ , 1 ₃₉ , 1 ₄₉ , 1 ₅₈ , 1 ₅₁ , 1 ₂₁ , 1 ₂₂ , 1 ₃ ; sixth (k = 6) base stations 1 are base stations 1 ₇ , 1 ₁₈ , 1 ₂₉ , 1 ₄₀ , 1 ₅₀ , 1 ₅₉ , 1 ₁₁ , 1 ₂ ; seventh (k = 7) base stations 1 are base stations 1 ₈ , 1 ₁₉ , 1 ₃₀ , 1 ₆₀ , 1 ₁ ; eighth (k = 8) base stations 1 are base stations 1 ₉ , 1 ₂₀ ; the ninth (k = 9) base station 1 is base station 1 ₁₀ (in FIG. 2, the corresponding base stations 1 are covered by dashed lines).

The transmission of radio signals from the mobile unit 4 and from the base stations 1 can be carried out in one predetermined frequency band Δf if the transmission of radio signals from the first base stations 1 is carried out after the reception of radio signals transmitted from the moving unit 4 (for this, in particular, radio signals transmitted from a moving object 4, it is necessary to enter information that their source is a moving object 4); if the transmission of radio signals from the second base stations 1 is carried out at the end of the reception of radio signals from the first base stations 1; if the transmission of radio signals from k-x base stations 1 is carried out at the end of the reception of radio signals transmitted from (k-1) -x base stations 1, where k = 3, 4, ..., K are positive integers.

The number K depends on the size of the served territory, the number N and the features of the placement of base stations 1. For the case of the placement of base stations 1, shown in figure 2, the number K = 14.

The directions of the transmission of radio signals are shown in figure 2 by arrows. The transmission of radio signals without looping is ensured by the fact that the first base stations 1 block reception for the duration of the transmission of radio signals from the first base stations 1 and from the second base stations 1; at the second base stations 1 block reception for the duration of the transmission of radio signals from the second base stations 1 and from the third base stations 1; at k-x base stations 1 they block reception at the time of transmission of radio signals from k-x base stations 1 and from (k + 1) -th base stations 1, where k = 3, 4, ..., K are positive integers.

Timing diagrams of serial transmission of radio signals from the first base stations 1 to the boundaries of the served territory are shown in Fig.3. Here, C are radio signals; τ is the propagation time of radio signals between the nearest base stations 1, determined by the distance d between them.

We consider the moving speed of the moving object 4 so small that the change in the location of the moving object 4, which occurs during the transmission of radio signals from the first base stations 1 to the boundaries of the served territory, and the emerging Doppler effect can be neglected.

Transmission from two nearest kx base stations 1 of radio signals in the same given frequency band Δƒ and with equal power values can cause fading when receiving these radio signals at the (k + 1) -th base station 1, within the range of which these base stations 1, where k = 1, 2, ..., K are positive integers. The elimination of fading is achieved by the fact that the radio signals transmitted in a given frequency band Δƒ from the nth base station 1, where n = 1, 2, ..., N are positive integers, N is the number of base stations 1, are the sum of the radio signals transmitted in M given non-overlapping frequency bands, where M> log ₂ N, and the power of the radio signal transmitted in the m-th given frequency band, where m = 1, 2, ..., M are positive integers, is determined by n.

Any n of N is converted to M-bit binary:

where a _m = 1 or 0 in accordance with the expansion

In this case, the mth bit of the binary code n ₂ corresponds to the mth given frequency band Δƒ _m in a given frequency band Δƒ, where m = 1, 2, ..., M, k = 1, 2, ..., K - positive integers, and power P _mpr transmitted in the m-th given frequency band of the radio signal. Preset frequency bands Δƒ _m are obtained, for example, by dividing a given frequency band Δƒ into M equal in length and adjacent frequency intervals.

The value of P _mpr can be determined by the formula

where R _prd - a given value of the transmitted radio signal power corresponding to a given range R of action of base station 1; b≪1 is a given non-negative quantity, for example, b = 0.

To exclude a binary combination containing only zeros, it is necessary to fulfill the condition

When conditions (4) - (6) are fulfilled, the event is reliable, consisting in the fact that at the input of each (k + 1) -th base station 1 (Fig. 2) there are no more than two radio signals transmitted in a given frequency band Δƒ from two kx base stations 1 located within the range R of the action of this (k + 1) -th base station 1. Then, given the fact that different binary combinations correspond to different n, the event that there is some m the frequency band Δƒ _m in which the indicated ke base stations 1 transmit radio signals that differ significantly in power, and therefore, fading in this m-th frequency band will be absent.

For example, at the input of base station 1 ₁₈ (FIG. 2), radio signals are transmitted from base stations 1 ₁₇ and 1 ₂₈ in a given frequency band Δƒ. When N = 60 log ₂ N = 5.91, whence M = 6. Then the base stations 1 ₁₇ and 1 ₂₈ correspond to binary numbers 010001 and 011100. The spectra of the radio signals transmitted from the base stations 1 ₁₇ and 1 ₂₈ and the radio signal acting at the input of the base station 1 ₁₈ are conventionally shown in Fig. 4 (the spectrum of the radio signal operating at the input of the base station 1 ₁₈ , is given without attenuation; the dotted line shows the spectrum in the frequency band in which fading is possible).

When placing base stations 1 with a random spread near the vertices of the conditional cells, which are equal regular triangles, densely adjacent to each other with their sides, densely covering the served territory, or near the vertices of the conditional cells, which are equal regular hexagons, densely adjacent to each other by their the parties that densely cover the served territory, and if conditions (4) - (6) are met, the event is reliable, that at the entrance of each (k + 1) -th base station 1 also there are at the same time no more than two radio signals transmitted from two kx base stations 1 located within the range R of the action of this (k + 1) -th base station 1 (see, for example, RF patents for inventions No. 2195776 and No. 2195777, bul. No. 34 dated December 10, 2002. A method for determining the location of a moving object / Y. Uretsky, P. Kupershmidt, etc.), and therefore, fading in the corresponding frequency bands will also be absent.

The location of the movable object 4 is determined by the given coordinates of the reference stations 2, which are selected from among the base stations 1, by the given ranges R of the action of the base stations 1, by the given mathematical expectation m _d and the variance D _{d of the} distance d between the nearest base stations 1, and by information contained in the radio signals received at the reference stations 2, i.e. according to information about the first, second or k _s -mi are the base stations 1, from which transmit the radio signals received at the reference stations 2, where k _s = 3, 4, ..., K are positive integers.

The choice of reference stations 2 from the number of base stations 1 must be carried out taking into account the requirements of unambiguity and accuracy of determining the location of the moving object 4. In this case, the location of the moving object 4 is as follows.

оценок координат базовых станций 1, для которых достоверным является событие, состоящее в том, что в пределах дальностей R действия хотя бы одной из них находится подвижный объект 4, и множество

оценок координат базовых станций 1, для которых достоверным является событие, состоящее в том, что в пределах дальностей R их действия подвижный объект 4 не находится, где n=1, 2,..., N - положительные целые числа.At the given coordinates (x _s , y _s ) of the s-th reference station 2, where s = 1, 2, ..., S are positive integers; S is the number of reference stations 2, according to the ranges R of the operation of base stations 1, according to the specified expectation m _d and variance D _{d of the} distance d between the nearest base stations 1, and according to the information contained in the radio signals received at reference stations 2, i.e. . according to the information about whether the first, second or k _s are base stations 1 from which the radio signals received at reference stations 2 are transmitted, where k _s = 3, 4, ..., K are positive integers, determine the set

estimates of the coordinates of the base stations 1, for which the event is reliable, consisting in the fact that within the range of the range R of at least one of them is a moving object 4, and many

estimates of the coordinates of base stations 1, for which the event is reliable, consisting in the fact that within the ranges R of their action, the moving object 4 is not located, where n = 1, 2, ..., N are positive integers.

If the s-th reference station 2 is the first base station 1, then assign k _s = 0, despite the fact that in addition to the radio signals transmitted from the moving object 4, at the first base station 1 can also receive radio signals transmitted from the second base stations 1 and from the other first base stations 1; if the s-th reference station 2 is the second base station 1, then assign k _s = 1, despite the fact that in addition to the radio signals transmitted from the first base stations 1, the second base station 1 can also receive radio signals transmitted from the third base stations 1 and from other second base stations 1; if the s-th reference station 2 is the k-th base station 1, then assign k _s = k-1, where k = 3, 4, ..., K are positive integers, despite the fact that in addition to the radio signals transmitted from (k-1) -x base stations 1, the k-th base station 1 can also receive radio signals transmitted from (k + 1) -th base stations 1 and from other kx base stations 1.

базовых станций 1, принадлежащие множеству

определяют из условияIn the case of the placement of base stations 1 (Fig. 2) with a random spread near the vertices of the conditional cells, which are equal squares, closely adjoining each other with their sides, densely covering the served territory, under conditions (4) - (6), and also when using a rectilinear coordinate system associated with one of the points of the served territory and oriented by axes along the respective sides of the indicated squares, coordinate estimates

base stations 1 belonging to a plurality

determined from the condition

- приведенные координаты s-и опорной станции 2, удовлетворяющие условиюWhere

- reduced coordinates of the s-and reference station 2, satisfying the condition

где n, ν=1, 2,..., N - положительные целые числа, удовлетворяют условиямFor each pair of the sth and rth reference stations 2, where s, r = 1, 2, ..., S are positive integers, find such base stations 1, whose coordinate estimates

where n, ν = 1, 2, ..., N are positive integers that satisfy the conditions

оценок координат базовых станций 1, для которых достоверным является событие, состоящее в том, что в пределах дальностей R их действия находится подвижный объект 4.Then, by combining the sets of coordinates estimates of base stations 1 obtained for all S reference stations 2 that satisfy conditions (17) and (18), a set

estimates of the coordinates of base stations 1, for which the event is reliable, consisting in the fact that within the ranges R of their action is a moving object 4.

оценок координат базовых станций 1, удовлетворяющих условиям (14)-(16), формируют множество

оценок координат базовых станций 1, для которых достоверным является событие, состоящее в том, что в пределах дальностей R их действия подвижный объект 4 не находится.By combining 2 sets obtained for all S reference stations

estimates of the coordinates of base stations 1, satisfying conditions (14) - (16), form a set

estimates of the coordinates of the base stations 1, for which the event is reliable, consisting in the fact that within the ranges R of their action, the moving object 4 is not located.

подвижного объекта 4 получают как координаты точек обслуживаемой территории, находящихся в пределах дальностей R действия базовых станций 1, оценки координат которых принадлежат множеству

и за пределами дальностей R действия базовых станций 1, оценки координат которых принадлежат множеству

При круговых зонах действия базовых станций 1 радиусом R оценки координат

подвижного объекта 4 можно получить из решения системы неравенств:Coordinate Estimates

of the movable object 4 is obtained as the coordinates of the points of the served territory located within the ranges R of the action of base stations 1, the coordinate estimates of which belong to the set

and beyond the ranges R of the actions of base stations 1, whose coordinate estimates belong to the set

In the case of circular areas of operation of base stations 1 with a radius R of the coordinate estimate

movable object 4 can be obtained from the solution of the system of inequalities:

The term "assessment" is generally accepted (see, for example, E. S. Wentzel. Probability Theory. - M.: Science. Main Edition of Physics and Mathematics, 1969, p. 313; Radio Engineering Systems. Edited by Yu.M. Kazarinova. - M.: Higher School, 1990, p.77, 448-469) and means the approximate value, the result of measuring a random variable.

Expressions (11) - (19) are based on the fact that, as estimates of the coordinates of all base stations 1 (with the exception of base stations 1, which are reference stations 2) and reduced coordinates of reference stations 2, we take the coordinates of the vertices of the conditional cells, which are equal regular polygons (in this case, squares), densely adjacent to each other by their sides, densely covering the served territory, around which the corresponding base stations 1 and reference stations 2 are placed with random scatter.

Consider an example of determining the location of a moving object 4, in which the reference stations 2 ₁ and 2 ₂ are base stations 1 ₅₁ and 1 ₆₀ , respectively, and the moving object 4 occupies a position in accordance with FIG. 2.

оценок координат базовых станций 1, для которых достоверным является событие, состоящее в том, что в пределах дальностей R действия хотя бы одной из них находится подвижный объект 4, определяемое для опорной станции 2₁ (s=1), являющейся базовой станцией 1₅₁, включает согласно выражениям (11), (12) оценки координат базовых станций 1₁₁, 1₂₂, 1₃₃, 1₄₄, 1₅₅ (фиг.2). В данном случае k₁=4, так как радиосигналы, принимаемые на опорной станции 2₁, содержат информацию о том, что они переданы с четвертых (k=4) базовых станций 1. Множество оценок координат

базовых станций 1, для которых достоверным является событие, состоящее в том, что в пределах дальностей R их действия подвижный объект 4 не находится, определяемое для опорной станции 2₁, включает согласно выражениям (15), (16) все оценки координат базовых станций 1, кроме указанных базовых станций 1₁₁, 1₂₂, 1₃₃, 1₄₄, 1₅₅ и базовых станций 1₁, 1₁₂, 1₂₃, 1₃₄, 1₄₅, 1₅₆, 1₂, 1₁₃, 1₂₄, 1₃₅, 1₄₆, 1₅₇ (на фиг.2 базовые станции 1, оценки координат которых удовлетворяют условиям (15), (16), расположены слева от ломаной [1₁₁, 1₂₂, 1₃₃, 1₄₄, 1₅₅] и справа от ломаной [1₂, 1₁₃, 1₂₄, 1₃₅, 1₄₆, 1₅₇], не включая эти ломаные).As can be seen from figure 2, the set

estimates of the coordinates of the base stations 1, for which the event is reliable, consisting in the fact that within the range of the range R of at least one of them is a moving object 4, determined for the reference station 2 ₁ (s = 1), which is the base station 1 ₅₁ , includes, according to expressions (11), (12), estimates of the coordinates of base stations 1 ₁₁ , 1 ₂₂ , 1 ₃₃ , 1 ₄₄ , 1 ₅₅ (FIG. 2). In this case, k ₁ = 4, since the radio signals received at the reference station 2 ₁ contain information that they were transmitted from the fourth (k = 4) base stations 1. A lot of coordinate estimates

base stations 1, for which the event is reliable, that within the limits of their operating ranges R no movable object 4 is found, determined for reference station 2 ₁ , includes, according to expressions (15), (16), all estimates of the coordinates of base stations 1 except for the indicated base stations 1 ₁₁ , 1 ₂₂ , 1 ₃₃ , 1 ₄₄ , 1 ₅₅ and base stations 1 ₁ , 1 ₁₂ , 1 ₂₃ , 1 ₃₄ , 1 ₄₅ , 1 ₅₆ , 1 ₂ , 1 ₁₃ , 1 ₂₄ , 1 ₃₅ , 1 ₄₆ , 1 ₅₇ (in Fig. 2, the base stations 1, the coordinate estimates of which satisfy the conditions (15), (16), are located to the left of the polygonal line [1 ₁₁ , 1 ₂₂ , 1 ₃₃ , 1 ₄₄ , 1 ₅₅ ] and to the right of the broken line [1 ₂ , 1 ₁₃ , 1 ₂₄ , 1 ₃₅ , 1 ₄₆ , 1 ₅₇ ], not including these broken lines).

оценок координат базовых станций 1, для которых достоверным является событие, состоящее в том, что в пределах дальностей R действия хотя бы одной из них находится подвижный объект 4, определяемое для опорной станции 2₂ (s=2), являющейся базовой станцией 1₆₀, включает согласно выражениям (11), (12) оценки координат базовых станций 1₅₄, 1₄₅, 1₃₆, 1₂₇, 1₁₈, 1₉ (фиг.2). В данном случае k₂=6, так как радиосигналы, принимаемые на опорной станции 2₂, содержат информацию о том, что они переданы с шестых (k₂=6) базовых станций 1. Множество оценок координат

базовых станций 1, для которых достоверным является событие, состоящее в том, что в пределах дальностей R действия которых подвижный объект 4 не находится, определяемое для опорной станции 2₂, включает согласно выражениям (15), (16) все оценки координат базовых станций 1, кроме указанных базовых станций 1₅₄, 1₄₅, 1₃₆, 1₂₇, 1₁₈, 1₉ и базовых станций 1₅₃, 1₄₄, 1₃₅, 1₂₆, 1₁₇, 1₈, 1₅₂, 1₄₃, 1₃₄, 1₂₅, 1₁₆, 1₇ (на фиг.2 базовые станции 1, оценки координат которых удовлетворяют условиям (15), (16), расположены слева от ломаной [1₅₂, 1₄₃,1₃₄, 1₂₅, 1₁₆, 1₇] и справа от ломаной [1₅₄, 1₄₅, 1₃₆, 1₂₇, 1₁₈, 1₉], не включая эти ломаные).Similarly, the set

estimates of the coordinates of the base stations 1, for which the event is reliable, consisting in the fact that within the range of R of action at least one of them is a moving object 4, determined for the reference station 2 ₂ (s = 2), which is the base station 1 ₆₀ , includes according to expressions (11), (12) estimates of the coordinates of base stations 1 ₅₄ , 1 ₄₅ , 1 ₃₆ , 1 ₂₇ , 1 ₁₈ , 1 ₉ (Fig. 2). In this case, k ₂ = 6, since the radio signals received at the reference station 2 ₂ contain information that they are transmitted from the sixth (k ₂ = 6) base stations 1. A lot of coordinate estimates

base stations 1, for which the event is reliable, consisting in the fact that within the range of R which the movable object 4 is not located, determined for the reference station 2 ₂ , includes, according to expressions (15), (16), all estimates of the coordinates of base stations 1 except the indicated base stations 1 ₅₄ , 1 ₄₅ , 1 ₃₆ , 1 ₂₇ , 1 ₁₈ , 1 ₉ and base stations 1 ₅₃ , 1 ₄₄ , 1 ₃₅ , 1 ₂₆ , 1 ₁₇ , 1 ₈ , 1 ₅₂ , 1 ₄₃ , 1 ₃₄ , 1 ₂₅ , 1 ₁₆ , 1 ₇ (in Fig. 2, base stations 1, the coordinate estimates of which satisfy the conditions (15), (16), are located to the left of the broken line [1 ₅₂ , 1 ₄₃ , 1 ₃₄ , 1 ₂₅ , 1 ₁₆ , 1 ₇ ] and to the right of the broken line [1 ₅₄ , 1 ₄₅ , 1 _{3 6} , 1 ₂₇ , 1 ₁₈ , 1 ₉ ], not including these broken lines).

оценок координат базовых станций 1 согласно формулам (17), (18) принадлежат оценки координат базовых станций 1₄₄ и 1₄₅.Many

estimates of the coordinates of base stations 1 according to formulas (17), (18) belong to estimates of the coordinates of base stations 1 ₄₄ and 1 ₄₅ .

оценок координат базовых станций 1 согласно формулам (15), (16) принадлежат оценки координат всех базовых станций 1, расположенных на фиг.2 в области, полученной объединением областей, расположенных слева от ломаных [1₁₁, 1₂₂, 1₃₃, 1₄₄, 1₅₅] и [1₅₂, 1₄₃, 1₃₄, 1₂₅, 1₁₆, 1₇] и справа от ломаных [1₅₄, 1₄₅, 1₃₆, 1₂₇, 1₁₈, 1₉] и [1₂, 1₁₃, 1₂₄, 1₃₅, 1₄₆) 1₅₇], исключая эти ломаные.Many

estimates of the coordinates of base stations 1 according to formulas (15), (16) belong to estimates of the coordinates of all base stations 1 located in figure 2 in the region obtained by combining the areas located to the left of the broken lines [1 ₁₁ , 1 ₂₂ , 1 ₃₃ , 1 ₄₄ , 1 ₅₅ ] and [1 ₅₂ , 1 ₄₃ , 1 ₃₄ , 1 ₂₅ , 1 ₁₆ , 1 ₇ ] and to the right of the broken lines [1 ₅₄ , 1 ₄₅ , 1 ₃₆ , 1 ₂₇ , 1 ₁₈ , 1 ₉ ] and [1 ₂ , 1 ₁₃ , 1 ₂₄ , 1 ₃₅ , 1 ₄₆ ) 1 ₅₇ ], excluding these broken lines.

подвижного объекта 4 согласно формуле (19) можно получить из решения системы неравенств:Coordinate Estimates

mobile object 4 according to the formula (19) can be obtained from the solution of the system of inequalities:

- найденные ранее оценки координат базовых станций 1₄₄, 1₄₅, 1₅₄ и 1₅₅.Where

- previously found estimates of the coordinates of base stations 1 ₄₄ , 1 ₄₅ , 1 ₅₄ and 1 ₅₅ .

The solution to the system of inequalities (20) is the area highlighted by shading in Fig. 2.

Другие базовые станции 1, оценки координат которых принадлежат множеству

можно не учитывать, так как в пределах дальностей R действия этих базовых станций 1 не находится область, полученная пересечением зон действия базовых станций 1₄₄ и 1₄₅ (фиг.2).The estimates of the coordinates of base stations 1 ₅₄ and 1 ₅₅ belong to the set

Other base stations 1 whose coordinate estimates belong to the set

can not be taken into account, since within the ranges R of the action of these base stations 1 there is no area obtained by the intersection of the zones of action of base stations 1 ₄₄ and 1 ₄₅ (figure 2).

а следовательно, не принадлежат и множествам

(на фиг.2 изображены круговые зоны действия базовых станций 1₃₄, 1₃₅, 1₄₄ и 1₄₅ и фрагменты круговых зон действия базовых станций 1₅₄ и 1₅₅, ограниченные размерами обслуживаемой территории).The area in which the movable object 4 is located is also located within the ranges R of the action of base stations 1 ₃₄ and 1 ₃₅ , however, they are not taken into account by expression (19), since these base stations 1 do not belong to any of the sets

and therefore do not belong to the sets

(figure 2 shows the circular coverage of base stations 1 ₃₄ , 1 ₃₅ , 1 ₄₄ and 1 ₄₅ and fragments of the circular coverage of base stations 1 ₅₄ and 1 ₅₅ , limited by the size of the served territory).

To increase the accuracy of determining the location of the movable object 4, you should use a larger number of reference stations 2, for which you can additionally choose base stations 1 ₁ and 1 ₁₀ .

оценок координат базовых станций 1 формируют аналогичным образом с учетом соответствующей модификации выражений (11)-(15).When placing base stations 1 with a random spread near the vertices of the conditional cells, which are equal regular triangles, tightly adjacent to each other with their sides, densely covering the served territory, or near the vertices of the conditional cells, which are equal regular hexagons, closely adjacent to each other with their by the parties, densely covering the served territory,

estimates of the coordinates of base stations 1 are formed in a similar manner, taking into account the corresponding modification of expressions (11) - (15).

Figure 5 shows an example system for the case in which the number of base stations 1 is equal to fifteen. In this case, a description of the operation of the system when implementing the method is also given taking into account figure 2-4.

All elements and blocks that make up the system shown in Fig.5-7, are known and described in the literature.

The receiving antenna 6, the first transmitting antenna 26 and the second transmitting antenna 31 are omnidirectional.

As the microcontroller 17 can be used microprocessor systems with analog and digital inputs and outputs, which include a clock, memory, analog-to-digital and digital-to-analog converters and other devices (see, for example, P. Horowitz, W. Hill. Art circuitry. - M .: Mir, 1993, p. 294-295).

As the memory block 18 and the task block 19, any known digital input / output devices of the data can be used (see, for example, Shevkoplyas B.V. Microprocessor structures. Engineering solutions. - M.: Radio and communication, 1993, p. 27).

The propagation time of radio signals from each base station 1 to the nearest base stations 1 and the time interval for measuring the power of the received radio signals are negligible compared to their duration; the propagation time of signals in the transceiver paths of base stations 1 is negligible.

Consider the implementation of the method using the system shown in figure 5-7, taking into account figure 2-4.

The amplification factors of low-noise amplifiers 8 are set so that the sensitivity of the transceivers 3 is equal to P _av.min . The gain factors of the first power amplifiers 25 and the second power amplifier 30 are set so that the power of the radio signals transmitted from the base stations 1 and the moving object 4 is equal to R _prd . All the radio signals used in the system are narrow-band, whose energy spectra are concentrated in the region of the operating frequency f. Then, taking into account expression (3), the range of the transceivers 3 is equal to R, and the value of R is set in accordance with conditions (4) - (6).

In block 19 of the job of each transceiver 3 enter a non-repeating number n of this base station 1, where n = 1, 2, ..., N, and the number K. In this case (figure 2) N = 60, K = 14.

As reference stations 2 ₁ and 2 ₂ , two base stations 1 ₅₁ and 1 ₆₀ , respectively, were selected (FIG. 2). In block 19 of the job transceivers 3 of each of these base stations 1 also enter the corresponding number s (s = 1 for the reference station 2 ₁ and s = 2 for the reference station 2 ₂ ).

подвижного объекта 4), вводят также координаты (x_s,у_s) обеих опорных станций 2, математическое ожидание m_d и дисперсию D_d расстояния d между ближайшими базовыми станциями 1 и дальности R действия базовых станций 1.In block 19 of the task of the transceiver 3 of one of the base stations 1 (for example, base station 1 ₂₇ ), arbitrarily selected as an object, which determines the location of the moving object 4 (determine the coordinates

of the moving object 4), the coordinates (x _s , y _s ) of both reference stations 2, the mathematical expectation m _d and the variance D _{d of the} distance d between the nearest base stations 1 and the range R of the action of base stations 1 are also entered.

The system operates in two modes: “Transmission of radio signals from a moving object 4” and “Determining the location of a moving object 4”.

The mode "Transmission of radio signals from a moving object 4". A binary sequence of pulses containing the identifier of the moving object 4, from the output of the message source 27 of the transmitter 5 of the moving object 4, is fed to the first input of the third frequency converter 28, the second input of which receives a harmonic frequency signal ƒ _g3 generated by the third local oscillator 29. The amplitude-manipulated signal with the output of the third frequency converter 28 is input to a second power amplifier 30. The signal from the output of the second power amplifier 30 is fed to the input of the second transmitting antenna 31, which emits into space the corresponding radio signal in a given frequency band Δƒ.

The radio signal transmitted from the mobile unit 4 is received at the first base stations 1, which are base stations 1, within the range of the range R of which the mobile unit 4 is located (in Fig. 2, the first base stations 1 are base stations 1 ₃₄ , 1 ₃₅ , 1 ₄₄ and 1 ₄₅ ).

In the transceiver 3 of each of the first base stations 1, the signal from the output of the receiving antenna 6 is fed to the input of the first band-pass filter 7. The first band-pass filter 7 provides selectivity for the mirror channel. The output signal of the first band-pass filter 7 is fed to the input of a low-noise amplifier 8, the output signal of which is fed to the first input of the first frequency converter 9. At its second input, a harmonic signal of frequency ƒ _g1 is generated, produced by the first local oscillator 10. The signal, whose energy spectrum is concentrated in the region of the intermediate frequency, from the output of the first frequency converter 9 is fed to the inputs of the second band-pass filters 12 of the processing channels 11.

Since the tuning of the first local oscillator 10 is shifted downward along the frequency axis вниз _g1 from the given transmission frequency band of the moving object 4, only the passband of the second band-pass filter 12 of one of the M processing channels 11 (for example, the first) matches, the signal from the output of only the second band-pass filter 12 of this processing channel 11 is fed to the input of the corresponding demodulator 13 and to the input of the squaring unit 14, the output signal of which is fed to the input of the integrator 15. The signal from the output of the integrator 15 is fed to the input of the analog-c field converter 16, the binary signal from the output of which, corresponding to the power of the received radio signal, is supplied to the corresponding inputs of the microcontroller 17 (series-connected block 14 squaring and integrator 15 form a power meter - see, for example, J. Bendat, A. Pirsol. analysis of random data. - M.: Mir, 1983, p.143). The microcontroller 17 makes a decision about the presence of a movable object 4 radio signal at the input of the transceiver 3, reads the binary sequence of pulses acting at the output of the demodulator 13 of this processing channel 11, and extracts the identifier of the moving object 4.

At the end of the reception of the radio signals transmitted from the moving object 4, the microcontroller 17 generates at the first inputs of the second frequency converters 21 a binary sequence of pulses containing information that this base station 1 is the first base station 1. At the same time, the microcontroller 17 reads from the set 19 number n of this base station 1 and generates on the control inputs of the analog switches 23 modulators 20 control signals corresponding to the binary representation n defined by by (7). Moreover, if a _m = 1, then the microcontroller 17 generates a control signal at the control input of the analog switch 23 of the m-th modulator 20, by which this analog switch 23 connects the output of the corresponding second frequency converter 21 to the corresponding input of the adder 24; if a _m = 0, then the microcontroller 17 generates at the control input of the analog switch 23 of the mth modulator 20 a control signal by which this analog switch 23 disconnects the output of the corresponding second frequency converter 21 from the corresponding input of the adder 24. The signal from the output of the adder 24 is fed to the input of the first power amplifier 25, the output signal of which is fed to the input of the first transmitting antenna 26. The radio signal emitted by the first transmitting antenna 26 in a given frequency band Δƒ is the sum of the radio signal s transmitted at M predetermined nonoverlapping frequency bands, where M> log ₂ N, wherein the radio signal strength transmitted into the m-th predetermined frequency band, where m = 1, 2, ..., M - positive integers determined by the n .

Radio signals transmitted from the first base stations 1, which are base stations 1, within the range of R of which the moving object 4 is located, are received at the second base stations 1 located within the ranges of R of the first base stations 1 (in figure 2, the second base stations 1 are the base stations 1 ₃₄ , 1 ₂₅ , 1 ₃₆ , 1 ₄₆ , 1 ₆₅ , 1 ₅₄ , 1 ₄₃ , 1 ₃₃ ).

In the transceiver 3 of each of the second base stations 1, the signal from the output of the receiving antenna 6 is fed to the input of the first band-pass filter 7. The signal from the output of the first band-pass filter 7 is fed to the input of a low-noise amplifier 8, the signal from which is fed to the first input of the first frequency converter 9. At its second input, a harmonic signal of frequency f _g1 is generated, produced by the first local oscillator 10. The signal, whose energy spectrum is concentrated in the region of the intermediate frequency, from the output of the first frequency converter 9 is fed to the inputs of the second band-pass filters 12 of the processing channels 11.

The signal from the output of the second band-pass filter 12 of each processing channel 11 is fed to the input of the demodulator 13 and to the input of the squaring unit 14, the output signal of which is fed to the input of the integrator 15. The signal from the output of the integrator 15 is sent to the input of the analog-to-digital converter 16, binary the signal from the output of which, corresponding to the power of the received radio signal, is supplied to the corresponding inputs of the microcontroller 17. As a result of the analysis of signals acting on the corresponding outputs of all analog-to-digital converters 1 6, the microcontroller 17 makes a decision on the presence of radio signals of the first base stations 1 at the input of the transceiver 3, reads out the binary sequence of pulses acting at the output of the demodulator 13 of one of the processing channels 11, and extracts from it information that these radio signals are transmitted from the first base stations 1.

The radio signal transmitted by each of the first base stations 1 is the sum of the radio signals transmitted in M predetermined non-overlapping frequency bands, where M> log ₂ N, and the power of the radio signal transmitted in the m-th predetermined frequency band, where m = 1, 2, ..., M are positive integers, defined by n. When conditions (4) - (6) are fulfilled, an event is reliable, consisting in the fact that at the input of every second base station 1 (Fig. 2) there are at the same time no more than two radio signals transmitted in a given frequency band Δƒ from the first two base stations 1 located within the range R of the action of this second base station 1. In this regard, given the fact that different binary combinations correspond to different n, the event that there is some mth frequency band Δƒ _m in which specified first ba marketing station 1 transmitted signals, significantly different power, and consequently fading in the m-th frequency band are absent - the expressions (7) - (10). Thus, the event is reliable that there is at least one of the M processing channels 11, the signal at the output of the demodulator 13 of which will have sufficient power for processing.

Upon completion of the reception of radio signals transmitted from the first base stations 1, the microcontroller 17 generates at the first inputs of the second frequency converters 21 a binary sequence of pulses containing information that this base station 1 is the second base station 1. At the same time, the microcontroller 17 reads from the task unit 19 the given number n of this base station 1 and generates on the control inputs of the analog switches 23 modulators 20 control signals corresponding to the binary representation n defined Formula (7). Moreover, if a _m = 1, then the microcontroller 17 generates a control signal at the control input of the analog switch 23 of the m-th modulator 20, by which this analog switch 23 connects the output of the corresponding second frequency converter 21 to the corresponding input of the adder 24; if a _m = 0, then the microcontroller 17 generates a control signal at the control input of the analog switch 23 of the mth modulator 20, by which this analog switch 23 disconnects the output of the corresponding second frequency converter 21 from the corresponding input of the adder 24. The signal from the output of the adder 24 is fed to the input of the first power amplifier 25, the output signal of which is fed to the input of the first transmitting antenna 26. The radio signal emitted by the first transmitting antenna 26 in a given frequency band Δƒ is the sum of the radio signal numbers transmitted in M given non-overlapping frequency bands, where M> log ₂ N, and the power of the radio signal transmitted in the m-th given frequency band, where m = 1, 2, ..., M are positive integers, is determined by n .

Then, in the same way, in sequence, in all directions from the first base stations 1, receive radio signals transmitted from (k-1) -th base stations at all kx base stations 1 located within the range R of action (k-1) -x base stations 1, and ke base stations 1 are not (k-2) -th base stations 1, where k = 3, 4, ..., K are positive integers, and they transmit radio signals containing information about the fact that these base stations 1 are k-th base stations 1.

The transmission of radio signals without looping is ensured by the fact that for a given duration of radio signals transmitted from all base stations 1, the microcontroller 17 of each first base station 1 blocks the processing of received radio signals during the transmission of radio signals from the first base stations 1 and from the second base stations 1; the microcontroller 17 of every second base station 1 blocks the processing of the received radio signals during the transmission of radio signals from the second base stations 1 and from the third base stations 1; the microcontroller 17 of each k-th base station 1 blocks the processing of received radio signals during the transmission of radio signals from kx base stations 1 and from (k + 1) -x base stations 1 (for k <K), where k = 3, 4, .. ., K are positive integers.

Since the reference stations 2 are selected from among the base stations 1, they also receive and transmit radio signals in the manner described. In this case, the microcontroller 17 s-and the reference station 2 from the information contained in the radio signals received at this reference station 2, determines the value of k _s and stores it in the memory unit 18, where k _s = 1, 2, ..., K - positive integer.

Provided that the durations of the radio signals transmitted from the moving object 4 and from all base stations 1 are equal to T, the transmission of radio signals from the moving object 4 and from all base stations 1, which determines the mode “Transmission of radio signals from the moving object 4”, takes time equal to

where τ is the propagation time of radio signals between the nearest base stations 1; τ _d is the duration of the guard interval.

Formula (21) does not take into account signal delays in the transceiver paths of base stations 1.

At the end of the "Transmission of radio signals from a moving object 4" mode, the system enters the "Locating a moving object 4" mode.

In the General case, the location of the moving object 4 can be determined on any object to which information will be transmitted from the reference stations 2. In this case, the transmission of information from the reference stations 2 can be carried out in any known manner.

In this case, we consider an example of determining the location of a movable object 4 at one of the base stations 1 (for example, base station 1 ₂₇ ), in which information from the reference stations 2 is transmitted to this base station 1 sequentially from base station 1 to base station 1 via a radio channel similarly the transmission of radio signals from a moving object 4 to all base stations 1 described for the mode "Transmission of radio signals from a moving object 4".

In this case, information from reference stations 2 is transmitted alternately in ascending order of their numbers s. Provided that the durations of radio signals transmitted from base stations 1 in the modes "Transmission of radio signals from a moving object 4" and "Locating a moving object 4" are equal to T, the time interval separating the beginning of the transmission of information from the reference station 2 ₂ from the beginning of the transmission of radio signals from the reference station 2 ₁ , provide, taking into account the formula (21).

In the "Positioning of the moving object 4" mode, radio signals from the moving object 4 are not transmitted.

At the same time, radio signals containing information about the value of k ₁ stored at this reference station 2 when receiving radio signals during the “Transmission of radio signals from a moving object 4” mode are transmitted from the reference station 2 ₁ (s = 1), which is selected from among the base stations 1 ". The radio signals received from this reference station 2 are received at the second base stations 1 located within the range R of the action of this reference station 2, and radio signals containing information that these base stations 1 are second base stations are transmitted from the second base stations 1 1. Then in the same way in sequence, in all directions from the first base stations 1, receive radio signals transmitted from (k-1) -x base stations 1, at all kx base stations 1 located within the ranges R action (k-1) -x base stations 1, and ke base stations 1 are not (k-2) -th base stations 1, where k = 3, 4, ..., K are positive integers, and transmit radio signals containing information from kx base stations 1 that these base stations 1 are k-th base stations 1.

In the transceiver of each reference station 2, the microcontroller 17 reads from the reference unit 19 the number s of this reference station 2. If s ≠ 1, then the microcontroller 17 generates control signals at the control inputs of all analog switches 23, through which the analog switches 23 disconnect the outputs of the corresponding second converters 21 frequency from the inputs of the adder 24, and this reference station 2 operates in the same way as in the "Transmission of radio signals from a moving object 4".

If s = 1, then the microcontroller 17 generates at the first inputs of the second frequency converters 21 a binary sequence of pulses containing information about the value of k ₁ stored during the “Transmission of radio signals from a moving object 4” mode when receiving radio signals at this reference station 2. At the same time, the microcontroller 17 generates at the control input of the analog switch 23 of one of the M modulators 20 (for example, with m = 1) a control signal by which this analog switch 23 connects the output of the corresponding second pre frequency divider 21 to the corresponding input of adder 24. At the control inputs of all other analog switches 23, the microcontroller 17 generates control signals by which these analog switches 23 disconnect the outputs of the corresponding second frequency converters 21 from the inputs of the adder 24. The signal from the output of the adder 24 is fed to the input of the first power amplifier 25, the output signal of which is fed to the input of the first transmitting antenna 26. The power of the radio signal emitted by the first transmitting antenna 26 in a given frequency band ƒ, concentrated only in the first (m = 1) of the M predetermined nonoverlapping frequency bands, where M> log ₂ N. As a source of radio transmission is only one base station 1, station 2 is a reference _1, when receiving radio fading, the thus formed do not arise.

The work of the remaining base stations 1 is similar to that described for the mode "Transmission of radio signals from a moving object 4". The only exception is the base station 1 (in this case, the base station 1 ₂₇ ), which determines the location of the movable object 4. The microcontroller 17 of this base station 1, as a result of reading the signals acting on the outputs of the demodulators 13, determines the value of k ₁ stored at the reference station 2 ₁ when receiving radio signals during the "Transmission of radio signals from a moving object 4" mode, and stores this information in the memory unit 18.

After a time interval T ₀ defined by formula (21), radio signals containing information about the value of k ₂ stored at this reference station 2 at transmitting from a reference station 2 at the same time are transmitted from the reference station 2 ₂ (s = 2), which is selected from among the base stations 1 receiving radio signals during the mode "Transmission of radio signals from a moving object 4". The radio signals received from this reference station 2 are received at the second base stations 1 located within the range R of the action of this reference station 2, and radio signals containing information that these base stations 1 are second base stations are transmitted from the second base stations 1 1. Then, in the same way, in sequence, in all directions from the first base stations 1, receive radio signals transmitted from c (k-1) -x base stations 1 at all kx base stations 1 located within the ranges of action R (k-1) x base stations 1, and ke base stations 1 are not (k-2) -th base stations 1, where k = 3, 4, ..., K are positive integers, and transmit radio signals containing information from kx base stations 1 that these base stations 1 are k-th base stations 1.

The operation of the transceiver 3 of the reference station 2 ₂ (s = 2) is similar to the operation of the transceiver 3 of the reference station 2 ₁ (s = 1) in this mode "Locating the moving object 4". The operation of the remaining base stations 1 occurs similarly to that described for the “Transmission of radio signals from a moving object 4” mode (condition s = 2 is checked). The only exception is the base station 1 (in this case, the base station 1 ₂₇ ), which determines the location of the moving object 4. The microcontroller 17 of this base station 1, as a result of reading the signals acting on the outputs of the demodulators 13, determines the value of k ₂ stored at the reference station 2 ₂ when receiving radio signals during the "Transmission of radio signals from a moving object 4" mode, and stores this information in the memory unit 18.

подвижного объекта 4 и сохраняет результаты вычислений в блоке 18 памяти, из которого они могут быть извлечены известными способами.Then, at this base station 1, the location of the moving object 4 is determined. In this case, the microcontroller 17 reads from the memory unit 18 the value of k _s stored at both reference stations 2 when receiving radio signals during the “Transmission of radio signals from mobile object 4” mode and reads from block 19 specify the coordinates {x _s , y _s } of both reference stations 2 and the range R of the action of base stations 1, by which then using formulas (11) - (19) receives coordinate estimates

movable object 4 and stores the results of the calculations in the block 18 of the memory from which they can be extracted by known methods.

In this case, the number of reference stations 2 is equal to two. With a larger number of reference stations 2, the system operates in a similar way.

Then the system enters the "Transmission of radio signals from a moving object 4" mode. In this case, the time interval separating the beginning of the transmission of information from the moving object 4 from the beginning of the transmission of radio signals from the last reference station 2 is determined by the formula (21).

The formulas used in the description may correspond to the following system parameters: N = 60; K = 14; m _d = 300 m; D _d = 75 m ² ; R = 315 m; P _prd = 10 ^-3 W; P _av.min = 10 ^-11 W; T = 0.02 s; the information transfer rate from each base station 1 and from the mobile object 4 is not more than 512 bit / s; the predetermined frequency band of the radio signals transmitted from base stations 1 and from the moving object 4 is Δƒ = 900.0 ... 900.1 MHz.

Thus, the transmission from each base station of radio signals containing information about the remoteness of a given base from a moving object, and determining the location of a moving object from the information contained in the radio signals received at the reference stations, does not require additional base stations to be introduced, for example, with the purpose of reducing the power of the emitted radio signals, the laborious reassignment of the frequency bands of the radio signals transmitted from each base station, which simplifies the method. In addition, the method does not require setting at each base station the coordinates of all base stations and their corresponding identification numbers, which also simplifies the method.

Claims (2)

1. The method of determining the location of a moving object, which consists in placing base stations with predetermined ranges, transmitting radio signals from a moving object, which are received at the first base stations, which are base stations, within the range of which a moving object is located, transmitting from the first base stations radio signals, receive radio signals transmitted from the first base stations at second base stations located within the ranges of the first base stations, and transmit radio signals from the second base stations, then in the same way sequentially, in all directions from the first base stations, receive radio signals transmitted from (k-1) -x base stations at all kx base stations located within range (k-1 ) -th base stations, and ke base stations are not (k-2) -th base stations, where k = 3, 4, ..., K are positive integers, and transmit radio signals from kx base stations, transmit from reference stations that are selected from the above base stations, signals at CT, which determine the location of the moving object according to the given ranges of the base stations and the information contained in the signals transmitted from the reference stations, characterized in that the placement of the base stations is carried out with a random spread near the vertices of the conditional cells, which are equal regular polygons, densely adjacent to each other by their sides, densely covering the served territory, with given mathematical expectation and dispersion of the distance between the nearest base stations The radio signals transmitted from the first base stations contain information that these base stations are the first base stations, radio signals transmitted from the second base stations contain information that these base stations are the second base stations, radio signals transmitted from kx base stations, contain information that these base stations are k-th base stations, where k = 3, 4, ..., K are positive integers, the signals transmitted from each reference station to the object contain information the position contained in the radio signals received at this reference station, the location of the moving object is also carried out by the given coordinates of the reference stations and by the specified expectation and variance of the distance between the nearest base stations, and the location of the moving object is determined for each reference stations a lot of estimates of the coordinates of base stations, for which the probability of an event consisting in the fact that within the limits of their range of action a movable CT is not located, no less than a given value, and a lot of estimates of the coordinates of base stations, for which the probability of an event consisting in the fact that within the range of their action a moving object is not located, not less than a given value, by which many estimates are determined for all reference stations coordinates of base stations, for which the probability of an event consisting in the fact that within the range of their action is a moving object of at least a given value, and a lot of estimates of the coordinates of base stations for which l event, consisting in the fact that within the limits of their range of action a moving object is not located, not less than a given value, which determine the location of a moving object. 2. The method according to claim 1, characterized in that the radio signals transmitted in each given frequency band from the nth base station, where n = 1, 2, ... N are positive integers, N is the number of base stations, represent is the sum of the radio signals transmitted in M given non-overlapping frequency bands, where M> log ₂ N, and the power of the radio signal transmitted in the m-th given frequency band, where m = 1, 2, ... M are positive integers, are determined by n

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