WO2018068753A1

WO2018068753A1 - Time difference of arrival (tdoa) measurement method and apparatus, tdoa control apparatus and method, and terminal

Info

Publication number: WO2018068753A1
Application number: PCT/CN2017/105995
Authority: WO
Inventors: 刁心玺; 马志锋
Original assignee: 中兴通讯股份有限公司
Priority date: 2016-10-13
Filing date: 2017-10-13
Publication date: 2018-04-19
Also published as: CN107942285B; CN107942285A

Abstract

A time difference of arrival (TDOA) measurement method and apparatus, a TDOA control apparatus and method, and a terminal. The method comprises: respectively receiving a reference signal from a radio node and a positioning measurement signal from a terminal (100); obtaining a first time difference or a first phase difference respectively by using a relative positional relationship between any of an analog modulation waveform and a phase change waveform generated by digital modulation that are carried by the received reference signal, and any of an analog modulation waveform and a phase change waveform generated by digital modulation that are carried by the received positioning measurement signal (101); and determining a TDOA between the reference signal and the positioning measurement signal arriving at a receiving network element according to the obtained first time difference or the first phase difference and the reference signal (102).

Description

Time difference measurement method, device, control device, method and terminal

Technical field

The present disclosure relates to radio positioning technology, and more particularly to a method, device, control device, method and terminal for measuring time difference of arrival.

Background technique

Radiolocation techniques employed by existing cellular networks include TOA positioning based on Time of Arrival (TOA) measurements and TDOA positioning based on Time Difference Of Arrival (TDOA) measurements. The key technical aspects of TOA positioning and TDOA positioning are: measurement of the arrival time TOA of the radio positioning signal. Currently, in the cellular mobile communication system, the time of occurrence of the relevant output peak point of the specific pilot symbol or reference symbol is detected as the TOA time. . There is an intrinsic relationship between the time resolution and accuracy of the TOA measurement and the bandwidth of the positioning signal. The larger the bandwidth of the positioning signal, the higher the accuracy of time resolution or delay estimation. Conversely, the smaller the bandwidth of the positioning signal, the time resolution or time. The lower the accuracy of the estimation, the lower the positioning accuracy.

The existing positioning target of the cellular mobile communication network is to locate the person by locating the mobile phone, and the advantage of using the correlation peak detection for the pilot sequence is that the positioning function can be maintained when the signal strength of the cellular network is weak, and The positioning accuracy of about 50 meters can be obtained in most scenarios. Therefore, from the perspective of the need for personnel positioning, the positioning method of the correlation peak detection based on the pilot symbol or the pilot sequence is reasonable.

With the application of the Internet of Things and sensor networks, there is a need to use the Internet of Things and the sensor network for positioning. Due to the narrow frequency band used by the Internet of Things and the sensor network, a problem faced by narrow-band radio system positioning is bandwidth-dependent. Constraint, the delay estimation has a low resolution, which results in poor positioning accuracy.

Narrow Band Internet Of Things (NB-IOT) positioning is different from previous mobile phone positioning: 1) Targeting objects and application scenarios are more diverse, including positioning of personnel, positioning of objects, and Positioning of vehicles and aircraft in motion; 2) The bandwidth of the positioning channel is only 200KHz, which is much smaller than the 5MHz bandwidth of UMTS and the bandwidth of 1.4~20MHz of LTE; 3) The positioning accuracy requirements are diversified, from the tens of meters for personnel positioning Level-to-centimeter to the level required for automatic vehicle driving; 4) Positioning channels are limited to LOS channels for specific applications, such as auto-driving, drone autopilot, and ship track monitoring, which can be positioned under the LOS channel; 5) Specific industry applications can withstand the overhead of deploying LMUs at high density, such as the positioning systems required for automated driving on highways. In view of these differences, it is necessary to adjust the technical idea adopted by the cellular mobile communication network in the NB-IOT terminal positioning, and adopt a positioning method different from the use of pilot symbols or pilot sequences for correlation peak detection.

In the related art, in order to overcome the disadvantage of the inherent time resolution difference of the narrowband radio signal, the application number is CN201110361795.5, and the invention is entitled "A radio frequency discrimination technology based positioning method", and an application is disclosed based on A centimeter-level positioning method for radio phase discrimination technology that uses the phase difference generated by radio waves to determine the position of the target. The application uses two or more radio transmitters that simultaneously transmit fundamental frequency and frequency doubling radio waves. The target is equipped with a receiving antenna and a receiving device, and processes the received radio signals and compares the phases, and uses the phase. The difference determines the position of the target, and the radio transmitter uses two crystal oscillators to generate two oscillating signals s1(t) and m(t) at frequencies fH and fL, respectively, where fH=180fL and m(t) modulation The amplitude modulation wave sP(t) is obtained on s1(t), and then amplified by power, and then transmitted by the antenna TP. The receiving antenna and the receiving device installed on the target to be measured demodulate the received signal to obtain a signal m(t). ), and the carrier is amplitude-amplified to obtain the signal s1(t), and then sent to the phase-detecting f and the phase-detecting e respectively, and the positioning error is ≤1cm in the positioning interval with a radius of 0-144m, which is suitable for various sports. Position monitoring of targets or stationary targets.

Radiolocation technology and radio ranging technology have intrinsic links in the arrival time information acquisition. In the field of radio ranging, commonly used round-trip time measurement methods include: interferometry, pulse method, frequency-modulated continuous wave method, phase method. Each application has its own advantages.

In the field of ranging, the application number is CN200910262544.4, and the invention discloses a method for measuring the distance between the transmitter/receiver circuit and the method for measuring the distance between two nodes. The method for ranging includes: the first node and the second node. The mode transitions from a standard mode of communication in the radio network to a distance measurement mode, wherein in the distance measurement mode, the first unmodulated carrier signal is transmitted by the first node and received by the second node, the second unmodulated carrier signal Transmitted by the second node and received by the first node, the second distance value is determined from the four values of the phase by performing measurements and calculations at different frequencies of the radio signal, wherein the first distance value and the second distance value are calculated The distance between a node and a second node.

In the prior art, the TDOA radio positioning technology for obtaining the time difference of arrival based on the correlation detection of the pilot sequence, because the time resolution is limited by the channel bandwidth, the low accuracy of the arrival time measurement results in a large positioning error; especially for a narrowband radio positioning system, such as In the narrowband Internet of Things (NB-IOT) terminal positioning system, the existing TDOA measurement technology has a low measurement accuracy of the arrival time difference, resulting in a large positioning error.

In the prior art, the application number is CN201110361795.5, and the application titled "Positioning method based on radio phase discrimination technology" is a radio positioning technology for acquiring phase difference based on phase detection, although the centimeter-level positioning accuracy can be achieved, The technical solution is to perform phase discrimination and phase difference measurement by the terminal side, which increases the power consumption, complexity and cost of the terminal, and is not suitable for application in low-cost terminal positioning of a narrowband Internet of Things (NB-IOT).

A disadvantage of the laser ranging technique based on phase difference measurement in the related art is that it requires a strict phase relationship between the local phase reference signal and the reflected signal, so it is necessary to use the same analog modulation waveform pair to use the local reference signal and reflection of the same light source. The signal is modulated to obtain the amount of phase change introduced by the propagation path of the ranging signal. This method cannot be applied to the TDO's time difference difference measurement architecture, because in the TDOA measurement architecture, only the different radio frequencies placed in different places can be used on the network side and the terminal side. It is also difficult for the source to modulate different RF sources placed off-site using the same analog modulation waveform. Therefore, phase ranging technology cannot be directly used in TDOA positioning measurement systems.

Due to the above technical reasons, it is difficult to achieve high-precision positioning using a 200 KHz channel bandwidth under the TDOA measurement architecture adopted by the existing radio access network.

Summary of the invention

In order to solve the above technical problem, the present disclosure provides a method, an apparatus, a control apparatus, a method, and a terminal for measuring an arrival time difference, which can ensure measurement accuracy of a time difference of arrival.

In order to achieve the objectives of the present disclosure, the present disclosure provides a method for measuring a time difference of arrival, including:

Receiving a reference signal from a radio node and a positioning measurement signal from a terminal, respectively;

Using any one of the analog modulation waveform carried by the received reference signal and the phase change waveform generated by the digital modulation, and the analog modulation waveform carried by the received positioning measurement signal and the phase change waveform generated by the digital modulation, respectively Obtaining a first time difference or a first phase difference by a relative positional relationship of waveforms between waveforms;

Determining, according to the obtained first time difference or the first phase difference and the reference signal, a time difference of arrival between the reference signal and the positioning measurement signal receiving network element;

The geographic location coordinates of the reference signal and the positioning measurement signal receiving network element and the corresponding antenna of the radio node are known;

The reference signal includes a time reference signal for acquiring the first time difference or a phase reference signal for acquiring the first phase difference.

The present disclosure also provides a method for measuring the time difference of arrival, including:

The terminal performs analog phase modulation, analog amplitude modulation, and analog frequency modulation on the carrier of the positioning measurement signal by using the analog modulation waveform; or, performing continuous phase modulation on the carrier of the positioning measurement signal by using the digital modulation symbol to obtain digital modulation a positioning measurement signal of the generated phase change waveform;

The terminal transmits the modulated signal.

The present disclosure further provides an arrival time difference measuring device, including a first receiving module, a first processing module, and a second processing module; wherein

a first receiving module configured to receive a reference signal from the radio node and a positioning measurement signal from the terminal;

The first processing module is configured to use any one of the analog modulation waveform carried by the received reference signal and the phase change waveform generated by the digital modulation, and the phase of the analog modulation waveform and the digital modulation carried by the received positioning measurement signal Obtaining a relative positional relationship between waveforms of any one of the waveforms to obtain a first time difference or a first phase difference;

The second processing module is configured to determine, according to the obtained first time difference or the first phase difference and the reference signal, a time difference of arrival between the same-distance measurement network elements of the first receiving module;

The geolocation coordinates of the same location difference measurement network element of the first receiving module and the antenna corresponding to the radio node are known;

The present disclosure further provides a terminal, including: a modulation module, a sending module, where

a modulation module configured to perform analog phase modulation, analog amplitude modulation, and analog frequency modulation on the carrier of the positioning measurement signal using the analog modulation waveform; or, to perform continuous phase modulation on the carrier of the positioning measurement signal using the digital modulation symbol, Obtaining a positioning measurement signal carrying a phase change waveform generated by digital modulation;

The transmitting module is set to send the modulated signal.

Optionally, the used analog modulation waveform includes: any one of a sinusoidal signal waveform, a cosine signal waveform, and a triangular wave signal waveform;

And performing continuous phase modulation on the carrier of the positioning measurement signal by using the digital modulation symbol to obtain a phase change waveform generated by the digital modulation, including: using a minimum phase shift keying MSK and a Gaussian minimum phase shift keying GMSK of any digital modulation A triangular waveform in which the carrier phase is continuously changed or a triangular waveform smoothed by Gaussian filtering is generated.

The present disclosure further provides an arrival time difference measurement control apparatus, including a reference signal transmission module, a positioning control information transmission module, and a synchronization control module;

a reference signal transmitting module configured to transmit a reference signal to each of the arrival time difference measuring devices in the system;

a positioning control information sending module, configured to send positioning control information to the radio positioning measuring device or to the radio positioning measuring device and the terminal;

The synchronization control module is configured to control any one of a period and a frequency of the phase modulation waveform generated by the digital modulation used by the analog modulation waveform used by the reference signal or the reference signal to realize the reference signal and the positioning measurement signal sent by the terminal Frequency synchronization and / or cycle synchronization.

The present disclosure also provides a computer readable medium having stored thereon a computer program that, when executed by a processor, implements the method as described above.

Compared with the prior art, the technical solution of the present application includes: receiving a reference signal from a radio node and a positioning measurement signal from a terminal respectively; using an analog modulation waveform carried by the received reference signal and a phase change waveform generated by digital modulation, respectively. Obtaining a first time difference or a first phase difference according to any position of the waveform between the analog modulation waveform carried by the received positioning measurement signal and the phase variation waveform generated by the digital modulation; The first time difference or the first phase difference and the reference signal determine a time difference of arrival between the reference signal and the positioning measurement signal receiving network element; wherein the geographical position coordinates of the reference signal and the positioning measurement signal receiving network element and the corresponding antenna of the radio node are known The reference signal includes a time reference signal for acquiring the first time difference or a phase reference signal for acquiring the first phase difference. Through the technical solution provided by the present disclosure, the measurement accuracy of the arrival time difference is improved, and the bandwidth occupation is reduced.

Optionally, in the technical solution of the present disclosure, the problem that the measurement accuracy of the arrival time difference in the radio system is reduced by multipath interference is solved by the processing of suppressing the multipath interference and the lateral filtering processing error.

Other features and advantages of the present disclosure will be set forth in the description which follows. The objectives and other advantages of the present disclosure can be realized and obtained by the structure particularly pointed out in the appended claims.

DRAWINGS

The drawings described herein are intended to provide a further understanding of the invention, and are intended to be a part of the invention. In the drawing:

1 is a flow chart of a first embodiment of a method for measuring an arrival time difference of the present disclosure;

2 is a flow chart of a second embodiment of a method for measuring a time difference of arrival of the present disclosure;

3 is a schematic diagram of an application scenario of a method for measuring a time difference of arrival according to the present disclosure;

4 is a schematic structural diagram of a composition of an arrival time difference measuring device according to the present disclosure;

FIG. 5 is a schematic structural diagram of a terminal of the present disclosure.

detailed description

The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be arbitrarily combined with each other.

The inventors of the present application have found through research that improving the positioning accuracy under the narrow channel bandwidth depends on two key technical steps: 1) improving the time difference estimation accuracy under the narrow channel bandwidth; 2) suppressing the error introduced by the multipath versus time difference estimation. The phase method laser ranging method can improve the time difference estimation accuracy under the narrow channel bandwidth, and the multipath filtering process can suppress the error introduced by the multipath versus time difference estimation.

The modulation waveform used in phase laser ranging is a sinusoidal waveform. In this ranging mode, the laser ranging signal emitted by the same laser source modulated by sine waves is divided into two paths, one of which serves as a ranging signal. Between the distance measuring device and the measured object, one path is used as a local phase reference signal, and the phase difference between the measured ranging signal and the local phase reference signal is the phase difference introduced by the round-trip path of the laser ranging signal, and the phase difference is divided. The angular velocity of the sinusoidal modulation waveform is the time difference introduced by the round-trip path of the laser ranging signal. When the path delay of the local reference signal is zero, the time difference introduced by the round-trip path of the laser ranging signal is the laser ranging signal. The propagation delay introduced by the round trip path. The accuracy of the phase-based laser ranging technology depends on the phase resolution of the phase detector. Since the phase resolution of the phase detector is not limited by the bandwidth, the accuracy of the ranging is not limited by the bandwidth. High range accuracy is achieved with narrow bandwidth.

The inherent reason that the phase resolution of the phase detector is not limited by the bandwidth is that the phase detector utilizes the waveform information of the sine wave, that is, utilizes the determined temporal correlation between different points on the sinusoidal waveform, and performs the sine wave Similar to the phase discrimination process, direct time difference measurement can also be performed using the shape information of a sine wave or some other waveform with phase continuous characteristics, that is, the determination of the existence of different points on the waveform using a sine wave waveform or other phase continuous characteristics. Time correlation results in higher arrival time difference measurements, resulting in higher time resolution over narrower bandwidths, and a priori information using sine waves or some other shape with phase continuous characteristics can also Suppress multipath interference or clutter interference.

For the reference of the phase method laser ranging method, there are two basic ways of reference: the arrival time difference measurement method based on sinusoidal modulation waveform (SWMB-TDOA; SWMB: Sine Wave Modulation Based TDOA) and the arrival phase difference measurement based on sinusoidal modulation waveform. Method (SWMB-PDOA; SWMB: Sine Wave Modulation Based; PDOA: Phase Difference Of Arrival).

Among them, SWMB-TDOA only draws on the sine wave waveform used in phase-type laser ranging. The specific measurement is not the measurement of the phase difference of two sine waves in phase laser ranging, but the phase on the waveform of sine wave. The characteristic point or waveform feature point directly estimates the arrival time TOA of the sine wave waveform, and the positioning measurement unit 1 (LMU1: Location Measurement Unit) measures the arrival time TOA1 of the sinusoidal modulation waveform S1 used by the time reference signal and the sinusoidal modulation of the positioning measurement signal. The difference of the arrival time TOA2 of the waveform S2 obtains the arrival time difference TDOA1 between S1 and S2, and the LMU2 acquires the TDOA2 by the same method, and obtains the UTDOA between the LMU1 and the LMU2 by subtracting the difference obtained by the TDOA2 by TDOA1;

SWMB-PDOA not only draws on the sine wave waveform used in phase laser ranging, but also the phase difference measurement of two sine waves in phase laser ranging. In the SWMB-PDOA mode, the sinusoidal modulation waveform S1 used by the time reference transmitting end (base station) to transmit the time reference signal and the sinusoidal modulated waveform S2 used by the positioning measurement signal transmitted by the terminal have phase At the same frequency, LMU1 measures the phase difference between S1 and S2. LMU1 acquires the arrival phase difference PDOA1 between S1 and S2, LMU2 obtains the arrival phase difference PDOA2 between S1 and S2, and obtains the phase difference UPDOA between LMU1 and LMU2 by subtracting the difference obtained by PDOA2 from PDOA1, using UPDOA and S1 Or the frequency of S2 calculates the UTDOA between LMU1 and LMU2;

Before the implementation mode is specifically described, the sinusoidal wave is taken as an example to illustrate the method for measuring the time difference of arrival based on the sinusoidal modulation waveform, and the method for measuring the arrival phase difference based on the sinusoidal modulation waveform SWMB-PDOA and the existing laser ranging Same and different.

Based on the sinusoidal modulation waveform arrival time difference measurement method SWMB-TDOA, the SWMB-TDOA positioning based on the sinusoidal modulation waveform draws on the sine wave modulation waveform in the phase method ranging. Therefore, SWMB-TDOA has a high delay in a narrow frequency band. The ability to estimate accuracy.

SWMB-TDOA and phase method ranging have the following differences: 1) In phase-based laser ranging, the phase difference introduced by the propagation path delay is strictly between the local sine wave signal and the reflected sine wave signal, and SWMB-TDOA There is no need to maintain this phase difference. In fact, a) there is no determined phase relationship between the sine wave waveform S1 transmitted by the base station in the SWMU-TDOA and the sine wave waveform S2 transmitted as the positioning measurement signal transmitted by the terminal, and this An indeterminate phase relationship does not affect the arrival time difference between S1 and S2 by estimating the arrival time of phase feature points or waveform feature points (peak points or zero crossings) on S1 and S2; b) SWMB- The sinusoidal waveform S1 transmitted by the base station in the TDOA as the time reference signal and the sinusoidal waveform S2 transmitted as the positioning measurement signal transmitted by the terminal do not need to be consistent in the period, the initial phase, and the number of transmission cycles. This difference does not affect the difference in arrival time between S1 and S2 by estimating the arrival time of phase feature points or waveform feature points (peak points or zero crossings) on S1 and S2; 2) SWMB-TDOA uses in addition to In addition to the narrow-band characteristics of the sine wave, the sine wave is also utilized as follows: a) estimating the position of the phase feature point or the waveform feature point using a priori information of the shape of the sine wave, and further estimating the bit Corresponding time TOA; b) Using the a priori information of the shape of the sine wave to achieve noise or multipath interference suppression by curve fitting (fitting the demodulated waveform with a sine wave) (only for the main path under the LOS channel) Strong time is effective).

Based on the sinusoidal modulation waveform arrival phase difference measurement method SWMB-PDOA, the SWMB-PDOA positioning based on the sinusoidal modulation waveform borrows the sine wave modulation waveform in the phase method ranging, and draws on the phase difference measurement method. Therefore, the SWMB-PDOA has The advantage of obtaining high delay estimation accuracy in a narrow frequency band also potentially has the problem of phase ranging - the distance blur caused by the phase difference across the period.

SWMB-PDOA and phase method ranging have the following differences: 1) In phase-based laser ranging, the phase difference introduced by the propagation path delay is strictly maintained between the local sine wave signal and the reflected sine wave signal, and SWMB- The PDOA does not need to maintain this phase difference. In fact, a) the distance between the base station and the terminal does not exist between the sine wave waveform S1 transmitted by the base station in the SWMU-PDOA and the sine wave waveform S2 transmitted as the positioning measurement signal transmitted by the terminal. The phase difference relationship of the information. Therefore, the phase difference between the base station and the terminal cannot be measured by the phase difference. However, the PDOA between the LMUs can be calculated by the phase difference and the known phase difference between the LMUs, and the LMU is utilized. The PDOA between the UTDOA is calculated; b) In the phase laser ranging, the frequency of the two sinusoidal signals received by the phase detector is strictly, two samples of the same signal, and SWMB-PDOA LMU received The frequency between the sine wave waveform S1 transmitted by the base station as the time reference signal and the sine wave waveform S2 transmitted as the positioning measurement signal by the terminal comes from two clock sources, and the frequencies are not absolutely identical, but by signal processing, The heights of S1 and S2 are consistent in frequency, such as the error is less than 1 ppm; 2) SWMB-PDOA can use the sine wave as follows in addition to the narrow-band characteristics and phase difference relationship of the sine wave in the phase difference ranging. : Using the a priori information of the shape of the sine wave to achieve noise or multipath interference suppression by curve fitting (fitting the demodulated waveform with a sine wave) (only effective when the main path is strong under the LOS channel).

Embodiment 1

1 is a flowchart of a first embodiment of a method for measuring a time difference of arrival of the present disclosure. It should be noted that, in the method of the present disclosure, step 100 and step 101 may be performed by a co-location difference measuring network element; step 102 may be different. The address difference is calculated in the network element. The same-differential difference measurement network element and the different-division difference calculation network element may be set in the same network element, or may be separately set in different network elements.

As shown in Figure 1, it includes:

Step 100: Receive a reference signal from a radio node and a positioning measurement signal from a terminal, respectively.

The geolocation coordinates of the co-located difference measurement network element and the radio node corresponding antenna in this step are known.

The reference signal in this step includes a time reference signal for acquiring a first time difference or a phase reference signal for acquiring a first phase difference.

Taking the LTE network as an example, the positioning measurement signal sent by the terminal is received in the protection band in the LTE uplink channel bandwidth, and the positioning measurement signal sent by the terminal is received on the non-protected frequency band in the LTE uplink channel bandwidth, and is outside the LTE uplink channel bandwidth. The independent deployment mode configures the positioning measurement signal sent by the receiving terminal in the uplink channel bandwidth of the NB-IOT. among them,

The positioning measurement signal sent by the terminal is within the bandwidth configured for the NB-IOT upstream channel. The channel bandwidth of the NB-IOT can be 200 kHz.

Step 101: respectively using any one of the analog modulation waveform carried by the received reference signal and the phase change waveform generated by the digital modulation, and the analog modulation waveform carried by the received positioning measurement signal and the phase change waveform generated by the digital modulation. The relative positional relationship of the waveforms between any of the waveforms obtains the first time difference or the first phase difference.

In this step, the analog modulation waveform carried by the reference signal or the positioning measurement signal includes: any one of a sinusoidal signal waveform, a cosine signal waveform, and a triangular wave signal waveform.

Preferably, the analog modulation waveform is a sinusoidal signal waveform or a cosine signal waveform.

Wherein the analog modulation waveform is used for performing modulation of any one of analog phase modulation, analog amplitude modulation and analog frequency modulation on a reference signal or a carrier of the positioning measurement signal;

The analog modulation waveform is one of a waveform of the time reference signal, a waveform of the phase reference signal, a waveform for measurement of the first time difference, and a waveform for measurement of the first phase difference. Multiple

In this step, the phase change waveform generated by the digital modulation carried by the reference signal or the positioning measurement signal includes: using minimum phase shift keying (MSK, Minimum Shift Keying) or Gaussian minimum phase shift keying (GMSK, Gauss Minimum Shift Keying). Any one of digital modulation produces a triangular waveform in which the carrier phase is continuously changed or a triangular waveform smoothed by Gaussian filtering;

Specifically, a specific method of using any of the digital modulations of MSK and GMSK includes: alternately transmitting the symbol "0" and Symbol "1".

The specific method of alternately transmitting the symbol “0” and the symbol “1” includes: transmitting at least one symbol “0” in the first time interval, and transmitting at least one symbol in the second time interval adjacent to the first time interval. "1"; or, at least one symbol "1" is transmitted in the first time interval, and at least one symbol "0" is transmitted in the second time interval adjacent to the first time interval. For example, when the "0", "0", "0", "1", "1", "1", "0", "0", "0", "1", "1", "1" symbols are periodically transmitted using MSK modulation, A triangular wave waveform of phase change can be obtained, and the triangular wave waveform can be used instead of the sinusoidal modulation waveform to perform time difference or phase difference estimation.

The phase change waveform generated by the digital modulation is one or more of a waveform of a time reference signal, a waveform of a phase reference signal, a waveform for measuring a first time difference, and a waveform for measuring a first phase difference.

In step 101, the specific implementation for obtaining the first time difference may be in any of the following manners:

Manner 1: Obtaining the first time difference by using a relative positional relationship between an analog modulation waveform of the reference signal and an analog modulation waveform of the positioning measurement signal, including:

Retrieving an analog modulation waveform of the positioning measurement signal from the received positioning measurement signal; recovering the reference signal analog modulation waveform from a time reference signal included in the received reference signal;

Determining, according to a time position of a waveform feature point of the analog modulation waveform of the recovered positioning measurement signal, an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element; and analog modulation according to the restored reference signal Determining a time position of a waveform feature point of the waveform, determining an arrival time of the time reference signal to reach the reference signal and the positioning measurement signal receiving network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element and an arrival time of the time reference signal reaching the reference signal and the positioning measurement signal receiving network element, and calculating The difference in arrival time is taken as the first time difference;

Manner 2: obtaining a first time difference by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, including:

Detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal; detecting a phase change waveform generated by the digital modulation from the time reference signal included in the received reference signal;

Determining, according to the time position of the waveform feature point of the phase change waveform generated by the digital modulation of the detected positioning measurement signal, the arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element; according to the detected time The time position of the waveform feature point of the phase change waveform generated by the digital modulation of the reference signal determines the arrival time of the time reference signal to reach the reference signal and the positioning measurement signal receiving network element;

Manner 3: acquiring the first time difference by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and an analog modulation waveform of the positioning measurement signal, including:

And recovering an analog modulation waveform of the positioning measurement signal from the received positioning measurement signal, and detecting a phase change waveform generated by the digital modulation from a time reference signal included in the received reference signal;

Determining, according to a time position of the waveform characteristic point of the recovered analog modulation waveform, an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element; and a waveform characteristic of the phase change waveform generated according to the detected digital modulation a time position of the point, determining an arrival time of the time reference signal reaching the reference signal and the positioning measurement signal receiving network element;

Manner 4: acquiring the first time difference by using a relative positional relationship between an analog modulation waveform of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, including:

Detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal, and recovering an analog modulation waveform of the reference signal from a time reference signal included in the received reference signal;

Determining, according to the detected time position of the waveform feature point of the phase change waveform generated by the digital modulation, an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element; according to the detected waveform of the analog modulation waveform The time position of the feature point determines an arrival time of the time reference signal to the reference signal and the positioning measurement signal receiving network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element and an arrival time of the time reference signal reaching the reference signal and the positioning measurement signal receiving network element, and calculating The difference in arrival time is taken as the first time difference.

In step 101, the specific implementation for obtaining the first phase difference may be in any of the following manners:

Manner 1: Obtaining the first phase difference by using a relative positional relationship between an analog modulation waveform of the reference signal and an analog modulation waveform of the positioning measurement signal, including:

And recovering an analog modulation waveform of the positioning measurement signal from the received positioning measurement signal; recovering an analog modulation waveform analog modulation waveform of the reference signal from a phase reference signal included in the received reference signal;

Determining the positioning measurement signal and the phase according to a phase difference corresponding to a relative position between a phase feature point of the analog modulation waveform recovered from the phase reference signal and a phase feature point of the analog modulation waveform recovered from the positioning measurement signal The reference signal arrives at the arrival phase difference of the reference signal and the positioning measurement signal receiving network element, and the arrival phase difference is used as the first phase difference;

Manner 2: obtaining a first phase difference by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, including:

And detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal; detecting a phase change waveform generated by the digital modulation from the phase reference signal included in the received reference signal;

Determining the phase difference between the phase feature point of the phase change waveform generated by the digital modulation detected from the positioning measurement signal and the relative position between the phase feature points of the phase change waveform generated by the digital modulation detected from the reference signal And a positioning phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, and the arrival phase difference is used as the first phase difference;

Manner 3: using the analog modulation waveform of the reference signal and the phase generated by the digital modulation of the positioning measurement signal The relative positional relationship between the waveforms is changed, and the first phase difference is obtained, including:

Detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal; recovering an analog modulation waveform from the received phase reference signal included in the reference signal;

Determining the positioning measurement signal according to a phase difference corresponding to a relative position between a phase feature point of the phase change waveform generated by the digital modulation of the detected positioning measurement signal and a phase characteristic point of the simulated modulation waveform of the restored reference signal The phase reference signal reaches an arrival phase difference of the reference signal and the positioning measurement signal receiving network element, and the arrival phase difference is used as the first phase difference;

Manner 4: acquiring the first phase difference by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and an analog modulation waveform of the positioning measurement signal, including:

And recovering an analog modulation waveform from the received positioning measurement signal; detecting a phase change waveform generated by the digital modulation from a phase reference signal included in the received reference signal;

Determining the positioning measurement signal according to a phase difference corresponding to a relative position between a phase feature point of the analog modulation waveform recovered from the positioning measurement signal and a phase characteristic point of the phase variation waveform generated from the digital modulation detected in the reference signal And an arrival phase difference between the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, and the arrival phase difference is used as the first phase difference.

Optionally, in the manner of obtaining the first time difference or the first phase difference,

The analog modulation waveform is recovered from the positioning measurement signal or from the reference signal, and specifically includes:

Performing corresponding demodulation on the positioning measurement signal or the reference signal generated by analog amplitude modulation, or analog frequency modulation, or analog phase modulation, to obtain a sampled value of the demodulated waveform;

Performing curve fitting on the demodulated sample values to obtain an estimated waveform of the analog modulation waveform;

The phase change waveform generated by the digital modulation is detected from the positioning measurement signal or from the reference signal, and specifically includes:

Using an analog or digital phase detector to phase-detect the positioning measurement signal using MSK or GMSK digital modulation to obtain a phase change waveform generated by digital modulation; wherein the phase change waveform generated by the digital modulation is a phase change of the amplitude with the positioning measurement signal And a time domain signal that changes;

The sampled value of the phase change waveform generated by the digital modulation outputted by the analog or digital phase detector is curve-fitted to obtain an estimated waveform of the phase change waveform generated by the digital modulation.

In one embodiment, curve fitting the demodulated sample values comprises:

Performing a curve fitting on the sampled value of the demodulated analog modulation waveform using a description curve of the positioning measurement signal or an analog modulation waveform used in the reference signal; or

Curve fitting the sampled value of the demodulated analog modulation waveform using a polynomial;

The curve fitting of the sampled values of the phase change waveform generated by the digital modulation output by the analog or digital phase detector includes:

Curved fitting of the sampled value of the phase change waveform output by the analog or digital phase detector using a description curve of the phase change generated by MSK or GMSK digital modulation; or

A sample of the phase change waveform output by the analog or digital phase detector is curve fitted using a polynomial.

Optionally,

When the first phase difference is obtained by using the first method, the phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element is determined, including:

When the analog modulation waveform recovered from the phase reference signal and the analog modulation waveform recovered from the positioning measurement signal are any of the sine or cosine waveforms having the same or different frequencies, the zero-crossing point and the peak value of the waveform are obtained. Any one of a point and an extreme point as a phase feature point or a waveform feature point, and a phase reference signal corresponding to a phase feature point of the analog modulation waveform or a time position of the waveform feature point recovered from the positioning measurement signal The phase point on the simulated modulation waveform recovered in the middle is used as the phase difference measurement point;

And a phase difference between the phase difference measurement point and a phase feature point on the analog modulation waveform recovered from the phase reference signal is used as the positioning measurement signal and the phase reference signal to reach the reference signal and the positioning measurement signal receiving network. The arrival phase difference of the element;

When the first phase difference is obtained by using the second method, determining a phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, including:

When the phase change waveform generated by the digital modulation detected from the positioning measurement signal is any one of a triangular wave generated by MSK or GMSK digital modulation or a triangular wave smoothed by Gaussian filtering, the zero-crossing point and the peak value of the waveform are obtained. Any one of the point and the extreme point as the phase feature point or the waveform feature point, the phase feature point of the phase change waveform generated from the digital modulation detected by the positioning measurement signal or the appearance time position of the waveform feature point a phase point on the phase change waveform generated by the digital modulation detected in the reference signal as a phase difference measurement point;

And a phase difference between the phase difference measurement point and a phase feature point on the phase change waveform generated by the digital modulation detected from the reference signal as the positioning measurement signal and the phase reference signal arrive at the reference signal and the positioning measurement The arrival phase difference of the signal receiving network element;

When the first phase difference is obtained by using the third method, determining a phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, including:

When the phase change waveform generated by the digital modulation adopts any phase change waveform of a triangular wave generated by MSK or GMSK digital modulation or a triangular wave smoothed by Gaussian filtering, when the analog modulation waveform of the reference signal is a sine or cosine waveform, a zero crossing is performed. , the peak point and the extreme point as the phase characteristic point of the analog modulation waveform of the reference signal, and any one of the zero crossing point, the peak point and the extreme point as the phase characteristic of the phase change waveform generated by the digital modulation Point or waveform feature point;

A phase point on the analog modulation waveform of the reference signal corresponding to the phase characteristic point of the phase change waveform or the appearance time position of the waveform feature point of the digital modulation is used as a phase difference measurement point, and the phase difference measurement point and the reference signal are used. The phase difference between the phase feature points on the analog modulation waveform is determined as the arrival phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element;

When the first phase difference is obtained by using the fourth method, determining a phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, including:

When the analog modulation waveform adopts a sine or cosine waveform, and the phase modulation waveform generated by the digital modulation is any one of a triangular wave generated by any digital modulation in MSK and GMSK and a triangular waveform smoothed by Gaussian filtering, Any one of the zero-crossing point, the peak point, and the extreme point as a phase feature point of the phase change waveform generated by digital modulation Or a waveform feature point, using any one of a zero crossing point, a peak point, and an extreme point as a phase feature point of the analog modulation waveform, and a phase characteristic point of the phase change waveform generated by the digital modulation or an appearance time of the waveform feature point a phase point on the analog modulation waveform corresponding to the position as a phase difference measurement point;

Determining, by the phase difference measurement point, a phase difference between the phase feature points on the analog modulation waveform as an arrival phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element .

Optionally, in step 101, determining the phase difference measurement point on the phase reference waveform includes:

Determining an occurrence position of any one of a predetermined phase feature point or a predetermined waveform feature point on the phase modulation waveform generated by the analog modulation waveform or the digital modulation carried by the positioning measurement waveform, and determining, corresponding to the appearance position, on the phase reference waveform a point at which the phase difference measurement point is; the occurrence position is a time position or a phase position at which the predetermined phase feature point or a predetermined waveform feature point appears;

Wherein the occurrence position of any one of the predetermined phase feature point or the predetermined waveform feature point is used to mark a position or a time stamp for the position of the phase difference measurement point on the phase reference waveform;

Optionally, in step 101, determining, by the positioning measurement signal, the phase difference measurement point on the analog modulation waveform comprises:

Determining an occurrence position of any one of a predetermined phase feature point or a predetermined waveform feature point on an analog modulation waveform carried by the reference waveform or a phase waveform generated by the digital modulation, and determining the location on the analog modulation waveform carried by the positioning measurement signal a point corresponding to the appearance position, where the point is the phase difference measurement point; the appearance position is a time position or a phase position where the predetermined phase feature point or a predetermined waveform feature point appears;

Wherein the occurrence position of any one of the predetermined phase feature point or the predetermined waveform feature point is used to mark a position or a time stamp of a position of the phase difference measurement point on the analog modulation waveform carried by the positioning measurement signal.

Step 102: Determine a time difference of arrival between the reference signal and the positioning measurement signal receiving network element according to the obtained first time difference or the first phase difference and the reference signal.

Optionally, when the reference signal is a time reference signal, step 102 specifically includes:

Calculating, as the first difference, a difference between the first time difference between the two reference signals and the positioning measurement signal receiving network element;

Calculating, as a second difference, a difference between the time reference signals included in the reference signal and the arrival time of the two reference signals and the positioning measurement signal receiving network element;

Calculating a difference between the first difference and the second difference as a time difference of arrival between the two reference signals and the positioning measurement signal receiving network element of the positioning measurement signal sent by the terminal.

Optionally, the second difference is a propagation time difference between a time reference signal from a transmitting antenna of the radio node to two reference signals and a receiving antenna of the positioning measurement signal receiving network element, and the transmitting antenna of the known radio node may be used to The difference between the distance between the two reference signals and the receiving antenna of the positioning measurement signal receiving network element and the propagation speed of the radio wave are calculated.

Optionally, when the reference signal is a phase reference signal, step 102 specifically includes:

Calculating a difference between the first reference signal and the first phase difference of the positioning measurement signal receiving network element as a first phase difference value;

Calculating, by the phase reference signal included in the reference signal, a difference between the arrival phase of the two reference signals and the positioning measurement signal receiving network element as a second phase difference value;

Calculating a difference between the first phase difference value and the second phase difference value as a phase difference between arrivals of the positioning measurement signals sent by the terminal between the two reference signals and the positioning measurement signal receiving network element;

And dividing a time difference obtained by dividing an arrival phase difference between the two reference signals and the positioning measurement signal receiving network element by an angular velocity of a modulation waveform of the positioning measurement signal sent by the terminal as a positioning measurement signal at the two reference signals and The positioning measurement signal receives the time difference of arrival between the network elements.

Optionally, the second phase difference value is a propagation phase difference between the phase reference signal from the transmitting antenna of the radio node to the receiving antenna of the two reference signals and the positioning measurement signal receiving network element, and the transmission of the known radio node may be used. The distance difference between the antenna to the two reference signals and the receiving antenna of the positioning measurement signal receiving network element, the radio wave propagation speed and the angular velocity of the phase reference signal are calculated.

In one embodiment, the disclosed method further comprises: at least one of the following multipath delay error correction methods:

Performing a horizontal filtering process on the positioning measurement signal or the multipath signal included in the reference signal; using a horizontal filtering process using any one of the analog modulation waveform, the phase change waveform generated by the digital modulation, and a polynomial Any one of the analog modulation waveform in the multipath signal and the phase change waveform generated by the digital modulation is subjected to curve fitting processing to achieve suppression of multipath interference and lateral filtering processing errors;

or,

Performing a deconvolution signal restoration process on the positioning measurement signal including the multipath component or the main path signal in the reference signal; using any of the analog modulation waveform, the phase change waveform generated by the digital modulation, and a polynomial A curve fitting process is performed on any one of the analog modulation waveform in the main path signal subjected to the deconvolution signal restoration processing and the phase change waveform generated by the digital modulation to realize the error of the multipath interference and the lateral filtering processing. inhibition.

Through the above-mentioned multipath delay error correction method, the first-path time lag generated by multipath superposition for delay estimation is corrected, thereby correcting the correlation peak lag in the correlation processing, thereby reducing the positioning error.

In an embodiment, the method of the present disclosure further includes: the reference signal and the positioning measurement signal receiving network element receiving positioning control information; wherein the positioning control information carries at least one of the following information:

Positioning the time-frequency window position of the measurement signal;

The modulation method used to locate the measurement signal;

The modulation method used by the reference signal;

Analog period or frequency parameters of the modulated waveform;

a sequence parameter or sequence identifier of a digital modulation symbol required to generate a phase change waveform generated by digital modulation;

The period or frequency parameter of the phase change waveform produced by digital modulation.

In one embodiment, the disclosed method further comprises estimating the position coordinates of the radio terminal using the determined time difference of arrival between the network elements of the determined time difference of arrival to be measured.

In an embodiment, the method of the present disclosure further includes: performing frequency synchronization processing on the signal between the radio node and the terminal; specifically:

Transmitting, by the radio node, the reference signal obtained by using any one of a phase, an amplitude and a frequency by using a predetermined modulation waveform for positioning as a modulation waveform to the same-distance difference measurement network element and the terminal;

The terminal detects a frequency or a period parameter of a predetermined modulation waveform for positioning included in the received reference signal;

The terminal uses the predetermined modulation waveform for positioning and its frequency or period parameter sent by the detected radio node as the positioning modulation waveform and waveform parameter used for transmitting the positioning measurement signal by itself, to the same-distance difference measurement network. Transmitting a positioning measurement signal;

or,

Transmitting, by the terminal, the positioning signal to the reference signal and the positioning measurement signal receiving network element and the radio node by using a predetermined modulation waveform for positioning as a modulation waveform to perform modulation of any one of phase, amplitude and frequency;

The radio node detects a frequency or period parameter of a predetermined modulation waveform for positioning included in the received positioning measurement signal;

The radio node uses the detected predetermined modulation waveform and its frequency or period parameter sent by the detected terminal as the modulation waveform and the waveform parameter used by the transmission reference signal, and sends the phase to the same-value difference measurement network element. Reference signal.

The radio node is a node in a network providing wireless data transmission services to the terminal, or a node in a radio positioning network superimposed in the network providing the wireless data transmission service to the terminal.

The radio node acquires at least one of positioning trigger information, positioning request information, terminal identification information, and time-frequency resource information usable for terminal positioning from a scheduler or a radio resource management RRM unit that provides a data transmission service for the terminal.

Specifically, in conjunction with FIG. 3, a method for implementing frequency synchronization includes: transmitting, by a reference signal transmitting unit on a base station side, a sinusoidal modulated waveform S1 (beared by signal 412) to three LMUs 301 to 3 and a terminal 300, and the terminal 300 is sinusoidal. The modulation waveform S1 performs frequency synchronization processing, generates a sinusoidal modulation waveform S2 synchronized with the sinusoidal modulation waveform S1 in frequency, and modulates the transmitted carrier using the sinusoidal modulation waveform S2 to generate a signal 422;

The method for implementing the frequency synchronization method includes: the terminal 300 transmits the sinusoidal modulation waveform S2 to the three LMUs 301 to 3 and the reference signal transmitting unit on the network side, and the reference signal transmitting unit performs frequency synchronization processing on the sinusoidal modulated waveform S2 to generate a sinusoidal modulated waveform S2. The sinusoidal modulation waveform S1 synchronized in frequency is then modulated by the reference signal transmitting unit 311 with the sinusoidal modulation waveform S1 to obtain a signal 412, and the reference signal transmitting unit 311 transmits the signal 412 to the three LMUs 301-3. From the perspective of reducing terminal complexity and power consumption, the frequency synchronization method 2 is more suitable for the positioning of the NB-IOT low-cost terminal.

In an embodiment, after the determining, by the network of the difference of the difference, the network time difference between the network element and the first phase difference and the reference signal to determine the time difference of arrival between the network elements, the method further includes:

The alien difference calculation network element transmits the determined arrival time difference between the determined co-location difference measurement network elements to the position estimation unit; the position estimation unit estimates the position coordinates of the terminal using the arrival time difference.

The network of the difference value calculation network element and the network element with the same address difference belong to the same network element or belong to different network elements.

Embodiment 2

2 is a flow chart of a second embodiment of a method for measuring the time difference of arrival of the present disclosure. As shown in FIG. 2, the method includes:

Step 200: The terminal performs analog phase modulation, analog amplitude modulation, and analog frequency modulation on the carrier of the positioning measurement signal by using the analog modulation waveform. Alternatively, the carrier is continuously phase-modulated by using the digital modulation symbol to obtain a carrier of the positioning measurement signal. A positioning measurement signal carrying a phase change waveform generated by digital modulation.

The analog modulation waveform used by the terminal includes but is not limited to: a sinusoidal signal waveform, a cosine signal waveform, and a triangular wave. Any of the waveforms in the signal waveform;

Wherein, the terminal uses the digital modulation symbol to perform continuous phase modulation on the carrier of the positioning measurement signal, and obtains a phase change waveform generated by the digital modulation, including: using a minimum phase shift keying MSK and a Gaussian minimum phase shift keying GMSK to generate a digital modulation A triangular waveform in which the carrier phase continuously changes or a triangular waveform smoothed by Gaussian filtering. among them,

Using any of the digital modulations of MSK and GMSK includes alternately transmitting the symbol "0" and the symbol "1".

Step 201: The terminal sends the modulated signal.

In this step, the terminal may send the generated positioning measurement signal to the co-location difference measurement network element, or the same-distance difference measurement network element and the different-division difference calculation network element where the network element is located.

In an embodiment, the method further includes: the terminal receiving positioning control information from the network side, the positioning control information carrying at least one of the following information:

Positioning the time-frequency window position of the measurement signal;

The modulation method used to locate the measurement signal;

The modulation method used by the reference signal;

Analog period or frequency parameters of the modulated waveform;

In an embodiment, the method further includes: synchronizing the frequency of the modulated signal between the terminal and the radio node, including:

Receiving, by the terminal, a reference signal sent by the radio node to the reference signal and the positioning measurement signal receiving network element and the terminal, where the reference signal carries a phase change waveform generated by the analog modulation waveform or digital modulation;

The terminal detects an analog modulation waveform included in the reference signal or a frequency or period parameter of a phase change waveform generated by digital modulation;

The terminal uses the detected frequency or period parameter as the waveform parameter of the analog modulation waveform or the phase change waveform generated by the digital modulation sent by the positioning measurement signal, and sends the positioning measurement signal to the same-value difference measurement network element.

The method of the present disclosure given in the first embodiment will be described in detail below.

3 is a schematic diagram of an application scenario of a time difference measurement method according to the present disclosure. As shown in FIG. 3, the radio node 311 receives a reference signal and a positioning measurement signal receiving network element, that is, a radio positioning measurement unit 301, a radio positioning measurement unit 302, and a radio. The positioning measurement unit 303 respectively transmits a time reference signal or a phase reference signal 412; the terminal 300 transmits a positioning measurement signal 422 to the radio positioning measurement unit 301, the radio positioning measurement unit 302, and the radio positioning measurement unit 303, respectively;

The time reference signal or phase reference signal 412 arrives at the radio location measurement unit 301, the radio location measurement unit 302 and the signals of the positions of the antenna 421a, the antenna 412b, and the antenna 412c of the radio positioning measurement unit 303 are the signal 412a, the signal 412b, and the signal 412c, respectively; the positioning measurement signal 422 reaches the radio positioning measurement unit 301, the radio positioning measurement unit 302, and the radio positioning. The signals at the positions of the antenna 421a, the antenna 412b, and the antenna 412c of the measuring unit 303 are a signal 422a and a signal 422b, that is, a signal 422c.

In this embodiment, the first time difference measurement of step 101 specifically includes:

The analog modulation waveform is recovered from the positioning measurement signal; specifically, as shown in FIG. 3, the radio positioning measurement unit 301, the radio positioning measurement unit 302, and the radio positioning measurement unit 303 respectively receive the positioning measurement signal 422a and the positioning measurement thereof. The signal 422b and the positioning measurement signal 422c perform waveform recovery, and obtain an analog modulation waveform 340a, an analog modulation waveform 340b, and an analog modulation waveform 340c carried by the positioning measurement signals 422a-c;

Determining a time point or a time position corresponding to a waveform feature point or a phase feature point of the recovered analog modulation waveform; specifically, as shown in FIG. 3, the radio location measurement unit 301, the radio location measurement unit 302, and the radio location measurement unit 303 are each The waveform feature point 341a, the waveform feature point 341b and the waveform feature point 341c or the phase feature point 341a, the phase feature point 341b, and the phase feature point are determined on the restored analog modulation waveform 340a, the analog modulation waveform 340b, and the analog modulation waveform 340c. 341c; time value 342a, time point 342b, and time point 342c corresponding to the waveform feature point 341a, the waveform feature point 341b, and the waveform feature point 341c, the time value t(a), the time value t(b), and the time value t(c) That is, the arrival time of the analog modulation waveform 340a, the analog modulation waveform 340b, and the analog modulation waveform 340c to the radio location measurement unit 301, the radio location measurement unit 302, and the radio location measurement unit 303; it is assumed that the positioning used in this embodiment is used. The predetermined modulation waveform is a sine wave waveform, then the peak point 341a, the peak point 341b, and the peak on the sine wave waveform can be Point 341c is determined as a waveform feature point or a phase feature point, and other points on the sine wave waveform may also be used as a waveform feature point or a phase feature point, for example, a zero-crossing point on a sine wave waveform, a point having a specific phase angle Any one as a phase feature point or a waveform feature point;

Determining an arrival time difference between a time point corresponding to the waveform modulation point or the phase characteristic point of the analog modulation waveform 340a, the analog modulation waveform 340b, and the analog modulation waveform 340c, and the arrival time point corresponding to the time reference signal 412 includes:

The radio positioning measurement unit 301, the radio location measurement unit 302, and the radio location measurement unit 303 respectively use the waveform modulation feature points or phase feature points of the analog modulation waveform 340a, the analog modulation waveform 340b, and the analog modulation waveform 340c carried by the positioning measurement signals received by the radio positioning measurement unit 301, the radio positioning measurement unit 302, and the radio positioning measurement unit 303, respectively. The arrival time values t(a), t(b), and t(c) of the corresponding time points correspond to the waveform feature points or phase feature points of the time reference signal 412a, the time reference signal 412b, and the time reference signal 412c received. The time value T(a), the time value T(b), and the time value T(c) are subtracted; specifically, as shown in FIG. 3, the waveform of the analog modulation waveform 340a received by the radio positioning measurement unit 301 The time point 342a corresponding to the feature point or phase feature point 341a is subtracted from the waveform feature point of the restored waveform 350a of the time reference signal 412a or the arrival time point 352a corresponding to the phase feature point 351a, and the arrival time difference TD (R, P) is obtained. )_A=T(a)-t(a) or TD(R,P)_A=t(a)-T(a). In TD(R,P)_A, TD represents Time Difference, R Represents the time reference signal (Reference), P represents the positioning measurement Position, A indicates that TD(R, P) corresponds to the radio positioning measurement unit 301; only the determination method of the arrival time difference TD(R, P)_A corresponding to the radio positioning measurement unit 301 is given here, and The TD(R, P)_B corresponding to the radio location measurement unit 302 and the radio location measurement unit 303, The determination method of TD(R, P)_C is the same as the determination method of TD(R, P)_A corresponding to the radio location measurement unit 301, and will not be described here; here TD(R, P)_A, TD(R, P _B and TD(R, P)_C are first time differences obtained by the radio location measurement unit 301, the radio location measurement unit 302, and the radio location measurement unit 303, respectively;

The radio location measurement unit 301, the radio location measurement unit 302, and the radio location measurement unit 303 shown in FIG. 3 respectively recover the time reference signal from the time reference signal 412a, the time reference signal 412b, and the time reference signal 412c received therefrom. The simulated modulation waveform 350a carried by the time, the analog modulation waveform 350b carried by the time reference signal, and the analog modulation waveform 350c carried by the time reference signal; the analog modulation waveform 350a carried by the recovered time reference signal, and the analog modulation waveform carried by the time reference signal The time point corresponding to the waveform feature point or the phase feature point of the analog modulation waveform 350c carried by the 350b and the time reference signal, such as the waveform characteristic of the analog modulation waveform 350a carried by the time reference signal recovered by the radio positioning measurement unit 301 in FIG. The point or phase feature point 351a and its corresponding time point 352a are taken as an example and are labeled. In this embodiment, the analog modulation waveform 350b carried by the time reference signal and the analog modulation waveform 350c carried by the time reference signal and the analog modulation waveform 350a carried by the time reference signal both take the peak point on the waveform as its waveform feature point or phase feature. Point; the time point corresponding to the waveform feature point or the phase feature point of the analog modulation waveform carried by the time reference signal is used as the arrival time point corresponding to the time reference signal.

In conjunction with the embodiment shown in FIG. 3, an implementation of step 102 includes:

Using the time difference TD(R, P)_A between the time reference signal corresponding to the radio positioning measurement unit 301 and the positioning measurement signal, the time difference TD between the time reference signal corresponding to the radio positioning measurement unit 302 and the positioning measurement signal (R, P)_B and the arrival time difference TD(R, P)_C between the time reference signal corresponding to the radio positioning measurement unit 303 and the positioning measurement signal calculates a time difference of arrival between the radio positioning measurement units; wherein, TD(R, P)_A=T(a)-t(a) or TD(R,P)_A=t(a)-T(a), TD(R,P)_B=T(b)-t(b) or TD(R,P)_B=t(b)-T(b), TD(R,P)_C=T(c)-t(c) or TD(R,P)_C=t(c)-T (c).

A specific calculation method for obtaining the arrival time difference TD(A, B) of the positioning measurement signal 422 to the radio positioning measurement unit 301 and the arrival radio positioning measurement unit 302 includes: TD (A, B) = TD (R, P)_A-TD ( R,P)-B-TDR(A,B)=T(a)-t(a)-[T(b)-t(b)]-TDR(A,B)=t(b)-t( a) +T(a)-T(b)-TDR(A,B)=t(b)-t(a); wherein TDR(A,B) is the arrival of the time reference signal to the radio location measurement unit 301 The time difference between the time and the arrival time to the radio location measurement unit 302; and TDR(A, B) = T(a) - T(b).

A specific calculation method for obtaining the arrival time difference TD(A, C) of the positioning measurement signal 422 to the radio positioning measurement unit 301 and the arrival radio positioning measurement unit 303 includes: TD(A, C)=TD(R, P)_A-TD( R,P)_C-TDR(A,C)=T(a)-t(a)-[T(c)-t(c)]-TDR(A,C)=t(c)-t(a +T(a)-T(c)-TDR(A,C)=t(c)-t(a); wherein TDR(A, C) is the arrival time of the time reference signal to the radio positioning measurement unit 301 With respect to the time difference of arrival between the arrival times to the radio location measurement unit 303, the TDR (A, C) can be calculated using the distance from the radio node 311 transmitting the time reference signal to the radio location measurement unit 301 and to the radio location measurement unit 303; And TDR(A, C) = T(a) - T(c).

The position coordinates of the terminal can be obtained by performing hyperbolic position estimation using TD (A, B) and TD (A, C).

In this embodiment, the first phase difference measurement of step 101 specifically includes:

The analog modulation waveform is recovered from the positioning measurement signal; specifically, as shown in FIG. 3, the radio positioning measurement unit 301, the radio positioning measurement unit 302, and the radio positioning measurement unit 303 each receive the positioning measurement signal 422a, The positioning measurement signal 422b and the positioning measurement signal 422c perform waveform recovery, and obtain an analog modulation waveform 340a, an analog modulation waveform 340b, and an analog modulation waveform 340c carried by the positioning measurement signals 422a-c;

Determining a time position of a waveform feature point or a phase feature point of the analog modulation waveform carried by the recovered positioning measurement signal, and determining a position of the phase difference measurement point on the phase reference waveform using the time position; specifically, as shown in FIG. The radio location measurement unit 301, the radio location measurement unit 302, and the radio location measurement unit 303 each determine a phase feature point on the analog modulation waveform 340a, the analog modulation waveform 340b, and the analog modulation waveform 340c carried by the recovered positioning measurement signal. 341a, phase feature point 341b, and phase feature point 341c; points corresponding to the phase reference waveform 350a to the phase reference waveform 350c using the phase feature point 341a, the phase feature point 341b, and the phase feature point 342c of the phase feature point 341c As the phase difference measurement point, for example, the point 353a corresponding to the appearance time position 342a of the phase feature point 341a on the phase reference waveform 350a is used as the phase difference measurement point on the phase reference waveform 350a, and the phase difference measurement point 353a and the reference waveform 350a The phase difference between the upper phase feature point or the phase reference point 351a is Is the first phase difference;

Specifically, as shown in FIG. 3, the radio location measurement unit 301 to the radio location measurement unit 303 respectively obtain the arrival phase difference PD(R, P)_A=P(a)-p(a), at PD(R, P). In _A, PD represents a phase difference, R represents a phase reference signal (Reference), P represents a positioning measurement signal (Position), and A represents a PD (R, P) corresponding to the radio positioning measurement unit 301; A determination method of the arrival phase difference PD(R, P)_A corresponding to the radio location measurement unit 301, the arrival phase difference PD(R, P)_B corresponding to the radio location measurement unit 302, the radio location measurement unit 303 The determination method of the arrival phase difference PD(R, P)_C is the same as the determination method of the arrival phase difference PD(R, P)_A corresponding to the radio location measurement unit 301, and will not be described here; here the arrival phase difference PD (R) , P)_A, the arrival phase difference PD(R, P)_B, and the arrival phase difference PD(R, P)_C are the first phase acquired by the radio location measurement unit 301, the radio location measurement unit 302, and the radio location measurement unit 303, respectively. difference;

In conjunction with the embodiment shown in FIG. 3, an implementation manner in which step 102 uses the first phase difference to obtain an arrival time difference between radio positioning measurement units includes:

The arrival phase difference PD(R, P)_A, the arrival phase difference PD(R, P)_B, and the arrival phase difference between the phase reference signal corresponding to the radio location measurement unit 301 to the radio location measurement unit 303 and the positioning measurement signal are used. PD(R,P)_C calculates the time difference of arrival between radio positioning measurement units; where PD(R,P)_A=P(a)-p(a), PD(R,P)_B=P(b)- p(b), PD(R, P)_C=P(c)-p(c); wherein P(a), P(b), and P(c) are phase reference signals arriving at the radiolocation measurement unit 301, respectively. The phases of the radio location measurement unit 303, p(a), p(b), and p(c) are the phases at which the positioning measurement signal arrives at the radiolocation measurement unit 301 to the radio location measurement unit 303, respectively.

A specific calculation method for obtaining the arrival phase difference PD (A, B) of the positioning measurement signal 422 to the radio positioning measurement unit 301 and the arrival radio positioning measurement unit 302 includes: PD (A, B) = PD (R, P)_A-PD (R,P)_B-PDR(A,B)=P(a)-p(a)-[P(b)-p(b)]-PDR(A,B)=[p(b)-p (a) + P (a) - P (b) - PDR (A, B) = p (b) - p (a); wherein PDR (A, B) is a phase reference signal to the radio positioning measurement unit 301 The arrival phase difference between the arrival phase and the arrival phase to the radio location measurement unit 302; and PDR(A, B) = P(a) - P(b); PDR(A, B) may utilize the transmit phase reference signal The distance difference between the radio node 311 to the radio location measurement unit 301 and to the radio location measurement unit 302 is calculated;

A specific calculation method for obtaining the arrival phase difference PD (A, C) of the positioning measurement signal 422 to the radio positioning measurement unit 301 and the arrival radio positioning measurement unit 303 includes: PD (A, C) = PD (R, P)_A-PD (R,P)_C-PDR(A,C)=P(a)-p(a)-[P(c)-p(c)]-PDR(A,C)=[p(c)-p (a) + P (a) - P (c) - PDR (A, C) = p (c) - p (a); wherein PDR (A, C) is a phase reference signal to the radio positioning measurement unit 301 The arrival phase difference between the arrival phase and the arrival phase to the radio location measurement unit 303; and PDR(A, C) = P(a) - P(c); PDR(A, C) may utilize the phase reference signal The distance difference between the radio node 311 to the radio location measurement unit 301 and to the radio location measurement unit 303 is calculated;

Dividing the obtained value of PD(A, B) by the angular velocity of the phase reference signal to obtain the arrival time difference TD(A, B) between the positioning measurement signal reaching the radiolocation measuring unit 301 and the arriving radio positioning measuring unit 302; the obtained PD The value of (A, C) is divided by the angular velocity of the phase reference signal to obtain the arrival time difference TD(A, C) between the positioning measurement signal reaching the radiolocation measurement unit 301 and the arrival radiolocation measurement unit 303.

In one embodiment, the position coordinates of the terminal can be obtained by performing hyperbolic position estimation using TD (A, B) and TD (A, C).

Embodiment 3

4 is a schematic structural diagram of a time difference measurement device according to the present disclosure. The geographic location coordinates of the time difference measurement device of the present disclosure are known. As shown in FIG. 4, at least a first receiving module, a first processing module, and a second are included. Processing module; wherein

a first receiving module, configured to receive a reference signal from the radio node and a positioning measurement signal from the terminal;

a first processing module, configured to use any one of an analog modulation waveform carried by the received reference signal and a phase change waveform generated by the digital modulation, and an analog modulation waveform and a digital modulation generated by the received positioning measurement signal Obtaining a relative positional relationship between waveforms of any one of the waveforms to obtain a first time difference or a first phase difference;

The second processing module is configured to determine, according to the obtained first time difference or the first phase difference and the time reference signal, a time difference of arrival between the same-value difference measurement network elements where the first receiving module is located.

The location coordinates of the same location difference measurement network element of the first receiving module and the antenna corresponding to the radio node are known;

Wherein the reference signal comprises a time reference signal for acquiring the first time difference or a phase reference signal for acquiring the first phase difference.

In an actual application, the first receiving module and the first processing module are disposed in the same-distance difference measuring network element (that is, the reference signal and the positioning measurement signal receiving network element in the above), and the second processing module is set in the different address difference. Calculated in the network element;

The co-location difference measurement network element and the alienation difference calculation network element are set in the same or different network elements.

In an actual application, the first receiving module may include an antenna submodule and a radio frequency receiving channel submodule.

Optionally,

The analog modulation waveform carried by the reference signal or carried by the positioning measurement signal includes:

Any of a sinusoidal signal waveform, a cosine signal waveform, and a triangular wave signal waveform;

The analog modulation waveform is configured to perform modulation of any one of analog phase modulation, analog amplitude modulation, and analog frequency modulation on a carrier of the reference signal or a carrier of the positioning measurement signal;

The phase change waveform generated by the digital modulation carried by the reference signal or the positioning measurement signal includes:

Any of the digital modulations using minimum phase shift keying MSK and Gaussian minimum phase shift keying GMSK produces a triangular waveform with continuously varying carrier phase or a triangular waveform smoothed by Gaussian filtering.

Optionally, the analog modulation waveform is: one of a waveform of the time reference signal, a waveform of the phase reference signal, a waveform for measurement of the first time difference, and a waveform for measurement of the first phase difference Or a variety;

The phase change waveform generated by the digital modulation is one of a waveform of the time reference signal, a waveform of the phase reference signal, a waveform for measurement of the first time difference, and a waveform for measurement of the first phase difference. Or a variety.

Alternatively, using any of the digital modulations of MSK and GMSK includes alternately transmitting the symbol "0" and the symbol "1".

When used to acquire the first time difference, the first processing module in the arrival time difference measuring device shown in FIG. 4 is set to:

When the first time difference is obtained by using a relative positional relationship between the analog modulation waveform of the reference signal and the analog modulation waveform of the positioning measurement signal, the method includes:

Determining, according to a time position of a waveform feature point of the simulated modulation waveform of the recovered positioning measurement signal, an arrival time of the positioning measurement signal reaching the coherent difference measurement network element; and an analog modulation waveform according to the restored reference signal Determining a time position of the waveform feature point, determining an arrival time of the time reference signal to the co-located difference measurement network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the co-located difference measurement network element and an arrival time of the time reference signal reaching the co-located difference measurement network element, and calculating a calculated arrival time difference As the first time difference;

or,

When the first time difference is obtained by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, the method includes:

Determining, according to the time position of the waveform feature point of the phase change waveform generated by the digital modulation of the detected positioning measurement signal, the arrival time of the positioning measurement signal reaching the coherent difference measurement network element; according to the detected time reference signal Digitally modulating the temporal position of the waveform feature point of the phase change waveform, determining the arrival time of the time reference signal to the co-located difference measurement network element;

or,

When the first time difference is obtained by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and an analog modulation waveform of the positioning measurement signal, the method includes:

Determining, according to a time position of the waveform feature point of the recovered analog modulation waveform, an arrival time of the positioning measurement signal to the co-located difference measurement network element; and a waveform characteristic point of the phase change waveform generated according to the detected digital modulation a time position, determining an arrival time of the time reference signal to the co-located difference measurement network element;

or,

When the first time difference is obtained by using a relative positional relationship between an analog modulation waveform of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, the method includes:

Determining, according to the detected time position of the waveform feature point of the phase change waveform generated by the digital modulation, an arrival time of the positioning measurement signal reaching the coherent difference measurement network element; according to the detected waveform characteristic point of the analog modulation waveform a time position determines an arrival time of the time reference signal to the co-located difference measurement network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the co-located difference measurement network element and an arrival time of the time reference signal reaching the co-located difference measurement network element, and calculating a calculated arrival time difference As the first time difference.

When used to acquire the first phase difference, the first processing module in the time difference of arrival measuring device shown in FIG. 4 is set to:

When the first phase difference is obtained by using a relative positional relationship between the analog modulation waveform of the reference signal and the analog modulation waveform of the positioning measurement signal, the method includes:

Determining the positioning measurement signal and the phase according to a phase difference corresponding to a relative position between a phase feature point of the analog modulation waveform recovered from the phase reference signal and a phase feature point of the analog modulation waveform recovered from the positioning measurement signal The reference signal arrives at the arrival phase difference of the co-located difference measurement network element, and the arrival phase difference is used as the first phase difference;

or,

When the first phase difference is obtained by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, the method includes:

Determining the phase difference between the phase feature point of the phase change waveform generated by the digital modulation detected from the positioning measurement signal and the relative position between the phase feature points of the phase change waveform generated by the digital modulation detected from the reference signal And determining, by the positioning measurement signal, the arrival phase difference of the phase reference signal reaching the co-located difference measurement network element, and using the arrival phase difference as the first phase difference;

Or,

When the first phase difference is obtained by using a relative positional relationship between the analog modulation waveform of the reference signal and the phase change waveform generated by the digital modulation of the positioning measurement signal, the method includes:

Determining the positioning measurement signal according to a phase difference corresponding to a relative position between a phase feature point of the phase change waveform generated by the digital modulation of the detected positioning measurement signal and a phase characteristic point of the simulated modulation waveform of the restored reference signal The phase reference signal arrives at the arrival phase difference of the co-located difference measurement network element, and the arrival phase difference is used as the first phase difference;

or,

When the relative phase relationship between the phase change waveform generated by the digital modulation of the reference signal and the analog modulation waveform of the positioning measurement signal is obtained, when the first phase difference is acquired, the method includes:

Determining the positioning measurement signal according to a phase difference corresponding to a relative position between a phase feature point of the analog modulation waveform recovered from the positioning measurement signal and a phase characteristic point of the phase variation waveform generated from the digital modulation detected in the reference signal Arriving a phase difference with the phase reference signal arriving at the coherent difference measurement network element, and using the arrival phase difference as the first phase difference.

Optionally, the analog modulation waveform is recovered from the positioning measurement signal or from the reference signal, including:

Optionally, detecting a phase change waveform generated by the digital modulation from the positioning measurement signal or from the reference signal includes:

When the first processing module is configured to acquire the first time difference, when acquiring the first phase difference is obtained by using a relative positional relationship between the analog modulation waveform of the reference signal and the analog modulation waveform of the positioning measurement signal,

Determining an arrival phase difference between the positioning measurement signal and the phase reference signal reaching the co-located difference measurement network element, including:

And obtaining a phase difference between the phase difference measurement point and a phase feature point on the analog modulation waveform recovered from the phase reference signal as the positioning measurement signal and the phase reference signal reaching the co-located difference measurement network element Reach the phase difference;

When the first processing module is configured to acquire the first time difference, the first phase difference is obtained as a relative position between the phase change waveform generated by the digital modulation of the reference signal and the phase change waveform generated by the digital modulation of the positioning measurement signal. When the relationship is acquired,

And measuring a phase difference between the phase difference measurement point and a phase feature point on the phase change waveform generated by the digital modulation detected from the reference signal as the position measurement signal and the phase reference signal reaching the coherent difference value measurement The arrival phase difference of the network element;

When the first processing module is configured to acquire the first time difference, when acquiring the first phase difference is obtained by using a relative positional relationship between the analog modulation waveform of the reference signal and the phase change waveform generated by the digital modulation of the positioning measurement signal,

A phase point on the analog modulation waveform of the reference signal corresponding to the phase characteristic point of the phase change waveform or the appearance time position of the waveform feature point of the digital modulation is used as a phase difference measurement point, and the phase difference measurement point and the reference signal are used. The phase difference between the phase feature points on the analog modulation waveform is determined as the arrival phase difference between the positioning measurement signal and the phase reference signal reaching the coherent difference measurement network element;

When the first processing module is configured to acquire the first time difference, when acquiring the first phase difference is obtained by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and an analog modulation waveform of the positioning measurement signal,

When the analog modulation waveform adopts a sine or cosine waveform, and the phase modulation waveform generated by the digital modulation is any one of a triangular wave generated by any digital modulation in MSK and GMSK and a triangular waveform smoothed by Gaussian filtering, Any one of a zero-crossing point, a peak point, and an extreme point as a phase feature point or a waveform feature point of a phase change waveform generated by digital modulation, using any one of a zero-crossing point, a peak point, and an extreme point as the simulation Modulate the phase feature points of the waveform, A phase point on the analog modulation waveform corresponding to a phase feature point of the phase change waveform generated by the digital modulation or an appearance time position of the waveform feature point is used as a phase difference measurement point;

The phase difference between the phase difference measurement point and the phase feature point on the analog modulation waveform is determined as the arrival phase difference between the positioning measurement signal and the phase reference signal reaching the coherent difference measurement network element.

Optionally,

When the reference signal is a time reference signal, the second processing module in the arrival time difference measuring device shown in FIG. 4 is set to:

Calculating, as a second difference, a difference between arrival times of the time reference signals included in the reference signal and the two reference signals and the positioning measurement signal receiving network elements;

Calculating a difference between the first difference and the second difference as a time difference of arrival between the two reference signals and the positioning measurement signal receiving network element of the positioning measurement signal sent by the terminal;

When the reference signal is a phase reference signal, the second processing module in the arrival time difference measuring device shown in FIG. 4 is set to:

Calculating a difference between the first phase difference between the two reference signals and the positioning measurement signal receiving network element as a first phase difference value;

Calculating, as the second phase difference value, a difference between the phase of the phase reference signal included in the reference signal and the arrival phase of the two reference signals and the positioning measurement signal receiving network element;

And dividing a phase difference between an arrival phase difference between the two reference signals and the positioning measurement signal receiving network element by an angular velocity of a modulation waveform of the positioning measurement signal sent by the terminal as the positioning measurement signal in the two The reference signal and the positioning measurement signal receive a time difference of arrival between the network elements.

Optionally,

Curve fitting the demodulated sample values includes:

A sample fit of the demodulated analog modulation waveform is curve fitted using a polynomial.

Optionally,

Curve fitting of the sampled values of the phase change waveform produced by the digital modulation output from the analog or digital phase detector includes:

In one embodiment, the first processing module is further configured to:

Performing a horizontal filtering process on the positioning measurement signal or the multipath signal included in the reference signal; using a horizontal filtering process using any one of the analog modulation waveform, the phase change waveform generated by the digital modulation, and a polynomial Curve fitting processing of any one of an analog modulation waveform in a multipath signal and a phase change waveform generated by digital modulation, To achieve suppression of multipath interference and lateral filtering processing errors;

or,

In an embodiment, the first receiving module is further configured to: receive positioning control information;

The positioning control information carries at least one of the following information:

Positioning the time-frequency window position of the measurement signal;

The modulation method used to locate the measurement signal;

The modulation method used by the reference signal;

Analog period or frequency parameters of the modulated waveform;

In an embodiment, the second processing module is further configured to:

Transmitting, by the location estimating unit on the network side, a time difference of arrival between the same-value difference measurement network elements;

The second processing module and the first processing module are located in the same network element or different network elements.

Embodiment 4

5 is a schematic structural diagram of a terminal of the present disclosure. As shown in FIG. 5, the method includes at least: a modulation module and a sending module, where

a modulation module for performing analog phase modulation, analog amplitude modulation, and analog frequency modulation on a carrier that locates the measurement signal using an analog modulation waveform; or, using a digital modulation symbol, performing continuous phase modulation on a carrier of the positioning measurement signal, Obtaining a positioning measurement signal carrying a phase change waveform generated by digital modulation;

A transmitting module for transmitting the modulated signal.

Optionally, the analog modulation waveform used includes: any one of a sinusoidal signal waveform, a cosine signal waveform, and a triangular wave signal waveform;

Optionally, the carrier of the positioning measurement signal is continuously phase-modulated using a digital modulation symbol to obtain a phase change waveform generated by the digital modulation, including: using a minimum phase shift keying MSK and a Gaussian minimum phase shift keying GMSK of any digital modulation A triangular waveform in which the carrier phase is continuously changed or a triangular waveform smoothed by Gaussian filtering is generated.

The disclosure terminal further includes: a second receiving module (not shown in FIG. 5), configured to receive positioning control information from the network side;

Positioning the time-frequency window position of the measurement signal;

The modulation method used to locate the measurement signal;

The modulation method used by the reference signal;

Analog period or frequency parameters of the modulated waveform;

The disclosed terminal further includes: a frequency synchronization processing module (not shown in FIG. 5), configured to:

Receiving a reference signal from a radio node that uses a phase modulation waveform generated by an analog modulation waveform or digital modulation;

Detecting an analog modulation waveform included in the reference signal or a frequency or period parameter of a phase change waveform generated by digital modulation;

The frequency or period parameter of the phase change waveform generated by the analog modulation waveform or digital modulation transmitted by the detected radio node is used as the waveform modulation parameter of the phase modulation waveform generated by the analog modulation waveform or the digital modulation used for transmitting the positioning measurement signal, The address difference measurement network element sends a positioning measurement signal.

Embodiment 5

The present disclosure further provides an arrival time difference measurement control apparatus, including at least a reference signal transmission module, a positioning control information transmission module, and a synchronization control module;

a reference signal sending module, configured to send a reference signal to each of the arrival time difference measuring devices in the system;

a synchronization control module, configured to control any one of a period and a frequency of the phase modulation waveform generated by the digital modulation used by the analog modulation waveform used by the reference signal or the reference signal to implement the reference signal and the positioning measurement signal sent by the terminal Frequency synchronization and / or cycle synchronization.

Optionally, the positioning control information carries at least one of the following information:

Positioning the time-frequency window position of the measurement signal;

The modulation method used to locate the measurement signal;

The modulation method used by the reference signal;

Analog period or frequency parameters of the modulated waveform;

Specifically, the synchronization control module is set to:

Receiving, by the terminal, a positioning measurement signal obtained by using a phase modulation waveform generated by using an analog modulation waveform or digital modulation;

Detecting a frequency or period parameter of an analog modulation waveform or a phase change waveform generated by the digital modulation included in the positioning measurement signal;

The reference signal is transmitted to the co-located difference measurement network element by using the detected frequency or period parameter as an analog modulation waveform used by the transmission reference signal or a waveform parameter of the phase change waveform generated by the digital modulation.

The present disclosure also provides a method for controlling time difference of arrival measurement, comprising:

Transmitting a reference signal to each of the arrival time difference measuring devices in the system;

Sending positioning control information to the radio positioning measurement device or to the radio positioning measurement device and the terminal;

Controlling any one of the period and frequency of the phase modulation waveform generated by the digital modulation used by the analog modulation waveform used by the reference signal or the reference signal to achieve frequency synchronization between the reference signal and the positioning measurement signal transmitted by the terminal and/or Cycle synchronization.

Positioning the time-frequency window position of the measurement signal;

The modulation method used to locate the measurement signal;

The modulation method used by the reference signal;

Analog period or frequency parameters of the modulated waveform;

In an embodiment, the synchronization control specifically includes:

Embodiment 6

The present disclosure also provides an arrival time difference measuring system including at least two or more arrival time difference measuring devices shown in FIG. 4, and a radio node, wherein

An arrival time difference measuring device, configured to respectively receive a reference signal from the radio node and a positioning measurement signal from the terminal; respectively, using any one of an analog modulation waveform carried by the received reference signal and a phase change waveform generated by the digital modulation, and Obtaining a first time difference or a first phase difference according to a relative positional relationship between a waveform of any one of the analog modulation waveform carried by the positioning measurement signal and the phase change waveform generated by the digital modulation; according to the obtained first time difference or the first The phase difference and the reference signal determine the difference in arrival time between the network elements of the same location difference measurement.

A radio node for transmitting a reference signal to each of the time difference measurement devices in the system.

The radio node is further configured to: send the positioning control information to the radio positioning measurement device, or send the positioning control information to the radio positioning measurement device and the terminal, where the positioning control information carries at least one of the following information:

Positioning the time-frequency window position of the measurement signal;

The modulation method used to locate the measurement signal;

The modulation method used by the reference signal;

Analog period or frequency parameters of the modulated waveform;

Optionally,

The radio node is further configured to: acquire at least one of positioning trigger information, positioning request information, terminal identification information, and time-frequency resource information usable for terminal positioning from a scheduler or a radio resource management (RRM) unit that provides a data transmission service for the terminal. Kind.

Optionally,

The radio node is also used to:

Receiving, by the terminal, a positioning measurement signal obtained by using any one of phase, amplitude and frequency modulated by using a predetermined modulation waveform for positioning as a modulation waveform;

Detecting a frequency or period parameter of the predetermined modulation waveform for positioning included in the positioning measurement signal;

The phase modulation reference signal is transmitted to the arrival time difference measuring device by using the detected predetermined modulation waveform and its frequency or period parameter transmitted by the terminal detected by the terminal as the modulation waveform and the waveform parameter used for the transmission reference signal.

among them,

A radio node is a node in a network that provides wireless data transmission services to terminals, or a node in a radio positioning network that is superimposed on a network that provides wireless data transmission services for terminals.

Embodiment 7 describes a vehicle positioning system based on the arrival time difference measurement as an example:

The present disclosure is based on a vehicle positioning system that measures time difference of arrival, including:

Two or more radio location measuring devices LMU, radio nodes, in-vehicle radio terminals and position estimation network elements;

The radio location measurement device (LMU) is configured to measure a time difference of arrival or a phase difference between a positioning signal sent by the radio terminal and a reference signal sent by the radio node;

The radio node is configured to send a reference signal to the radio location measurement device LMU and send a positioning control signal to the terminal;

The vehicular radio terminal is configured to send a positioning measurement signal;

The position estimation network element is configured to estimate a position of the radio terminal using a first time difference measured by the radio location measurement device LMU or using a time difference of arrival between the different radio location measurement devices LMU using the positioning measurement signal.

specifically,

A plurality of radio location measuring devices LMUs and radio nodes are deployed on both sides of a highway or a street. The specific deployment method is: the radio positioning measuring device LMU and the radio node are deployed on a support pole having a height of 10 meters and an interval of 100 meters. The support bar is deployed along two sides of a highway or a street; one radio node covers 4 to 10 radio location measurement devices LMU; the location estimation network element is deployed on the network side;

The vehicle-mounted radio terminal is deployed on a vehicle traveling on a highway or a street, the location estimation network element estimates the location of the vehicle-mounted radio terminal, and the location of the vehicle and the driving parameters are determined by the location of the vehicle-mounted radio terminal, the driving parameter including the vehicle location Parameters such as moving speed, driving trajectory and driving posture. The automatic driving control and driving state monitoring of the vehicle are realized by analyzing the driving parameters of the vehicle.

Optionally, the radio location measuring device LMU, the radio node, the car radio terminal transmits and receives the positioning measurement signal and the reference signal using the millimeter wave band; the vehicle radio terminal uses the vehicle millimeter wave directional antenna to deploy The radiolocation measuring device LMU on the support column transmits a positioning measurement signal, and the in-vehicle millimeter wave directional antenna main lobe includes three or more radio positioning measuring devices LMU on the supporting column, the vehicle millimeter wave directivity The side lobes of the beam of the antenna or the backward direction of the antenna face the road surface, and the radiation direction of the vehicular millimeter wave directional antenna can suppress the multipath interference introduced by the road surface reflection to the measurement of the radio positioning measuring device LMU, and ensure the positioning accuracy.

The method for measuring the arrival time difference given in this embodiment can achieve the measurement accuracy of the arrival time difference required for the centimeter-level positioning accuracy in the channel bandwidth of 200 KHz. Applying the arrival time difference measurement method to the positioning of the NB-IOT terminal can reduce its positioning error from the current tens of meters to within a few centimeters, so that the NB-IOT terminal with the positioning accuracy can be applied to the vehicle driving state monitoring. In the fields of control, automatic vehicle driving, and automatic driving of drones, accurate monitoring of the driving state of the vehicle in intelligent traffic management can be improved, and the complexity of the on-board automatic driving device and the unmanned aerial vehicle automatic driving device can be greatly reduced. cost.

The method for measuring the time difference of arrival according to the embodiment may perform the time difference measurement when the channel bandwidth is greater than, equal to, and less than 200 KHz. The terminal in the disclosure includes an Internet of Things terminal, a mobile communication terminal, and a wireless local area network (WiFi) terminal. And positioning of the Bluetooth terminal based on the time difference of arrival measurement.

The above is only a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

A method for measuring the time difference of arrival, comprising:

Receiving a reference signal from a radio node and a positioning measurement signal from a terminal, respectively;

Using any one of the analog modulation waveform carried by the received reference signal and the phase change waveform generated by the digital modulation, and the analog modulation waveform carried by the received positioning measurement signal and the phase change waveform generated by the digital modulation, respectively Obtaining a first time difference or a first phase difference by a relative positional relationship of waveforms between waveforms;

Determining, according to the obtained first time difference or the first phase difference and the reference signal, a time difference of arrival between the reference signal and the positioning measurement signal receiving network element;

The geographic location coordinates of the reference signal and the positioning measurement signal receiving network element and the corresponding antenna of the radio node are known;

The reference signal includes a time reference signal for acquiring the first time difference or a phase reference signal for acquiring the first phase difference.
The method for measuring the time difference of arrival according to claim 1, wherein the analog modulation waveform carried by the reference signal or carried by the positioning measurement signal comprises:

Any of a sinusoidal signal waveform, a cosine signal waveform, and a triangular wave signal waveform;

The analog modulation waveform is configured to perform modulation of any one of analog phase modulation, analog amplitude modulation, and analog frequency modulation on a carrier of the reference signal or a carrier of the positioning measurement signal;

The phase change waveform generated by the digital modulation carried by the reference signal or the positioning measurement signal includes:

Any of the digital modulations using minimum phase shift keying MSK and Gaussian minimum phase shift keying GMSK produces a triangular waveform with continuously varying carrier phase or a triangular waveform smoothed by Gaussian filtering.
The method of measuring a time difference of arrival according to claim 2, wherein

The analog modulation waveform is: one or more of a waveform of the time reference signal, a waveform of the phase reference signal, a waveform for measurement of the first time difference, and a waveform for measurement of the first phase difference Species

The phase change waveform generated by the digital modulation is: a waveform of the time reference signal, a waveform of the phase reference signal, a waveform for measuring the first time difference, and a waveform for measurement of the first phase difference One or more.
The arrival time difference measuring method according to claim 2, wherein said using any of digital modulation of MSK and GMSK comprises: alternately transmitting symbol "0" and symbol "1".
The method for measuring an arrival time difference according to claim 1, wherein the obtaining the first time difference comprises:

Acquiring the first time difference by using a relative positional relationship between the analog modulation waveform of the reference signal and the analog modulation waveform of the positioning measurement signal, including:

Retrieving an analog modulation waveform of the positioning measurement signal from the received positioning measurement signal; recovering the reference signal analog modulation waveform from a time reference signal included in the received reference signal;

Determining the positioning based on the temporal position of the waveform feature point of the simulated modulation waveform of the recovered positioning measurement signal ???the arrival time of the measurement signal reaching the reference signal and the positioning measurement signal receiving network element; determining, according to the time position of the waveform characteristic point of the analog modulation waveform of the recovered reference signal, the time reference signal reaching the reference signal and the positioning measurement The arrival time of the signal receiving network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element and an arrival time of the time reference signal reaching the reference signal and the positioning measurement signal receiving network element, and calculating The difference in arrival time is taken as the first time difference;

or,

Obtaining a first time difference by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, including:

Detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal; detecting a phase change waveform generated by the digital modulation from the time reference signal included in the received reference signal;

Determining, according to the time position of the waveform feature point of the phase change waveform generated by the digital modulation of the detected positioning measurement signal, the arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element; according to the detected time The time position of the waveform feature point of the phase change waveform generated by the digital modulation of the reference signal determines the arrival time of the time reference signal to reach the reference signal and the positioning measurement signal receiving network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element and an arrival time of the time reference signal reaching the reference signal and the positioning measurement signal receiving network element, and calculating The difference in arrival time is taken as the first time difference;

or,

Obtaining the first time difference by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and an analog modulation waveform of the positioning measurement signal, including:

And recovering an analog modulation waveform of the positioning measurement signal from the received positioning measurement signal, and detecting a phase change waveform generated by the digital modulation from a time reference signal included in the received reference signal;

Determining, according to a time position of the waveform characteristic point of the recovered analog modulation waveform, an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element; and a waveform characteristic of the phase change waveform generated according to the detected digital modulation a time position of the point, determining an arrival time of the time reference signal reaching the reference signal and the positioning measurement signal receiving network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element and an arrival time of the time reference signal reaching the reference signal and the positioning measurement signal receiving network element, and calculating The difference in arrival time is taken as the first time difference;

or,

Obtaining the first time difference by using a relative positional relationship between an analog modulation waveform of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, including:

Detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal, and recovering an analog modulation waveform of the reference signal from a time reference signal included in the received reference signal;

Determining, according to the detected time position of the waveform feature point of the phase change waveform generated by the digital modulation, an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element; according to the detected waveform of the analog modulation waveform The time position of the feature point determines an arrival time of the time reference signal to the reference signal and the positioning measurement signal receiving network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the reference signal and the positioning measurement signal receiving network element and an arrival time of the time reference signal reaching the reference signal and the positioning measurement signal receiving network element, and calculating The difference in arrival time is taken as the first time difference.
The method of measuring a time difference of arrival according to claim 1, wherein the obtaining the first phase difference comprises:

Acquiring the first phase difference by using a relative positional relationship between the analog modulation waveform of the reference signal and the analog modulation waveform of the positioning measurement signal, including:

And recovering an analog modulation waveform of the positioning measurement signal from the received positioning measurement signal; recovering an analog modulation waveform analog modulation waveform of the reference signal from a phase reference signal included in the received reference signal;

Determining the positioning measurement signal and the phase according to a phase difference corresponding to a relative position between a phase feature point of the analog modulation waveform recovered from the phase reference signal and a phase feature point of the analog modulation waveform recovered from the positioning measurement signal The reference signal arrives at the arrival phase difference of the reference signal and the positioning measurement signal receiving network element, and the arrival phase difference is used as the first phase difference;

or,

Obtaining a first phase difference by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, including:

And detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal; detecting a phase change waveform generated by the digital modulation from the phase reference signal included in the received reference signal;

Determining the phase difference between the phase feature point of the phase change waveform generated by the digital modulation detected from the positioning measurement signal and the relative position between the phase feature points of the phase change waveform generated by the digital modulation detected from the reference signal And a positioning phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, and the arrival phase difference is used as the first phase difference;

or,

Obtaining the first phase difference by using a relative positional relationship between an analog modulation waveform of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, including:

Detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal; recovering an analog modulation waveform from the received phase reference signal included in the reference signal;

Determining the positioning measurement signal according to a phase difference corresponding to a relative position between a phase feature point of the phase change waveform generated by the digital modulation of the detected positioning measurement signal and a phase characteristic point of the simulated modulation waveform of the restored reference signal The phase reference signal reaches an arrival phase difference of the reference signal and the positioning measurement signal receiving network element, and the arrival phase difference is used as the first phase difference;

or,

Obtaining the first phase difference by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and an analog modulation waveform of the positioning measurement signal, including:

And recovering an analog modulation waveform from the received positioning measurement signal; detecting a phase change waveform generated by the digital modulation from a phase reference signal included in the received reference signal;

Determining the positioning measurement signal according to a phase difference corresponding to a relative position between a phase feature point of the analog modulation waveform recovered from the positioning measurement signal and a phase characteristic point of the phase variation waveform generated from the digital modulation detected in the reference signal And an arrival phase difference between the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, and the arrival phase difference is used as the first phase difference.
The method of measuring the time difference of arrival according to claim 5 or 6, wherein

The recovering the analog modulation waveform from the positioning measurement signal or from the reference signal includes:

Performing corresponding demodulation on the positioning measurement signal or the reference signal generated by analog amplitude modulation, or analog frequency modulation, or analog phase modulation, to obtain a sampled value of the demodulated waveform;

Performing curve fitting on the demodulated sample values to obtain an estimated waveform of the analog modulation waveform;

The phase change waveform generated by the digital modulation is detected from the positioning measurement signal or from the reference signal, and includes:

Using an analog or digital phase detector to phase-detect the positioning measurement signal using MSK or GMSK digital modulation to obtain a phase change waveform generated by digital modulation; wherein the phase change waveform generated by the digital modulation is a phase change of the amplitude with the positioning measurement signal And a time domain signal that changes;

The sampled value of the phase change waveform generated by the digital modulation outputted by the analog or digital phase detector is curve-fitted to obtain an estimated waveform of the phase change waveform generated by the digital modulation.
The method of measuring a time difference of arrival according to claim 6, wherein

When the acquiring the first phase difference is obtained by using a relative positional relationship between an analog modulation waveform of the reference signal and an analog modulation waveform of the positioning measurement signal,

Determining an arrival phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, including:

When the analog modulation waveform recovered from the phase reference signal and the analog modulation waveform recovered from the positioning measurement signal are any of the sine or cosine waveforms having the same or different frequencies, the zero-crossing point and the peak value of the waveform are obtained. Any one of a point and an extreme point as a phase feature point or a waveform feature point, and a phase reference signal corresponding to a phase feature point of the analog modulation waveform or a time position of the waveform feature point recovered from the positioning measurement signal The phase point on the simulated modulation waveform recovered in the middle is used as the phase difference measurement point;

And a phase difference between the phase difference measurement point and a phase feature point on the analog modulation waveform recovered from the phase reference signal is used as the positioning measurement signal and the phase reference signal to reach the reference signal and the positioning measurement signal receiving network. The arrival phase difference of the element;

When the acquiring the first phase difference is obtained by a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal,

Determining an arrival phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, including:

When the phase change waveform generated by the digital modulation detected from the positioning measurement signal is any one of a triangular wave generated by MSK or GMSK digital modulation or a triangular wave smoothed by Gaussian filtering, the zero-crossing point and the peak value of the waveform are obtained. Any one of the point and the extreme point as the phase feature point or the waveform feature point, the phase feature point of the phase change waveform generated from the digital modulation detected by the positioning measurement signal or the appearance time position of the waveform feature point a phase point on the phase change waveform generated by the digital modulation detected in the reference signal as a phase difference measurement point;

And a phase difference between the phase difference measurement point and a phase feature point on the phase change waveform generated by the digital modulation detected from the reference signal as the positioning measurement signal and the phase reference signal arrive at the reference signal and the positioning measurement The arrival phase difference of the signal receiving network element;

When the acquiring the first phase difference is obtained by using a relative positional relationship between an analog modulation waveform of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal,

Determining an arrival phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, including:

When the phase change waveform generated by the digital modulation adopts any phase change waveform of a triangular wave generated by MSK or GMSK digital modulation or a triangular wave smoothed by Gaussian filtering, when the analog modulation waveform of the reference signal is a sine or cosine waveform, a zero crossing is performed. , the peak point and the extreme point as the phase characteristic point of the analog modulation waveform of the reference signal, and any one of the zero crossing point, the peak point and the extreme point as the phase characteristic of the phase change waveform generated by the digital modulation Point or waveform feature point;

A phase point on the analog modulation waveform of the reference signal corresponding to the phase characteristic point of the phase change waveform or the appearance time position of the waveform feature point of the digital modulation is used as a phase difference measurement point, and the phase difference measurement point and the reference signal are used. The phase difference between the phase feature points on the analog modulation waveform is determined as the arrival phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element;

When the acquiring the first phase difference is obtained by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and an analog modulation waveform of the positioning measurement signal,

Determining an arrival phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element, including:

When the analog modulation waveform adopts a sine or cosine waveform, and the phase modulation waveform generated by the digital modulation is any one of a triangular wave generated by any digital modulation in MSK and GMSK and a triangular waveform smoothed by Gaussian filtering, Any one of a zero-crossing point, a peak point, and an extreme point as a phase feature point or a waveform feature point of a phase change waveform generated by digital modulation, using any one of a zero-crossing point, a peak point, and an extreme point as the simulation And modulating a phase characteristic point of the waveform, and using a phase feature point of the phase change waveform generated by the digital modulation or a phase point on the analog modulation waveform corresponding to the appearance time position of the waveform feature point as a phase difference measurement point;

Determining, by the phase difference measurement point, a phase difference between the phase feature points on the analog modulation waveform as an arrival phase difference between the positioning measurement signal and the phase reference signal reaching the reference signal and the positioning measurement signal receiving network element .
The method of measuring a time difference of arrival according to claim 1, wherein

When the reference signal is a time reference signal, determining the time difference of arrival between the reference signal and the positioning measurement signal receiving network element according to the obtained first time difference and the reference signal comprises:

Calculating, as the first difference, a difference between the first time difference between the two reference signals and the positioning measurement signal receiving network element;

Calculating, as a second difference, a difference between arrival times of the time reference signals included in the reference signal and the two reference signals and the positioning measurement signal receiving network elements;

Calculating a difference between the first difference and the second difference as a time difference of arrival between the two reference signals and the positioning measurement signal receiving network element of the positioning measurement signal sent by the terminal;

When the reference signal is a phase reference signal, determining, according to the obtained first phase difference and the reference signal, a time difference of arrival between the arrival reference signal and the positioning measurement signal receiving network element includes:

Calculating a difference between the first phase difference between the two reference signals and the positioning measurement signal receiving network element as a first phase difference value;

Calculating, as the second phase difference value, a difference between the phase of the phase reference signal included in the reference signal and the arrival phase of the two reference signals and the positioning measurement signal receiving network element;

Calculating a difference between the first phase difference value and the second phase difference value as a phase difference between arrivals of the positioning measurement signals sent by the terminal between the two reference signals and the positioning measurement signal receiving network element;

And dividing a phase difference between an arrival phase difference between the two reference signals and the positioning measurement signal receiving network element by an angular velocity of a modulation waveform of the positioning measurement signal sent by the terminal as the positioning measurement signal in the two The reference signal and the positioning measurement signal receive a time difference of arrival between the network elements.
The method of measuring a time difference of arrival according to claim 7, wherein

The curve fitting of the demodulated sample values includes:

Performing a curve fitting on the sampled value of the demodulated analog modulation waveform using a description curve of the positioning measurement signal or an analog modulation waveform used in the reference signal; or

Curve fitting the sampled value of the demodulated analog modulation waveform using a polynomial;

The curve fitting of the sampled values of the phase change waveform generated by the digital modulation output by the analog or digital phase detector includes:

Curved fitting of the sampled value of the phase change waveform output by the analog or digital phase detector using a description curve of the phase change generated by MSK or GMSK digital modulation; or

A sample of the phase change waveform output by the analog or digital phase detector is curve fitted using a polynomial.
The method for measuring the time difference of arrival according to any one of claims 1 to 10, wherein the method further comprises:

Performing a horizontal filtering process on the positioning measurement signal or the multipath signal included in the reference signal; using a horizontal filtering process using any one of the analog modulation waveform, the phase change waveform generated by the digital modulation, and a polynomial Any one of the analog modulation waveform included in the multipath signal and the phase change waveform generated by the digital modulation is subjected to curve fitting processing to achieve suppression of multipath interference and lateral filtering processing errors;

or,

Performing a deconvolution signal restoration process on the positioning measurement signal including the multipath component or the main path signal in the reference signal; using any of the analog modulation waveform, the phase change waveform generated by the digital modulation, and a polynomial A curve fitting process is performed on any one of the analog modulation waveform in the main path signal subjected to the deconvolution signal restoration processing and the phase change waveform generated by the digital modulation to realize the error of the multipath interference and the lateral filtering processing. inhibition.
The method for measuring the time difference of arrival according to any one of claims 1 to 10, further comprising:

The reference signal and the positioning measurement signal receiving network element receive positioning control information;

The positioning control information carries at least one of the following information:

Positioning the time-frequency window position of the measurement signal;

The modulation method used to locate the measurement signal;

The modulation method used by the reference signal;

Analog period or frequency parameters of the modulated waveform;

a sequence parameter or sequence identifier of a digital modulation symbol required to generate a phase change waveform generated by digital modulation;

The period or frequency parameter of the phase change waveform produced by digital modulation.
The method for measuring the time difference of arrival according to claim 1, further comprising: performing frequency synchronization processing on the signal between the radio node and the terminal;

Transmitting, by the radio node, the reference signal obtained by using any one of a phase, an amplitude and a frequency by using a predetermined modulation waveform for positioning as a modulation waveform to the same-distance difference measurement network element and the terminal;

The terminal detects a frequency or a period parameter of a predetermined modulation waveform for positioning included in the received reference signal;

The terminal uses the predetermined modulation waveform for positioning and its frequency or period parameter sent by the detected radio node as the positioning predetermined modulation waveform and waveform parameter used by the positioning measurement signal, and measures the network element with the same address difference. Sending a positioning measurement signal;

or,

Transmitting, by the terminal, the positioning signal to the reference signal and the positioning measurement signal receiving network element and the radio node by using a predetermined modulation waveform for positioning as a modulation waveform to perform modulation of any one of phase, amplitude and frequency;

The radio node detects a frequency or period parameter of a predetermined modulation waveform for positioning included in the received positioning measurement signal;

The radio node uses the detected predetermined modulation waveform and its frequency or period parameter sent by the detected terminal as the modulation waveform and the waveform parameter used by the transmission reference signal, and sends the phase to the same-value difference measurement network element. Reference signal.
A method for measuring the time difference of arrival, comprising:

The terminal performs analog phase modulation, analog amplitude modulation, and analog frequency modulation on the carrier of the positioning measurement signal by using the analog modulation waveform; or, performing continuous phase modulation on the carrier of the positioning measurement signal by using the digital modulation symbol to obtain digital modulation a positioning measurement signal of the generated phase change waveform;

The terminal transmits the modulated signal.
The method of measuring a time difference of arrival according to claim 14, wherein

The analog modulation waveform used by the terminal includes: any one of a sinusoidal signal waveform, a cosine signal waveform, and a triangular wave signal waveform;

The terminal performs continuous phase modulation on the carrier of the positioning measurement signal by using a digital modulation symbol, and obtains a phase change waveform generated by the digital modulation, including: generating a digital modulation using minimum phase shift keying MSK and Gaussian minimum phase shift keying GMSK A triangular waveform in which the carrier phase continuously changes or a triangular waveform smoothed by Gaussian filtering.
The arrival time difference measuring method according to claim 15, wherein said using any one of MSK and GMSK digital modulation comprises: alternately transmitting a symbol "0" and a symbol "1".
The method for measuring the time difference of arrival according to any one of claims 14 to 16, further comprising: receiving, by the terminal, positioning control information from a network side;

The positioning control information carries at least one of the following information:

Positioning the time-frequency window position of the measurement signal;

The modulation method used to locate the measurement signal;

The modulation method used by the reference signal;

Analog period or frequency parameters of the modulated waveform;

a sequence parameter or sequence identifier of a digital modulation symbol required to generate a phase change waveform generated by digital modulation;

The period or frequency parameter of the phase change waveform produced by digital modulation.
The method for measuring the time difference of arrival according to claim 14, further comprising: performing frequency modulation processing of the modulated signal between the terminal and the radio node, comprising:

Receiving, by the terminal, a reference signal sent by the radio node to the reference signal and the positioning measurement signal receiving network element and the terminal, where the reference signal carries a phase change waveform generated by the analog modulation waveform or the digital modulation;

The terminal detects an analog modulation waveform included in the reference signal or a frequency or period parameter of a phase change waveform generated by digital modulation;

The terminal uses the frequency or period parameter detected by the terminal as the waveform parameter of the analog modulation waveform or the phase change waveform generated by the digital modulation sent by the positioning measurement signal, and sends the positioning measurement signal to the same-value difference measurement network element.
An arrival time difference measuring device includes a first receiving module, a first processing module, and a second processing module; wherein

a first receiving module configured to receive a reference signal from the radio node and a positioning measurement signal from the terminal;

The first processing module is configured to use any one of the analog modulation waveform carried by the received reference signal and the phase change waveform generated by the digital modulation, and the phase of the analog modulation waveform and the digital modulation carried by the received positioning measurement signal Obtaining a relative positional relationship between waveforms of any one of the waveforms to obtain a first time difference or a first phase difference;

The second processing module is configured to determine, according to the obtained first time difference or the first phase difference and the reference signal, a time difference of arrival between the same-distance measurement network elements of the first receiving module;

The same location difference measurement network element of the first receiving module and the geographical position of the antenna corresponding to the radio node The coordinates are known;

The reference signal includes a time reference signal for acquiring the first time difference or a phase reference signal for acquiring the first phase difference.
The arrival time difference measuring apparatus according to claim 19, wherein said first processing module is configured to:

When the first time difference is obtained by using a relative positional relationship between the analog modulation waveform of the reference signal and the analog modulation waveform of the positioning measurement signal, the method includes:

Retrieving an analog modulation waveform of the positioning measurement signal from the received positioning measurement signal; recovering the reference signal analog modulation waveform from a time reference signal included in the received reference signal;

Determining, according to a time position of a waveform feature point of the simulated modulation waveform of the recovered positioning measurement signal, an arrival time of the positioning measurement signal reaching the coherent difference measurement network element; and an analog modulation waveform according to the restored reference signal Determining a time position of the waveform feature point, determining an arrival time of the time reference signal to the co-located difference measurement network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the co-located difference measurement network element and an arrival time of the time reference signal reaching the co-located difference measurement network element, and calculating a calculated arrival time difference As the first time difference;

or,

When the first time difference is obtained by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, the method includes:

Detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal; detecting a phase change waveform generated by the digital modulation from the time reference signal included in the received reference signal;

Determining, according to the time position of the waveform feature point of the phase change waveform generated by the digital modulation of the detected positioning measurement signal, the arrival time of the positioning measurement signal reaching the coherent difference measurement network element; according to the detected time reference signal Digitally modulating the temporal position of the waveform feature point of the phase change waveform, determining the arrival time of the time reference signal to the co-located difference measurement network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the co-located difference measurement network element and an arrival time of the time reference signal reaching the co-located difference measurement network element, and calculating a calculated arrival time difference As the first time difference;

or,

When the first time difference is obtained by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and an analog modulation waveform of the positioning measurement signal, the method includes:

And recovering an analog modulation waveform of the positioning measurement signal from the received positioning measurement signal, and detecting a phase change waveform generated by the digital modulation from a time reference signal included in the received reference signal;

Determining, according to a time position of the waveform feature point of the recovered analog modulation waveform, an arrival time of the positioning measurement signal to the co-located difference measurement network element; and a waveform characteristic point of the phase change waveform generated according to the detected digital modulation a time position, determining an arrival time of the time reference signal to the co-located difference measurement network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the co-located difference measurement network element and an arrival time of the time reference signal reaching the co-located difference measurement network element, and calculating a calculated arrival time difference As the first time difference;

or,

When the first time difference is obtained by using a relative positional relationship between an analog modulation waveform of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, the method includes:

Detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal, and recovering an analog modulation waveform of the reference signal from a time reference signal included in the received reference signal;

Determining, according to the detected time position of the waveform feature point of the phase change waveform generated by the digital modulation, an arrival time of the positioning measurement signal reaching the coherent difference measurement network element; according to the detected waveform characteristic point of the analog modulation waveform a time position determines an arrival time of the time reference signal to the co-located difference measurement network element;

Calculating an arrival time difference between an arrival time of the positioning measurement signal reaching the co-located difference measurement network element and an arrival time of the time reference signal reaching the co-located difference measurement network element, and calculating a calculated arrival time difference As the first time difference.
The method of measuring a time difference of arrival according to claim 19, wherein said first processing module is configured to:

When the first phase difference is obtained by using a relative positional relationship between the analog modulation waveform of the reference signal and the analog modulation waveform of the positioning measurement signal, the method includes:

And recovering an analog modulation waveform of the positioning measurement signal from the received positioning measurement signal; recovering an analog modulation waveform analog modulation waveform of the reference signal from a phase reference signal included in the received reference signal;

Determining the positioning measurement signal and the phase according to a phase difference corresponding to a relative position between a phase feature point of the analog modulation waveform recovered from the phase reference signal and a phase feature point of the analog modulation waveform recovered from the positioning measurement signal The reference signal arrives at the arrival phase difference of the co-located difference measurement network element, and the arrival phase difference is used as the first phase difference;

or,

When the first phase difference is obtained by using a relative positional relationship between a phase change waveform generated by digital modulation of the reference signal and a phase change waveform generated by digital modulation of the positioning measurement signal, the method includes:

And detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal; detecting a phase change waveform generated by the digital modulation from the phase reference signal included in the received reference signal;

Determining the phase difference between the phase feature point of the phase change waveform generated by the digital modulation detected from the positioning measurement signal and the relative position between the phase feature points of the phase change waveform generated by the digital modulation detected from the reference signal And determining, by the positioning measurement signal, the arrival phase difference of the phase reference signal reaching the co-located difference measurement network element, and using the arrival phase difference as the first phase difference;

or,

Phase change caused by the use of the analog modulation waveform of the reference signal and the digital modulation of the positioning measurement signal The relative positional relationship between the waveforms, when acquiring the first phase difference, includes:

Detecting a phase change waveform generated by the digital modulation from the received positioning measurement signal; recovering an analog modulation waveform from the received phase reference signal included in the reference signal;

Determining the positioning measurement signal according to a phase difference corresponding to a relative position between a phase feature point of the phase change waveform generated by the digital modulation of the detected positioning measurement signal and a phase characteristic point of the simulated modulation waveform of the restored reference signal The phase reference signal arrives at the arrival phase difference of the co-located difference measurement network element, and the arrival phase difference is used as the first phase difference;

or,

When the relative phase relationship between the phase change waveform generated by the digital modulation of the reference signal and the analog modulation waveform of the positioning measurement signal is obtained, when the first phase difference is acquired, the method includes:

And recovering an analog modulation waveform from the received positioning measurement signal; detecting a phase change waveform generated by the digital modulation from a phase reference signal included in the received reference signal;

Determining the positioning measurement signal according to a phase difference corresponding to a relative position between a phase feature point of the analog modulation waveform recovered from the positioning measurement signal and a phase characteristic point of the phase variation waveform generated from the digital modulation detected in the reference signal Arriving a phase difference with the phase reference signal arriving at the coherent difference measurement network element, and using the arrival phase difference as the first phase difference.
The arrival time difference measuring device according to claim 20 or 21, wherein the recovering the analog modulation waveform from the positioning measurement signal or from the reference signal comprises:

Performing corresponding demodulation on the positioning measurement signal or the reference signal generated by analog amplitude modulation, or analog frequency modulation, or analog phase modulation, to obtain a sampled value of the demodulated waveform;

Performing curve fitting on the demodulated sample values to obtain an estimated waveform of the analog modulation waveform;

The phase change waveform generated by the digital modulation is detected from the positioning measurement signal or from the reference signal, and includes:

Using an analog or digital phase detector to phase-detect the positioning measurement signal using MSK or GMSK digital modulation to obtain a phase change waveform generated by digital modulation; wherein the phase change waveform generated by the digital modulation is a phase change of the amplitude with the positioning measurement signal And a time domain signal that changes;

The sampled value of the phase change waveform generated by the digital modulation outputted by the analog or digital phase detector is curve-fitted to obtain an estimated waveform of the phase change waveform generated by the digital modulation.
A terminal includes: a modulation module and a sending module, where

a modulation module configured to perform analog phase modulation, analog amplitude modulation, and analog frequency modulation on the carrier of the positioning measurement signal using the analog modulation waveform; or, to perform continuous phase modulation on the carrier of the positioning measurement signal using the digital modulation symbol, Obtaining a positioning measurement signal carrying a phase change waveform generated by digital modulation;

The transmitting module is set to send the modulated signal.
The terminal according to claim 23, further comprising a frequency synchronization processing module, configured to:

Receiving a reference signal from a radio node that uses a phase modulation waveform generated by an analog modulation waveform or digital modulation;

Detecting an analog modulation waveform included in the reference signal or a frequency or period parameter of a phase change waveform generated by digital modulation;

The frequency or period parameter of the phase change waveform generated by the analog modulation waveform or digital modulation transmitted by the detected radio node is used as the waveform modulation parameter of the phase modulation waveform generated by the analog modulation waveform or the digital modulation used for transmitting the positioning measurement signal, The address difference measurement network element sends a positioning measurement signal.
An arrival time difference measurement control device, comprising a reference signal sending module, a positioning control information sending module, and a synchronous control module; wherein

a reference signal transmitting module configured to transmit a reference signal to each of the arrival time difference measuring devices in the system;

a positioning control information sending module, configured to send positioning control information to the radio positioning measuring device or to the radio positioning measuring device and the terminal;

The synchronization control module is configured to control any one of a period and a frequency of the phase modulation waveform generated by the digital modulation used by the analog modulation waveform used by the reference signal or the reference signal to realize the reference signal and the positioning measurement signal sent by the terminal Frequency synchronization and / or cycle synchronization.
The arrival time difference measurement control apparatus according to claim 25, wherein said synchronization control module is configured to:

Receiving, by the terminal, a positioning measurement signal obtained by using a phase modulation waveform generated by using an analog modulation waveform or digital modulation;

Detecting a frequency or period parameter of an analog modulation waveform or a phase change waveform generated by the digital modulation included in the positioning measurement signal;

The reference signal is transmitted to the co-located difference measurement network element by using the detected frequency or period parameter as an analog modulation waveform used by the transmission reference signal or a waveform parameter of the phase change waveform generated by the digital modulation.
A method for controlling the arrival time difference measurement, comprising:

Transmitting a reference signal to each of the arrival time difference measuring devices in the system;

Sending positioning control information to the radio positioning measurement device or to the radio positioning measurement device and the terminal;

Controlling any one of the period and frequency of the phase modulation waveform generated by the digital modulation used by the analog modulation waveform used by the reference signal or the reference signal to achieve frequency synchronization between the reference signal and the positioning measurement signal transmitted by the terminal and/or Cycle synchronization.
The arrival time difference measurement control method according to claim 27, wherein said analog modulation waveform used for the reference signal or any one of a period and a frequency of a phase change waveform generated by digital modulation used by the reference signal is controlled to achieve a reference The frequency synchronization and/or periodic synchronization between the signal and the positioning measurement signal sent by the terminal includes:

Receiving, by the terminal, a positioning measurement signal obtained by using a phase modulation waveform generated by using an analog modulation waveform or digital modulation;

Detecting a frequency or period parameter of an analog modulation waveform or a phase change waveform generated by the digital modulation included in the positioning measurement signal;

Using the frequency or period parameter detected by it as the analog modulation waveform or number used for its transmission reference signal The waveform parameter of the phase change waveform generated by the word modulation transmits a reference signal to the co-located difference measurement network element.
A computer readable medium having stored thereon a computer program, the program being executed by a processor to implement the method of any of claims 1-18.