CN100415037C - Hyperbola positioning method - Google Patents
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- CN100415037C CN100415037C CNB2004100793423A CN200410079342A CN100415037C CN 100415037 C CN100415037 C CN 100415037C CN B2004100793423 A CNB2004100793423 A CN B2004100793423A CN 200410079342 A CN200410079342 A CN 200410079342A CN 100415037 C CN100415037 C CN 100415037C
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Abstract
The present invention discloses a hyperbola positioning method which comprises the steps: a, determining adjacent districts for positioning measurement according to the signal coverage range of a reference district; carrying out positioning measurement; calculating transmission time difference between the reference district and each determined adjacent district according to an obtained positioning measurement result; b. selecting the obtained transmission time difference according to the positioning measurement result and geometrical distribution relations between the reference district and the determined adjacent districts; selecting the transmission time difference between the reference district and the adjacent districts whose positioning measurement result conforms to the scheduled measurement quality requirements and geometrical distribution conforms to the scheduled geometrical effect requirements; c. utilizing the selected transmission time difference to carry out hyperbola positioning calculation for obtaining a positioning result. The hyperbola positioning method provided by the present invention does not need to plan and position adjacent districts in advance; the position estimation precision of the hyperbola positioning method is effectively enhanced, and the complexity of position estimation calculation and the consumption of calculation resources are reduced.
Description
Technical field
The present invention relates to Mobile Location Techniques, particularly relate to a kind of hyperbola positioning method.
Background technology
Hyperbola positioning method, it is observed time difference-down link idling cycle (OTDOA-IPDL) localization method, it is one of localization method of standard in Wideband Code Division Multiple Access (WCDMA) (WCDMA) mobile communication system, its basic principle is: measure the time difference of the Common Pilot Channel signal of different base station to same travelling carriage, and calculate the range difference of travelling carriage to different base station thus.Travelling carriage can provide a hyperbola to the range difference of any two base stations between two base stations, travelling carriage necessarily is on this hyperbola.When having N base station participate in range finding simultaneously, N 〉=3 wherein, the intersectional region between a plurality of hyperbolas is exactly the estimation to customer location.
In hyperbola positioning method, by being integrated in the inner mobile position estimation center (SMLC) of radio network controller (RNC), be responsible for coordinating each location relevant device and finish necessary location survey, and measurement result is handled to finish the location estimation to travelling carriage.Above-mentioned location relevant device comprises: the Location Measurement Unit (LMU) in travelling carriage (UE) and the base station that travelling carriage inserted.The travelling carriage observed time difference that travelling carriage is responsible for measuring is meant that travelling carriage receives the time difference of the Common Pilot Channel signal of two sub-districts; The network observed time difference that Location Measurement Unit is responsible for measuring is meant that Location Measurement Unit receives the time difference of the Common Pilot Channel signal of two sub-districts.
Process that the location relevant device positions measurement is coordinated as shown in Figure 1 in the mobile position estimation center, wherein, issue the location survey request to finish location survey by mind-set Location Measurement Unit and travelling carriage in the mobile position estimation, the location survey request that the mind-set Location Measurement Unit issues in the mobile position estimation is the public-measurement initial message, and the location survey request that issues to travelling carriage is the measurement control messages.
At first, the mobile position estimation center issues the public-measurement initial message for the location measuring unit, requires Location Measurement Unit periodic report or Event triggered report network observed time difference measurements result.Location Measurement Unit is according to the request at mobile position estimation center, and after finishing desired location survey, by the public-measurement report message, periodic report or Event triggered report the network observed time difference measurements result who is obtained.Usually, the network observed time difference measurements result that Location Measurement Unit reports comprises: it measures the parameter of quality the measured value of network observed time difference and reflection, and the parameter of the measured value of network observed time difference drift rate and its measurement quality of reflection.
Then, travelling carriage sending measuring control messages is given at the mobile position estimation center, requires travelling carriage to report travelling carriage observed time difference measurements result.Travelling carriage after finishing desired location survey, by measurement report message, reports the travelling carriage observed time difference measurements result who is obtained according to the request at mobile position estimation center.Usually, the travelling carriage observed time difference measurements result that reports of travelling carriage comprises: the measured value of travelling carriage observed time difference and reflect that it measures the parameter of quality.
Then, handle above-mentioned positioning measurement result at the mobile position estimation center, obtains transmission time difference.Transmission time difference is meant that travelling carriage arrives poor to radio transmission time of adjacent sub-district of radio transmission time of reference cell and travelling carriage.Definition according to above-mentioned positioning measurement result can draw: transmission time difference is the poor of the travelling carriage observed time difference of synchronization and network observed time difference, and through necessary modulo operation, makes it to be limited in-1280 chips between 1280 chips.In the real system, the moment of above-mentioned two kinds of measurements can not accomplish identical, still, can use the measured value drift rate among the network observed time difference measurements result to adjust.
Need to have the location survey parameter in the location survey request that the mobile position estimation center issues for location measuring unit and travelling carriage.These parameters mainly are: the main scrambler of reference cell and each adjacent sub-district.Usually, reference cell is the main Serving cell Location Measurement Unit place or that travelling carriage inserted.The adjacent sub-district that Location Measurement Unit and travelling carriage are handed down in the mobile position estimation center is generally reference cell all interior co-frequency cells of certain limit on every side.These adjacent sub-districts only are used for mobile position estimation, therefore also these adjacent sub-districts can be called adjacent sub-district, location.The measurement result of Location Measurement Unit is shared by all travelling carriages in the certain limit.
In the prior art scheme, the adjacent sub-district in the location survey request of travelling carriage and Location Measurement Unit is handed down at the mobile position estimation center, the network planning that need be by complexity, seeks and visits and obtains.That is: the network planner such as need block according to layout situation, the environment of each sub-district in the network at factor, comes to determine one by one each adjacent cells of cells, so that make travelling carriage as much as possible in the sub-district, can both obtain positioning measurement result preferably.In addition, in the prior art scheme, the mobile position estimation center is after obtaining positioning measurement result and calculating transmission time difference, generally transmission time difference is not selected, but the transmission time difference of all acquisitions is all calculated as the input of location-estimation algorithm, to obtain the location estimation result.
For above-mentioned prior art scheme, there is following shortcoming:
1, the work of adjacent sub-district, definite in advance location is very loaded down with trivial details and not necessarily effective.Fixing adjacent cell configuration scheme may not be all effective for the travelling carriage that is in diverse location in this sub-district.And some travelling carriage can measure other better adjacent cell signals originally, still, owing to do not dispose this neighbour sub-district in the adjacent sub-district, location, made that the positioning measurement result of travelling carriage is not the optimum measurement result.In addition, if plot planning and layout change to some extent, so, adjacent sub-districts, all relevant location must plan again, work loaded down with trivial details and make mistakes easily.
If occur the bigger measured value of error in 2 positioning measurement result, error such as travelling carriage observed time difference measurements value or network observed time difference measurements value is bigger, so, calculate if carry out location estimation, with the precision that dips greatly and estimate with such measured value.
If the geometric distributions that 3 reference cell and each are located between the adjacent sub-district is unreasonable, that is: the leg-of-mutton minimum interior angle between reference cell and two the adjacent sub-districts is very little, so, according to geometric effect (GDOP) principle, even the location survey error of these adjacent sub-districts is very little, also can make the positioning accuracy of travelling carriage reduce greatly.
If the number of 4 positioning measurement result is too much, the computing time of location-estimation algorithm and the consumption of computational resource will be increased greatly.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of hyperbola positioning method, can avoid planning the loaded down with trivial details work of adjacent sub-district, improves the position estimation accuracy of hyperbola positioning method, reduces the complexity and the computational resource that calculate and expends.
For achieving the above object, technical scheme of the present invention is achieved in that
The invention discloses a kind of hyperbola positioning method, this method may further comprise the steps:
A. according to the signal cover of reference cell, be identified for the adjacent sub-district of location survey, position measurement, and, calculate the transmission time difference between reference cell and determined each adjacent sub-district according to the positioning measurement result that is obtained;
B. calculate the standard deviation of the transmission time difference between reference cell and determined each adjacent sub-district, according to the minimum principle of standard deviation select corresponding to different base station and standard deviation less than the transmission time difference of predetermined standard deviation thresholding, from the transmission time difference of selecting, further select the distribution of base station, place to meet the reference cell of geometric effect requirement and the transmission time difference between the adjacent sub-district;
C. utilize selected transmission time difference to carry out hyperbolic fix and calculate, obtain positioning result.
Preferably, among the step a, the described method that is identified for the adjacent sub-district of location survey is: select with the reference cell be center, radius be within the scope of circle of two times of reference cell covering radiuss and do not belong to all co-frequency cells of same base station with reference cell.
Described according to the minimum principle of standard deviation select corresponding to different base station and standard deviation comprise less than the transmission time difference of predetermined standard deviation thresholding:
B11. the choice criteria difference is less than the transmission time difference of predetermined standard deviation thresholding;
B12. judge whether selected transmission time difference comprises the transmission time difference between the different adjacent sub-districts in reference cell and the same base station, if, then keep in the reference cell comprised and the same base station transmission time difference of standard deviation minimum in a plurality of transmission time differences between the different adjacent sub-districts, delete in described reference cell and the same base station that standard deviation is not minimum transmission time difference in a plurality of transmission time differences between the different adjacent sub-districts, continue to carry out described from the transmission time difference of selecting then, further select the distribution of base station, place to meet the reference cell of geometric effect requirement and the step of the transmission time difference between the adjacent sub-district, otherwise directly carry out describedly from the transmission time difference of selecting, further select the distribution of base station, place to meet the reference cell that geometric effect requires and the step of the transmission time difference between the adjacent sub-district.
Perhaps, described according to the minimum principle of standard deviation select corresponding to different base station and standard deviation can comprise less than the transmission time difference of predetermined standard deviation thresholding:
B21. judge and whether comprise the transmission time difference between the different adjacent sub-districts in reference cell and the same base station in the described transmission time difference, if, then keep in the reference cell comprised and the same base station transmission time difference of standard deviation minimum in a plurality of transmission time differences between the different adjacent sub-districts, delete in described reference cell and the same base station that standard deviation is not minimum transmission time difference in a plurality of transmission time differences between the different adjacent sub-districts, continue execution in step b22 then, otherwise direct execution in step b22;
B22. select the transmission time difference of standard deviation in the current transmission time difference less than predetermined standard deviation thresholding.
Preferably, the span of described predetermined standard deviation thresholding is: 3～4 chips.
In the such scheme, the distribution of base station, described selection place meets the reference cell of geometric effect requirement and the transmission time difference between the adjacent sub-district can comprise:
B31. the transmission time difference of choice criteria difference minimum is as first transmission time difference, and the adjacent sub-district of the first transmission time difference correspondence is the first adjacent sub-district;
B32. according to transmission time difference of standard deviation selective sequential from small to large as second transmission time difference, make leg-of-mutton minimum interior angle that the adjacent sub-district of the selected second transmission time difference correspondence and reference cell, the first adjacent sub-district constitute greater than the first predetermined thresholding, the adjacent sub-district of the second transmission time difference correspondence is the second adjacent sub-district;
If select 3 transmission time differences, then continue to carry out following steps:
B33. with standard deviation greater than the transmission time difference of the standard deviation of described second transmission time difference according to standard deviation sequence arrangement from small to large, then according to transmission time difference of standard deviation selective sequential from small to large as the 3rd transmission time difference, make the leg-of-mutton minimum interior angle that the adjacent sub-district of selected the 3rd transmission time difference correspondence and reference cell, the first adjacent sub-district constitute, and the leg-of-mutton minimum interior angle of the adjacent sub-district of selected the 3rd transmission time difference correspondence and reference cell, the second adjacent sub-district formation is all greater than predetermined second threshold.
Preferably, among the step b32, the span of described predetermined first thresholding is: 15～45 degree.
Preferably, among the step b33, the span of described predetermined second threshold is: 8～30 degree.
Wherein, described step b32 may further include: the deletion standard deviation is greater than the standard deviation of first transmission time difference and less than the transmission time difference of the standard deviation correspondence of second transmission time difference; Correspondingly, step b33 may further include: with standard deviation greater than the transmission time difference of the standard deviation of second transmission time difference according to standard deviation from small to large order sort, carry out then described according to transmission time difference of standard deviation selective sequential from small to large as the 3rd transmission time difference.
This hyperbola positioning method provided by the present invention, can determine to be handed down to the adjacent sub-district, location in the location survey request of travelling carriage and Location Measurement Unit automatically, needn't locate adjacent sub-district by advance planning, save to a large amount of network plannings of determining to carry out adjacent sub-district, location, sought and visited work.In addition, comprehensive quality and the relation of the geometric distributions between the sub-district according to location survey, transmission time difference is selected to handle, can improve the position estimation accuracy of hyperbola positioning method effectively, and reduced the complexity of location estimation calculating and the consumption of computational resource.
Description of drawings
Fig. 1 coordinates the process schematic diagram of location survey for the mobile position estimation center;
Fig. 2 is the realization flow figure of hyperbola positioning method of the present invention;
Fig. 3 carries out the method realization flow figure that transmission time difference is selected for the mobile position estimation center;
Fig. 4 selects the method realization flow figure of 3 best transmission time differences for one embodiment of the invention;
Fig. 5 is the travelling carriage in one embodiment of the invention and the position view of adjacent base station.
Embodiment
The present invention is further described in more detail below in conjunction with drawings and the specific embodiments.
Main thought of the present invention is: by setting the range of choice of adjacent sub-district, be identified for the adjacent sub-district of location survey, position measurement then, according to the positioning measurement result that is obtained, calculate the transmission time difference between reference cell and each the adjacent sub-district; According to measuring quality and sub-district geometric distributions the transmission time difference that obtains is selected, the selection positioning measurement result meets the scheduled measurement quality requirement and geometric distributions meets the reference cell of predetermined geometric effect requirement and the transmission time difference between the adjacent sub-district; Utilizing selected transmission time difference to carry out hyperbolic fix calculates.
Fig. 2 is the realization flow figure of hyperbola positioning method of the present invention, may further comprise the steps:
Wherein, before the mobile position estimation center positions measurement, the adjacent sub-district in the location survey request that the adjacent sub-district below selecting issues as the mobile position estimation center: with the reference cell be the center, radius be within the round scope of two times of reference cell covering radiuss, and reference cell do not belong to all co-frequency cells of same base station.Select the reason of above-mentioned adjacent sub-district to be like this: the one, can select adjacent sub-district automatically, thereby avoid complicated fixer network planning in early stage; The 2nd, can make each travelling carriage of diverse location in the reference cell, all can access abundant adjacent sub-district and measure.
In step 202, process that transmission time difference selects is carried out as shown in Figure 3 in the mobile position estimation center, specifically may further comprise the steps:
Step 301: the standard deviation of calculating the transmission time difference between reference cell and each the adjacent sub-district.
The standard deviation of transmission time difference can obtain by the standard deviation of travelling carriage observed time difference and network observed time difference and the standard deviation drift rate of network observed time difference.The standard deviation concentrated expression of transmission time difference the quality of travelling carriage, Location Measurement Unit positioning measurement result that same reference cell, adjacent cell set are obtained, it is that the present invention carries out one of foundation that transmission time difference selects.
Wherein, the transmission time difference between reference cell and each adjacent sub-district and the computational methods of standard deviation thereof and the computational methods of prior art are identical, and concrete computational process is:
The first step: calculate UE and measure reference cell constantly and relative time difference and the standard deviation thereof between the adjacent sub-district.The relative time difference is meant same observation constantly, the deviation between the Common Pilot Channel signal frame head of each sub-district.Because WCDMA is asynchronous system, the frame head of each sub-district is asynchronous, therefore the deviation between the Common Pilot Channel signal frame head of each sub-district of needs consideration.Concrete computing formula is as follows:
RTDue＝RTDlmu+DeltaSFN*RTDlmuDriftRate，
RTDueQuality＝RTDlmuQuality+DeltaSFN*RTDlmuDriftRateQuality。
Wherein, when (SFNue-SFNlmu)＜-2048,
DeltaSFN＝((SFNue-SFNlmu)+4096)*0.01；
When (SFNue-SFNlmu)＞2048,
DeltaSFN＝((SFNue-SFNlmu)-4096)*0.01；
When-2048＜=(SFNue-SFNlmu)＜=2048,
DeltaSFN＝(SFNue-SFNlmu)*0.01。
Wherein, the implication of above-mentioned each parameter is as shown in table 1:
| Parameter | Explanation |
| RTDlmu | Relative time between reference cell that LMU measures and the adjacent sub-district is poor, unit: chip.This parameter is obtained by the range difference that the network observed time difference deducts between LMU and reference cell and the adjacent sub-district.Wherein, the network observed time difference is directly measured by LMU; Because the position of LMU, reference cell, adjacent sub-district is all known, so the range difference between LMU and reference cell and the adjacent sub-district can be easy to obtain. |
| RTDlmuDriftRate | The network observed time difference drift rate that LMU measures.Unit: chips/sec. |
| RTDlmuQuality | The standard deviation of the network observed time difference that LMU measures.Unit: chip. |
| RTDlmuDriftRate Quality | The standard deviation of the network observed time difference drift rate that LMU measures.Unit: chips/sec. |
| SFNlmu | LMU measures reference cell system frame number (SFN) constantly, is the time stamp of LMU measurement result.Unit: system frame number. |
| SFNue | Reference cell SFN when UE measures the travelling carriage observed time difference is |
| The time stamp of UE measurement result.Unit: system frame number. | |
| RTDue | It is poor to be converted to UE measurement reference cell and the relative time between the adjacent sub-district constantly.Unit: chip. |
| RTDueQuality | Be converted to UE and measure the reference cell constantly and the standard deviation of the relative time difference between the adjacent sub-district.Unit: chip. |
| DeltaSFN | UE measures constantly and measures the time difference constantly, unit with LMU: second |
Table 1
Second step: calculate transmission time difference and standard deviation thereof between reference cell and the adjacent sub-district.Concrete computing formula is as follows:
OTDOA＝OTDOAue-RTDue，
OtdoaQuality＝OTDOAueQuality+RTDueQuality。
Wherein, the implication of above-mentioned each parameter is as shown in table 2:
| Parameter | Explanation |
| OTDOA | Transmission time difference between reference cell and the adjacent sub-district.Unit: chip |
| OTDOAue | Travelling carriage observed time difference between reference cell that UE measures and the adjacent sub-district, the relative time that has wherein comprised between reference cell and the adjacent sub-district is poor.Unit: chip |
| OTDOAueQuality | The standard deviation of the travelling carriage observed time difference between reference cell that UE measures and the adjacent sub-district.Unit: chip |
| OtdoaQuality | The standard deviation of the transmission time difference between reference cell and the adjacent sub-district.Unit: chip |
Table 2
Through above-mentioned computing, finally can obtain two value: OTDOA and OtdoaQuality, that is: transmission time difference and the standard deviation thereof between reference cell and the adjacent sub-district.
Between reference cell and each the adjacent sub-district, all need just can obtain transmission time difference and standard deviation thereof between reference cell and each the adjacent sub-district through above-mentioned computing.The unit of the standard deviation of transmission time difference is a chip.Standard deviation is more little, shows that measure error is more little, and it is good more to measure quality.
Step 302: mobile position estimation center choice criteria difference is less than the transmission time difference of predetermined standard deviation thresholding T.
The selection here is initial option, its objective is to eliminate big The noise.Because in the measurement of UE, if the signal of certain adjacent sub-district is very weak, noise be easy to cause 3 chips above than mistake.Therefore, the span of standard deviation thresholding T described here is: 3～4 chips.
Step 303: for the transmission time difference of a plurality of adjacent sub-districts that belong to a base station together, the transmission time difference of retention criteria difference minimum is selected at the mobile position estimation center, and deleting wherein, standard deviation is not minimum transmission time difference.
Above-mentioned steps 302 and 303 execution sequence are not fixed, also can first execution in step 303, and execution in step 302 again, and the selection result that obtains is identical with the selection result of order execution in step 302,303.
Step 304: the transmission time difference of 2 or 3 the bests is selected according to minimum principle of standard deviation and sub-district geometrical distribution in the mobile position estimation center from the selected transmission time difference of top step.
The general transmission time difference of 2 or 3 optimums of selecting just can obtain more accurate positioning result.Though theoretically, select a plurality of transmission time differences can obtain more accurate localization result, but in fact, if select the bigger transmission time difference of measure error again, intersectional region last between the hyperbola may be become greatly, can worsen positioning result so on the contrary.
In step 304, the method for mobile position estimation center 3 best transmission time differences of selection specifically may further comprise the steps as shown in Figure 4:
Step 401: sort to transmission time difference from small to large in proper order according to standard deviation in the mobile position estimation center.
Step 402: it is first transmission time difference that first transmission time difference after the ordering is selected at the mobile position estimation center, and the corresponding adjacent sub-district of record is adjacent sub-district F.
Step 403: the leg-of-mutton minimum interior angle ANG1 that the adjacent sub-district of the next transmission time difference correspondence of mobile position estimation center calculation and reference cell, adjacent sub-district F constitute.
Step 404: judge that whether minimum interior angle ANG1 is less than the first predetermined thresholding A1, if then execution in step 405; Otherwise execution in step 406.
According to the GDOP principle, if the geometrical relationship between several base station is bad, increase position error, so the angle between the base station greatly is the bigger the better, and preferably becomes the form of equilateral triangle.For these reasons, the span of the described first thresholding A1 is: 15～45 degree.General 20～30 degree of selecting, better such as 25 degree effects.
Step 405: this transmission time difference of deletion from the transmission time difference ranking results, and return step 403.
Step 406: it is second transmission time difference that this transmission time difference is selected at the mobile position estimation center, and the corresponding adjacent sub-district of record is adjacent sub-district S.
Step 407: calculate the leg-of-mutton minimum interior angle ANG2 that the adjacent sub-district of next transmission time difference correspondence and reference cell, adjacent sub-district F constitute, and the leg-of-mutton minimum interior angle ANG3 that constitutes with reference cell, adjacent sub-district S.
Step 408: judge that whether minimum interior angle ANG2 and minimum interior angle ANG3 are less than predetermined second threshold A2, if then execution in step 409; Otherwise execution in step 410.
Wherein, the span of the described second thresholding A2 is: 8～30 degree.General 10～20 degree of selecting, better such as 15 degree effects.
Step 409: this transmission time difference of deletion from the transmission time difference ranking results, and return step 407.
Step 410: it is the 3rd transmission time difference that this transmission time difference is selected at the mobile position estimation center.
Said process is to select three transmission time differences to position calculating, can utilize step 401 wherein～406 to select two transmission time differences to position calculating.
The present invention is described below for a specific example.
In the present embodiment, test environment is the suburb, and the base station that participates in test has 6, and each base station all disposes 3 120 degree directional cells.Position between base station A, B, C, D, E, the F concerns as shown in Figure 5, certain sub-district among the UE access base station A.Therefore, the mobile position estimation center is a reference cell with the sub-district among the base station A that travelling carriage was inserted.
At first, determine adjacent sub-district, location in the location survey request according to following condition: with the reference cell be the center, radius be within the round scope of two times of reference cell covering radiuss, and reference cell do not belong to all co-frequency cells of same base station.The definite result who locatees adjacent sub-district is: it is co-frequency cell that the sub-district that respectively has among two adjacent sub-districts, base station C, base station D, base station E, the base station F among an adjacent sub-district and the UE access base station A is arranged among the B of base station, so, select the adjacent sub-district of above-mentioned sub-district for this location.
The mobile position estimation center is a reference cell with the sub-district among the base station A that travelling carriage was inserted, by location survey, and the network observed time difference measurements result that travelling carriage observed time difference measurements result that the acquisition travelling carriage reports and Location Measurement Unit report.In conjunction with above-mentioned measurement result, the mobile position estimation center calculation obtains transmission time difference and standard deviation thereof, comprising: transmission time difference and standard deviation thereof that an adjacent sub-district is respectively arranged in the transmission time difference, base station C, base station D, base station E, base station F of two adjacent sub-districts are arranged among the B of base station.In the location of mobile station computational process below, select 3 transmission time differences, and the judgement of being done or to select all be that test, result of calculation according to actual is carried out.
The mobile position estimation center is according to the standard deviation of the transmission time difference that calculates, and whether the standard deviation of judging above-mentioned transmission time difference is less than preassigned difference thresholding.By judging, the standard deviation of the transmission time difference among the F of base station is found greater than preassigned difference thresholding in the mobile position estimation center, so, delete this transmission time difference.
Subsequently, the mobile position estimation center judges whether to belong to together the transmission time difference of a plurality of adjacent sub-districts of a base station, and keeps the wherein transmission time difference of standard deviation minimum.So the mobile position estimation center keeps the transmission time difference of standard deviation minimum among the B of base station.At this moment, the transmission time difference that all has only an adjacent sub-district among base station B, base station C, base station D, the base station E.
Sort to above-mentioned transmission time difference according to standard deviation order from small to large in the mobile position estimation center, the result of ordering is: base station B, base station C, base station E, base station D.
According to above-mentioned ranking results, it is first transmission time difference that the transmission time difference of the adjacent sub-district among the B of base station is selected at the mobile position estimation center.
Then, the transmission time difference of the adjacent sub-district among the C of base station is selected at the mobile position estimation center, and whether the minimum interior angle of judging triangle ABC is greater than predetermined first thresholding, result of calculation is that this minimum interior angle is greater than predetermined first thresholding, so the mobile position estimation center selects the transmission time difference of the adjacent sub-district among the C of base station as second transmission time difference.
Then, the transmission time difference of the adjacent sub-district among the E of base station is selected at the mobile position estimation center, and whether the minimum interior angle of judging triangle ABE and triangle ACE is all greater than predetermined second thresholding, result of calculation is that the minimum interior angle of triangle ACE is less than predetermined second thresholding, so, the transmission time difference of the adjacent sub-district of mobile position estimation center deletion base station E.
The transmission time difference of the adjacent sub-district among the D of base station is then selected at the mobile position estimation center, and whether the minimum interior angle of judging triangle ABD and triangle ACD is all greater than predetermined second thresholding, result of calculation is that these two minimum interior angles are all greater than predetermined second thresholding, so the mobile position estimation center selects the transmission time difference of the adjacent sub-district among the D of base station as the 3rd transmission time difference.
After handling by above-mentioned selection, the hyperbolic fix estimation is carried out according to the transmission time difference between the adjacent sub-district, location among the reference cell among the A of base station and base station B, base station C, the base station D in the mobile position estimation center, obtains the location estimation result of travelling carriage.
Table 3 is surveyed experimental result for the actual field of utilizing the present invention and prior art to carry out location estimation.Wherein, 67% positioning accuracy is meant: in all test results, and the position error of maximum in 67% part of position error minimum.95% positioning accuracy is meant: in all test results, and the position error of maximum in 95% part of position error minimum.In the WCDMA system, generally adopt above-mentioned two ratios to reflect the precision quality of mobile position estimation algorithm.As can be seen from Table 3, the method that the present invention taked has improved the positioning accuracy of travelling carriage from the statistical significance greatly.
| Method | 67% positioning accuracy (rice) | 95% positioning accuracy (rice) |
| The present invention | 65 | 183 |
| Prior art | 82 | 1426 |
Table 3
By above-mentioned analysis as can be seen, because the selected transmission time difference that is used for location estimation of the present invention all has comprehensive quality preferably, and the adjacent sub-district and the geometric distributions between the reference cell of selected transmission time difference correspondence are reasonable, so, can export location estimation result preferably.In addition, because the transmission time difference that participant position is estimated has only 3 at most, so the time of location-estimation algorithm and SPATIAL CALCULATION complexity will reduce greatly.
In a word, the above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a hyperbola positioning method is characterized in that, this method may further comprise the steps:
A. according to the signal cover of reference cell, be identified for the adjacent sub-district of location survey, position measurement, and, calculate the transmission time difference between reference cell and determined each adjacent sub-district according to the positioning measurement result that is obtained;
B. calculate the standard deviation of the transmission time difference between reference cell and determined each adjacent sub-district, according to the minimum principle of standard deviation select corresponding to different base station and standard deviation less than the transmission time difference of predetermined standard deviation thresholding, from the transmission time difference of selecting, further select the distribution of base station, place to meet the reference cell of geometric effect requirement and the transmission time difference between the adjacent sub-district;
C. utilize selected transmission time difference to carry out hyperbolic fix and calculate, obtain positioning result.
2. method according to claim 1, it is characterized in that, among the step a, the described method that is identified for the adjacent sub-district of location survey is: select with the reference cell be center, radius be within the scope of circle of two times of reference cell covering radiuss and do not belong to all co-frequency cells of same base station with reference cell.
3. method according to claim 1 is characterized in that, described according to the minimum principle of standard deviation select corresponding to different base station and standard deviation comprise less than the transmission time difference of predetermined standard deviation thresholding:
B11. the choice criteria difference is less than the transmission time difference of predetermined standard deviation thresholding;
B12. judge whether selected transmission time difference comprises the transmission time difference between the different adjacent sub-districts in reference cell and the same base station, if, then keep in the reference cell comprised and the same base station transmission time difference of standard deviation minimum in a plurality of transmission time differences between the different adjacent sub-districts, delete in described reference cell and the same base station that standard deviation is not minimum transmission time difference in a plurality of transmission time differences between the different adjacent sub-districts, continue to carry out described from the transmission time difference of selecting then, further select the distribution of base station, place to meet the reference cell of geometric effect requirement and the step of the transmission time difference between the adjacent sub-district, otherwise directly carry out describedly from the transmission time difference of selecting, further select the distribution of base station, place to meet the reference cell that geometric effect requires and the step of the transmission time difference between the adjacent sub-district.
4. method according to claim 1 is characterized in that, described according to the minimum principle of standard deviation select corresponding to different base station and standard deviation comprise less than the transmission time difference of predetermined standard deviation thresholding:
B21. judge and whether comprise the transmission time difference between the different adjacent sub-districts in reference cell and the same base station in the described transmission time difference, if, then keep in the reference cell comprised and the same base station transmission time difference of standard deviation minimum in a plurality of transmission time differences between the different adjacent sub-districts, delete in described reference cell and the same base station that standard deviation is not minimum transmission time difference in a plurality of transmission time differences between the different adjacent sub-districts, continue execution in step b22 then, otherwise direct execution in step b22;
B22. select the transmission time difference of standard deviation in the current transmission time difference less than predetermined standard deviation thresholding.
5. method according to claim 1 is characterized in that, the span of described predetermined standard deviation thresholding is: 3～4 chips.
6. method according to claim 1 is characterized in that, the distribution of base station, described selection place meets the reference cell of geometric effect requirement and the transmission time difference between the adjacent sub-district comprises:
B31. the transmission time difference of choice criteria difference minimum is as first transmission time difference, and the adjacent sub-district of the first transmission time difference correspondence is the first adjacent sub-district;
B32. according to transmission time difference of standard deviation selective sequential from small to large as second transmission time difference, make leg-of-mutton minimum interior angle that the adjacent sub-district of the selected second transmission time difference correspondence and reference cell, the first adjacent sub-district constitute greater than the first predetermined thresholding, the adjacent sub-district of the second transmission time difference correspondence is the second adjacent sub-district;
If select 3 transmission time differences, then continue to carry out following steps:
B33. with standard deviation greater than the transmission time difference of the standard deviation of described second transmission time difference according to standard deviation sequence arrangement from small to large, then according to transmission time difference of standard deviation selective sequential from small to large as the 3rd transmission time difference, make the leg-of-mutton minimum interior angle that the adjacent sub-district of selected the 3rd transmission time difference correspondence and reference cell, the first adjacent sub-district constitute, and the leg-of-mutton minimum interior angle of the adjacent sub-district of selected the 3rd transmission time difference correspondence and reference cell, the second adjacent sub-district formation is all greater than predetermined second threshold.
7. method according to claim 6 is characterized in that, among the step b32, the span of described predetermined first thresholding is: 15～45 degree.
8. method according to claim 6 is characterized in that, among the step b33, the span of described predetermined second threshold is: 8～30 degree.
9. method according to claim 6 is characterized in that, described step b32 further comprises: the deletion standard deviation is greater than the standard deviation of first transmission time difference and less than the transmission time difference of the standard deviation correspondence of second transmission time difference;
Correspondingly, step b33 further comprises: with standard deviation greater than the transmission time difference of the standard deviation of second transmission time difference according to standard deviation from small to large order sort, carry out then described according to transmission time difference of standard deviation selective sequential from small to large as the 3rd transmission time difference.
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| US8233911B2 (en) * | 2009-12-16 | 2012-07-31 | Nokia Corporation | Method and apparatus for estimating a position of a node in a communications network |
| CN103033793A (en) * | 2011-10-09 | 2013-04-10 | 深圳市嵘兴通信技术有限公司 | Positioning method and positioning system |
| US20140323152A1 (en) * | 2011-11-21 | 2014-10-30 | Telefonaktiebolaget L M Ericsson (Publ) | Method and apparatus for relative timing measurements |
| CN103139905B (en) * | 2011-11-29 | 2016-07-13 | 华为技术有限公司 | The method and apparatus that subscriber equipment is positioned |
| CN103090194B (en) * | 2013-01-12 | 2015-07-01 | 中核华泰建设有限公司 | Underground pipeline water leakage detection method |
| CN107005870B (en) * | 2015-04-10 | 2020-06-23 | 陕西英苑信息技术有限公司 | Method and device for reporting measurement result |
| CN104930354B (en) * | 2015-05-17 | 2017-11-14 | 沈阳建筑大学 | A kind of three-point type underground pipeline leakage detection method |
| CN112578336A (en) * | 2020-12-03 | 2021-03-30 | 广州南方卫星导航仪器有限公司 | Positioning result calibration method, device and equipment |
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