CN100512516C - Method for positioning moving platform - Google Patents

Method for positioning moving platform Download PDF

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Publication number
CN100512516C
CN100512516C CNB2006100758113A CN200610075811A CN100512516C CN 100512516 C CN100512516 C CN 100512516C CN B2006100758113 A CNB2006100758113 A CN B2006100758113A CN 200610075811 A CN200610075811 A CN 200610075811A CN 100512516 C CN100512516 C CN 100512516C
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antenna
base station
measurement data
site
confidence level
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CNB2006100758113A
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CN101047983A (en
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张志东
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华为技术有限公司
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Abstract

This invention discloses a method of mobile positioning, including: A. the network side obtains the credibility of the measurement data form different base-station antennas in the station-sites. B. According to the results, it selects the data with the highest credibility and obtains the arrival angles of mobiles in different base stations according to the data. C. According to selected measurement data, the corresponding credibility and the obtained angles, it gets the mobile location information.

Description

A kind of method of positioning mobile station

Technical field

The present invention relates to location technology, refer to especially a kind of in code division multiple access (CDMA) system, the method for positioning mobile station (MS, Mobile Station).

Background technology

Positioning service is important business in the radio honeycomb communication system, in cdma system, mobile position estimation mode commonly used has agps system (A-GPS) location, senior forward link triangle location (AFLT), enhancement mode forward link triangle location (EFLT), cell localization (Cell_ID) etc., in fact these locate modes are meant the measurement means that realizes the location desired data, after obtaining measurement data and other relevant information, also must adopt suitable method for calculating and locating to calculate, just can obtain the positional information such as the longitude and latitude of travelling carriage, highly, information such as translational speed and direction.Location Calculation can be carried out in travelling carriage, also can realize in the equipment of network side such as base station controller (BSC) or position determination entity (PDE).

In AFLT or EFLT locate mode, when measuring the propagation time, can also be by measuring pilot signal strength.Pilot signal strength is Ec/Io, the ratio of the total signal power Io that to be the detected pilot signal field intensity of travelling carriage Ec receive with travelling carriage, usually represent with logarithmic form, in the CDMA agreement, for the ease of in message, transmitting, pilot signal strength is represented with positive integer concrete expression is stipulated by related protocol.

AFLT, EFLT location technology belong to (the TOA time of advent, Time of Arrival) location technology, the TOA location is by measuring radio wave at travelling carriage and base station (BS, Base Station) propagation time between, to obtain the distance between travelling carriage and BS, estimate the position of travelling carriage again according to one group of distance value and relevant base station position, realize location travelling carriage.Acquisition TOA is measured to the travelling carriage that is in its coverage in the base station, different B S can obtain one group of TOA to same moving table measuring, according to the difference of TOA quantity, can adopt several different methods that MS is positioned, TOA quantity is many more, and is high more to the positioning accuracy of travelling carriage.

Obtain to utilize the position of multiple algorithm computation travelling carriage after one group of TOA.Such as:

1) as if the TOA that comprises among one group of TOA more than three, then common algorithm has: least square method, Taylor series method, Chen Shi algorithm are promptly asked the method for hyperbola intersection point etc., generally, can obtain unique solution by these algorithms;

2) if comprise two TOA among one group of TOA, can use two circles to intersect methods, solve two possible separating, select one of them to separate result according to base station range or out of Memory again as positioning mobile station;

3) if having only a TOA among one group of TOA, so only can not get the result according to the TOA that obtains.At this moment, if the antenna of sub-district, travelling carriage place is a directional antenna, then the circle that this TOA can be determined and antenna are towards the intersection point of the definite ray result as positioning mobile station, i.e. CELL_ID+TOA localization method.Wherein, CELL_ID is a cell localization.

Because there is bigger error in the measurement of TOA, especially EFLT locatees, and the resultant error that the above-mentioned method that positions according to TOA obtains is often very big, and many TOA location algorithm also can not have sometimes to be separated, and situation about misexplaining also may appear selecting in double T OA location.

In addition, the TOA location algorithm does not make full use of useful informations such as the orientation information of antenna and pilot signal strength, and data user rate is low, can not fully suppress the influence of various error components.

The common more complicated of many TOA location algorithm commonly used, needing to consume more processor ability is that CPU usage is very high, when network side carries out position calculation, power system capacity is had adverse effect.

Except above-mentioned TOA location, at present, also with good grounds angle of arrival degree (AOA, Angle of Arrival) is determined the arrival angle location of the position of travelling carriage.Wherein, arrive the incidence angle that angle is meant the detected mobile station signal in base station.In theory, according to two AOA can unique definite travelling carriage the position.The AOA location needs the base station to adopt the very narrow antenna of how secondary subtended angle usually, perhaps adopt smart antenna, form very narrow wave beam, could guarantee the accuracy of location like this, and cdma system adopts three sectors to cover usually or omnidirectional covers, the antenna subtended angle is very big, therefore, uses the AOA positioning mobile station can reduce the accuracy of location greatly separately.

Summary of the invention

In view of this, main purpose of the present invention is to provide a kind of method of positioning mobile station, can make full use of measurement data, simply, positioning mobile station effectively.

For achieving the above object, technical scheme of the present invention specifically is achieved in that

A kind of method of positioning mobile station, this method may further comprise the steps:

A. being provided for changing first of confidence level adjusts parameter A and second and adjusts parameter K, is used for regulating the described measurement data TOA time of advent and the pilot signal strength first proportion parameter k1 and the second proportion parameter k2 to the contribution of confidence level; Obtain the cell edge pilot signal strength; Network side obtains the confidence level of the measurement data of different base station antenna in each site:

Confidence level=A-K * (antenna for base station largest coverage distance in TOA * light velocity/described measurement data) K1* (pilot signal strength/cell edge pilot signal strength) K2

Perhaps, confidence level=A-(k1 * (antenna for base station largest coverage distance in TOA * light velocity/described measurement data)+k2 * (pilot signal strength/cell edge pilot signal strength));

B1., a threshold value with a low credibility is set, judges respectively whether resulting confidence level is lower than described threshold value with a low credibility in each site, if then abandon the measurement data of the antenna for base station of this confidence level correspondence; Otherwise the measurement data of determining the antenna for base station of this confidence level correspondence is effective measurement data;

B2. obtain the arrival angle of travelling carriage in each site respectively according to the measurement data of different base station antenna:

If travelling carriage in a site, only exists an antenna for base station to have effective measurement data, then the base station signal in as this site of the antenna for base station in the measurement data of this antenna for base station is arrived the arrival angle of travelling carriage;

Perhaps, if travelling carriage is in a site, exist a plurality of antenna for base station to have effective measurement data, then the arrival angle of described travelling carriage is: it is long-pending towards the confidence level corresponding with this antenna for base station to calculate in the measurement data of the antenna for base station that respectively has effective measurement data in this site antenna respectively, with the resulting long-pending value addition of the antenna for base station that respectively has effective measurement data, obtain first and value; Calculate the confidence level sum of the antenna for base station correspondence respectively have effective measurement data, obtain second and value; Calculate at last first and value and second with the merchant of value, with the arrival angle of gained quotient as travelling carriage;

C. according to the arrival angle of the travelling carriage of the measurement data of selecting in each site, acquisition, determine the positioning result of each site respectively; According to the positioning result of each site that obtains, obtain the positional information of described travelling carriage by weighted average.

The described method of obtaining the cell edge pilot signal strength is:

Obtain by on-the-spot drive test statistics, or from the network planning is configured in the data of network side, obtain.

The antenna for base station of described measurement data correspondence is a directional antenna; The method of determining the positioning result of each site described in the step C1 is:

With the base station location in the measurement data of this antenna for base station is initial point, on described arrival angle direction ray, is the length that the time of advent and the light velocity multiply each other and obtain apart from this antenna for base station, highly is the point of sub-district average height.

The antenna for base station of described measurement data correspondence is an omnidirectional antenna; The method of determining the positioning result of each site described in the step C1 is:

Adopt longitude and latitude in the measurement data of this antenna for base station and sub-district average height as positioning result.

The method of obtaining the positional information of travelling carriage among the step C2 is:

The confidence level of calculating the positioning result of each site antenna for base station corresponding with measurement data described in this site respectively is long-pending, with the resulting long-pending value addition in each site, obtains first location and the value; Calculate the confidence level sum of the antenna for base station of measurement data correspondence described in each site, obtain second location and the value; Calculate the merchant of first location and value and second location and value at last, with the positional information of gained quotient as travelling carriage.

As seen from the above technical solution, the present invention passes through the confidence level of the measurement data of each antenna for base station is calculated, with the site is unit, chooses measurement data with a high credibility effective measurement data as the positioning mobile station of this site, and obtains the angle of arrival of travelling carriage according to this effective measurement data; Be weighted on average by positioning result at last, obtain the positional information of travelling carriage each site.Described measurement data comprises the inherent characteristic decision of base station and antenna for base station and is configured in network side, such as the positional information of base station, antenna for base station towards etc. information; And by measuring, such as the information such as intensity of TOA, base station pilot signals.

The inventive method has made full use of various measurement data such as utilizable antenna direction, pilot signal strength in AFLT, the EFLT location technology, and the data user rate height helps reducing position error.Simultaneously, the present invention takes weighted average method, has reduced factor such as non-visual route (NLOS), multipath effect and the influence of the error that produces.Test shows, the method for positioning mobile station provided by the invention is compared with the localization method that utilizes TOA separately, and the statistics of positioning accuracy is better.

The inventive method is calculated effectively simple, and the disposal ability of having saved CPU has improved the capacity of system.

Description of drawings

Fig. 1 is the flow chart of positioning mobile station of the present invention.

Embodiment

Core concept of the present invention is: network side obtains the confidence level of the measurement data of different base station antenna in each site; According to the confidence level that obtains, in each site, select the measurement data of the highest antenna for base station of confidence level respectively, and obtain the arrival angle of travelling carriage in each site according to the measurement data of different base station antenna respectively; According to the confidence level of the measurement data of selecting in each site, selected measurement data correspondence and the arrival angle of acquisition, obtain the positional information of travelling carriage.

For making purpose of the present invention, technical scheme and advantage clearer, below with reference to the accompanying drawing preferred embodiment that develops simultaneously, the present invention is described in more detail.

Fig. 1 is the flow chart of positioning mobile station of the present invention, may further comprise the steps:

Step 100: network side obtains the confidence level of the measurement data of different base station antenna in each site.

Same base station, or distance is very near as 50 meters regional extents forming with interior different base station antenna are called same site.

The measurement data of different base station antenna comprises: the wireless signal TOA between travelling carriage and the antenna for base station, travelling carriage receive and report the type of the positional information of base station pilot signals intensity, base station of network side such as longitude and latitude and height, antenna for base station such as orientation or omnidirectional, antenna for base station towards the largest coverage distance/sub-district average height of, antenna for base station etc.In the measurement data of antenna for base station, some are inherent characteristic decisions of base station and antenna for base station and are configured in network side, such as the positional information of base station, antenna for base station towards etc.; Some are by measuring, such as intensity of TOA, base station pilot signals etc., among the present invention, these data are referred to as the measurement data of antenna for base station, obtaining with the present invention of the measurement data of antenna for base station is irrelevant, can obtain by existing various method of measurement,, suppose that network side has obtained the measurement data of antenna for base station required for the present invention here.

The signal of different base station antenna arrives propagation distance, the propagation path difference of travelling carriage, and therefore, the error that is produced by factor such as NLOS effect, multipath effect is also different, so also different corresponding to the confidence level of the measurement data of different base station antenna.The method of confidence level of obtaining the measurement data of different base station antenna is:

Confidence level=A-K * (TOA * light velocity/antenna for base station largest coverage distance) K1* (pilot signal strength/cell edge pilot signal strength) K2

Perhaps,

Confidence level=A-(k1 * (TOA * light velocity/antenna for base station largest coverage distance)+k2 * (pilot signal strength/cell edge pilot signal strength)).

In above-mentioned two kinds of methods of obtaining confidence level, first adjusts that parameter A, second is adjusted parameter K, the first proportion parameter k1, the second proportion parameter k2 are constants.Wherein, adjust parameter A, K and be used for confidence level is converted to and be convenient to the numerical value understanding and uses, such as the adjustment by A, K, the value of the feasible confidence level that calculates increases along with the increase of confidence level, can be 100 or 1.0 such as the highest; Proportion parameter k1, k2 are used to regulate the contribution to confidence level of TOA and pilot signal strength, be the numerical value between 0~1, such as if the TOA that measures is more credible than pilot signal strength, k1 then is set greater than k2, promptly TOA proportion that the influence of confidence level is accounted for is greater than pilot signal strength.In order to obtain proportion parameter k1, k2, can be by in actual environment, the travelling carriage of known location being carried out repeatedly location survey, adopt different predefined proportion parameter k1, k2, adopt method of the present invention to position calculating, result of calculation and known location are compared, when statistical error satisfies default error requirements, think that the proportion parameter is more reasonable, thereby determine the proportion parameter.

The pilot signal strength here represents with positive number that according to method used in the CDMA agreement numerical value is big more, and the expression signal strength signal intensity is weak more; Numerical value is more little, and then signal is strong more.The cell edge pilot signal strength is the pilot signal quality of the cell edge that counts according to on-the-spot drive test, is configured in the time of also can be from the network planning the data of network side to obtain.Wherein, on-the-spot drive test statistics is a prior art, and operator plans the signal quality of cell edge in advance when building mobile communications network.So-called drive test, be meant that network is built up after, the staff drives a car the on the way network coverage and measures everywhere, checks everywhere network coverage quality and record.

Among the present invention, the different base station antenna in the same site is meant the different base station antenna of same base station, or distance is very near as between antenna for base station apart 50 meters with interior different base station antenna.

Step 101: according to the confidence level that obtains, in each site, select the measurement data of the highest antenna for base station of confidence level respectively, and obtain the arrival angle of travelling carriage in each site according to the measurement data of different base station respectively.

Different base station antenna for same site, select a highest antenna of confidence level respectively, with measurement data such as the TOA of this antenna correspondence, antenna height, aerial positions, location survey data as this site are used for the location, need to prove that these location survey data also belong to the effective measurement data that is used to calculate AOA simultaneously; And for other antenna for base station of this site, if confidence level is very low, such as a threshold value with a low credibility is set, abandon being lower than the measurement data of antenna for base station of the confidence level correspondence of this threshold value with a low credibility, the measurement data of antenna for base station of confidence level correspondence that will be higher than this threshold value with a low credibility is used for calculating the AOA of this site travelling carriage as effective measurement data;

If the confidence level of the measurement data of all antenna for base station of certain site is all very low, such as all being lower than threshold value with a low credibility, then the measurement data of whole antenna for base station of this site all can be abandoned need not.

In this step, the method that each site obtains the arrival angle of travelling carriage is:

If travelling carriage is in certain site, have only an antenna for base station to have effective measurement data, so, with this antenna for base station towards the AOA that arrives travelling carriage as base station signal.

If travelling carriage is in certain site, exist a plurality of antenna for base station to have effective measurement data, then obtain the AOA of travelling carriage in accordance with the following methods: it is long-pending towards the confidence level corresponding with this antenna for base station to calculate in the measurement data of the antenna for base station that respectively has effective measurement data in this site antenna respectively, with the resulting long-pending value addition of the antenna for base station that respectively has effective measurement data, obtain first and value; Calculate the confidence level sum of the antenna for base station correspondence respectively have effective measurement data, obtain second and value; Calculate at last first and value and second with the merchant of value, the gained quotient is the arrival angle of travelling carriage.Formula is as follows:

Wherein, ∑ is represented summation operation, and N represents to have the number of the antenna for base station of effective measurement data, the confidence level of i antenna for base station iWith its antenna towards iCorresponding.

Step 102:, obtain the positional information of travelling carriage according to the confidence level of the measurement data of the highest antenna for base station correspondence of the confidence level of selecting in each site, selected measurement data correspondence and the arrival angle of acquisition.

According to the TOA in the location survey data of each site that obtains previously, the AOA that calculates, utilize the location survey data of each site to be respectively each site and calculate a positioning result, Calculation Method can adopt the whole bag of tricks of the prior art, such as:

1) if the antenna for base station of this site is a directional antenna, then position according to base station location, TOA, AOA, positioning result is: along with the base station location being point on the AOA direction ray of initial point, this point is the distance that the TOA and the light velocity multiply each other and obtain apart from the distance of antenna for base station, highly is the sub-district average height.

2), then can adopt the longitude and latitude of this site and sub-district average height as positioning result if the antenna for base station of this site is an omnidirectional antenna.

At last, according to the positioning result of each site that obtains, by obtaining the positional information of travelling carriage after the weighted average, the weight in the weighted average is exactly each confidence level that participates in the antenna for base station correspondence of calculating.Concrete grammar is: the confidence level of calculating the positioning result of each site antenna for base station corresponding with measurement data described in this site respectively is long-pending, with the resulting long-pending value addition in each site, obtains first location and the value; Calculate the confidence level sum of the antenna for base station of measurement data correspondence described in each site, obtain second location and the value; Calculate the merchant of first location and value and second location and value at last, the gained quotient is the positional information of travelling carriage, and computing formula is as follows:

Wherein, M represents the number of the site that participates in calculating, the confidence level of the antenna for base station in j site jWith its positioning result jCorresponding.

The positional information of travelling carriage can be longitude information, latitude information and elevation information etc., and computing formula is as follows respectively:

Need to prove that the positioning result that each site is tackled in above-mentioned weighted sum carries out.

The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention, all any modifications of being made within the spirit and principles in the present invention, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (5)

1. the method for a positioning mobile station is characterized in that, this method may further comprise the steps:
A. being provided for changing first of confidence level adjusts parameter A and second and adjusts parameter K, is used for regulating the described measurement data TOA time of advent and the pilot signal strength first proportion parameter k1 and the second proportion parameter k2 to the contribution of confidence level; Obtain the cell edge pilot signal strength; Network side obtains the confidence level of the measurement data of different base station antenna in each site:
Confidence level=A-K * (antenna for base station largest coverage distance in TOA * light velocity/described measurement data) K1* (pilot signal strength/cell edge pilot signal strength) K2
Perhaps, confidence level=A-(k1 * (antenna for base station largest coverage distance in TOA * light velocity/described measurement data)+k2 * (pilot signal strength/cell edge pilot signal strength));
B1., a threshold value with a low credibility is set, judges respectively whether resulting confidence level is lower than described threshold value with a low credibility in each site, if then abandon the measurement data of the antenna for base station of this confidence level correspondence; Otherwise the measurement data of determining the antenna for base station of this confidence level correspondence is effective measurement data;
B2. obtain the arrival angle of travelling carriage in each site respectively according to the measurement data of different base station antenna:
If travelling carriage in a site, only exists an antenna for base station to have effective measurement data, then the base station signal in as this site of the antenna for base station in the measurement data of this antenna for base station is arrived the arrival angle of travelling carriage;
Perhaps, if travelling carriage is in a site, exist a plurality of antenna for base station to have effective measurement data, then the arrival angle of described travelling carriage is: it is long-pending towards the confidence level corresponding with this antenna for base station to calculate in the measurement data of the antenna for base station that respectively has effective measurement data in this site antenna respectively, with the resulting long-pending value addition of the antenna for base station that respectively has effective measurement data, obtain first and value; Calculate the confidence level sum of the antenna for base station correspondence respectively have effective measurement data, obtain second and value; Calculate at last first and value and second with the merchant of value, with the arrival angle of gained quotient as travelling carriage;
C. according to the arrival angle of the travelling carriage of the measurement data of selecting in each site, acquisition, determine the positioning result of each site respectively; According to the positioning result of each site that obtains, obtain the positional information of described travelling carriage by weighted average.
2. method according to claim 1 is characterized in that, the described method of obtaining the cell edge pilot signal strength is:
Obtain by on-the-spot drive test statistics, or from the network planning is configured in the data of network side, obtain.
3. method according to claim 1 is characterized in that the antenna for base station of described measurement data correspondence is a directional antenna; The method of determining the positioning result of each site described in the step C is:
With the base station location in the measurement data of this antenna for base station is initial point, on described arrival angle direction ray, is the length that the time of advent and the light velocity multiply each other and obtain apart from this antenna for base station, highly is the point of sub-district average height.
4. method according to claim 1 is characterized in that the antenna for base station of described measurement data correspondence is an omnidirectional antenna; The method of determining the positioning result of each site described in the step C is:
Adopt longitude and latitude in the measurement data of this antenna for base station and sub-district average height as positioning result.
5. according to claim 1,3 or 4 described methods, it is characterized in that the method for obtaining the positional information of travelling carriage among the step C is:
The confidence level of calculating the positioning result of each site antenna for base station corresponding with measurement data described in this site respectively is long-pending, with the resulting long-pending value addition in each site, obtains first location and the value; Calculate the confidence level sum of the antenna for base station of measurement data correspondence described in each site, obtain second location and the value; Calculate the merchant of first location and value and second location and value at last, with the positional information of gained quotient as travelling carriage.
CNB2006100758113A 2006-04-18 2006-04-18 Method for positioning moving platform CN100512516C (en)

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CN101437286B (en) * 2007-11-15 2010-09-01 展讯通信(上海)有限公司 Network interface message, method and system for wireless localization of localization multiple base stations united arrive angle
EP2161783A1 (en) * 2008-09-04 2010-03-10 Alcatel Lucent Method for multi-antenna signal processing at an antenna element arrangement, corresponding transceiver and corresponding antenna element arrangement
CN101990298B (en) * 2009-08-06 2014-02-05 电信科学技术研究院 Terminal positioning method, system and device
CN102026265B (en) * 2009-09-09 2014-04-16 电信科学技术研究院 Method, system and device for reporting measured quantity
CN102036253B (en) * 2009-09-30 2013-07-17 中国移动通信集团浙江有限公司 Method and device for estimating interference probability between base stations
CN103249138B (en) * 2012-02-03 2016-06-15 中国电信股份有限公司 Localization method and device
CN103002502A (en) * 2012-12-04 2013-03-27 广州瀚信通信科技股份有限公司 Positioning method and system in code division multiple access (CDMA) based on measurement report (MR)
EP2984882A4 (en) * 2013-04-12 2016-11-09 Hewlett Packard Entpr Dev Lp Location determination of a mobile device
CN104125636B (en) * 2013-04-27 2017-09-15 中国移动通信集团公司 A kind of base station positioning method and device
CN104125639A (en) * 2014-07-21 2014-10-29 醴陵恒茂电子科技有限公司 Wireless positioning method and device
CN104780529A (en) * 2014-07-24 2015-07-15 上海特金信息科技有限公司 Design for pseudo base station real-time protection system
CN106054166B (en) * 2016-06-15 2018-09-11 广州高新兴机器人有限公司 A kind of system and method that Moving objects location is realized based on array antenna
CN106908756B (en) * 2017-03-01 2019-09-06 北京邮电大学 A kind of Positioning System Error method of discrimination and device
CN107484135B (en) * 2017-07-14 2020-06-09 惠州Tcl移动通信有限公司 Intelligent terminal for indoor positioning and positioning method thereof
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