CN100578253C - The location of radio transmitting apparatus and search index - Google Patents
The location of radio transmitting apparatus and search index Download PDFInfo
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- CN100578253C CN100578253C CN200410050155A CN200410050155A CN100578253C CN 100578253 C CN100578253 C CN 100578253C CN 200410050155 A CN200410050155 A CN 200410050155A CN 200410050155 A CN200410050155 A CN 200410050155A CN 100578253 C CN100578253 C CN 100578253C
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Abstract
The present invention discloses the orientation that a kind of use " traverse measurement station " and " with reference to guided ware " are determined radio transmitting apparatus, and guiding search personnel or " searching machine people " implement the method and system of search to this device.The traverse measurement station is installed on the mobile platform, for example is installed in police car, on ambulance or the fire engine, or hand-held by the user.With reference to guided ware is a hand-held instrument, comprises that a display screen is used for display orientation and guidance information, also comprises one with reference to transmitter.Described radio transmitting apparatus can be mobile phone handsets, wireless Palm Pilots, wireless lebal etc.The robot that searching machine artificial is equipped with reference to transmitter.
Description
Technical field
The present invention relates to radio system.Particularly, the present invention relates to the location of radio transmitting apparatus and the method and system of search index.
Background technology
Radio transmitting apparatus comprises cellular mobile telephone, PCS Personal Communications System, wireless phone and satellite phone, palm PC with radio communication or emission function, notebook computer, two-way pagers, wireless lebal or the like is referred to as radio transmitting apparatus to all these class devices.
Determine the orientation of radio transmitting apparatus, it implemented tracking have important practical value that its demand grows with each passing day with search.The application of this respect comprises:
Emergency relief
Emergency relief comprises robber and police, fire alarm, first aid etc.E911 is a comparatively noticeable emergency relief business.FCC (FCC) forces all wireless communication operators that this business must be provided.The 911st, the general emergency relief telephone number of North America comprises robber and police, fire alarm, and first aids etc. are similar to the function of 119,110 and 120, three numbers of China.When using calling 911s such as mobile phone as the user, the E911 business is answered the orientation that station (PSAP) provides mobile phone automatically to public safety, makes emergency relief vehicle (police car, ambulance, fire engine) accurately send the site of an accident to.Weigh the possibility that required precision and current techniques are implemented, the bearing accuracy that FCC requires to reach is: based on the location technology of mobile phone, should reach 50 meters precision with at least 67% probability; Probability with at least 95% reaches 150 meters precision.Based on network location technology should reach 100 meters precision with at least 67% probability; Probability with at least 95% reaches 300 meters precision.Similar E112 business is also being carried out by European Union.
The track of offender
Follow the tracks of and find the criminal who uses radio transmitting apparatus such as mobile phone; Prevent to use radio transmitting apparatus such as mobile phone to implement harassing and wrecking, swindle, threaten, criminal activity such as extort.
Mobile phone is usurped in tracking
Other people phone number is illegally usurped in prevention in real time, can effectively reduce operator's loss, has actual commercial value in some countries and regions.
Stolen goods and materials are given for change
Adhere to high price goods and materials (vehicle, historical relic, jewelry or the like) on radio transmitting apparatus, as wireless lebal, can make tracker give goods and materials for change.
Targeted surveillance and tracking
The radio transmitting apparatus that is attached on the tracked target can make the effective supervision of positioning system and follow the tracks of as children, patient, wild beast, bails out or prisoner, control goods and materials and equipment (for example nuclear material, radioactive material, toxic articles jar) etc.
Radio positioning system faces various technical barriers for different application.At any time and place, realize that with low cost high-precision location is the technical barrier of many position application under the topographic condition.With conventional E911 business is example, and prior art mainly is divided into two classes, promptly based on network technology and based on the technology of mobile phone.Based on network prior art, its bearing accuracy is very responsive to the number and the geographical geometric position between the target relative measurement station of multipath transmisstion, effective measuring station.Use the prior art based on mobile phone of Global Positioning System (GPS) (GPS), between the building of business district, bearing accuracy is worsened, and can't implement the location the old-fashioned mobile phone that the user has bought with indoor meeting.For all reaching accuracy requirement under all landform of professional areal coverage, the cost of existing location technology will be higher than the level that operator and personal user can bear far away.Moreover, existing E911 technology can't solve the technical barrier that accurately finds target spot guiding search personnel.
Summary of the invention
The present invention provides the device (hereinafter being called " radio target ") to transmitted radio signal to implement the location by embodiment, and guiding search personnel (or searching machine people) near and arrive the method and system of radio target.
An aspect, the present invention uses the system that comprises one or more measuring stations, wherein have at least a measuring station to be installed in (hereinafter referred to as " traverse measurement station ") on the movable fixture, for example, be installed on police car, ambulance, fire engine, helicopter, balloon, dirigible, ship or the motorboat, or by the operator pickaback or hand-held, or the like.Traverse measurement station or isolated operation are perhaps with other measuring station and traverse measurement station cooperation.It in the way of sailing towards the radio target, or in the searching moving of radio target proximity continuous repeated measurement radio target direction.Described method and system has made full use of the advantage that bring for the relative motion and the low coverage of radio target at the traverse measurement station.
Another aspect, the present invention uses and comprises one or more hand-held instruments system of (hereinafter claiming " guided ware ").Guided ware is carried by the reseaching staff, is used for finding and arriving spot guiding search personnel the accurate position of radio target.
Another aspect, the present invention uses the system that comprises one or more " with reference to transmitters ".Carried by the reseaching staff with reference to transmitter, the signal of its emission has similar propagation characteristic to the signal of radio target emission.The radio target direction is not only measured at traverse measurement mentioned above station (and measuring station), also measures the orientation with reference to transmitter simultaneously, and provides with reference to the relative orientation information of transmitter for the radio target.Native system has made full use of radio echo signal and the advantage of bringing with reference to the similarity of transmitter signal, according to both relative (and progressive identical) orientation, and the real-time feedback of utilizing relative orientation that searching moving causes to change, realize accurately location and search index.Obviously, it also can make the searching machine people and the collaborative work of traverse measurement station of being equipped with reference to transmitter, finishes search mission.
A device can be merged into reference to transmitter and guided ware described in the present invention in another aspect, and this seed ginseng is according to be incorporated in hereinafter referred to as " with reference to the guided ware " of transmitter and guided ware.
Principal character of the present invention comprises mobile search and running fix, relative measurement, in the close-in measurement in some stage, and the as required transfer of positioning equipment in service area of limited quantity etc.Use method and system provided by the present invention, can realize search index and accurate location at lower cost the radio target.
Others of the present invention are hereinafter in the detailed description to embodiment, and obtain further instruction and embodiment in claims.
Description of drawings
For clearly demonstrating search localization method of the present invention and process, provide following accompanying drawing.Description by to search location embodiment among the figure will make the professional and technical personnel understand easily and enforcement the present invention.
Fig. 1 is example with mobile phone as the radio target, is depicted in positioning system and correlation method under the vehicle-mounted pattern.
Fig. 2 is with a city architectural environment of fabricating, and describes multipath transmisstion effect and direct wave and stopped influence to the traverse measurement station.
Fig. 3 disseminates environment with a multipath of fabricating, and whether in order to definite separately detected the earliest arrive route of transmission be real direct wave, or the real method that arrives the route of transmission the earliest if describing a kind of.
Fig. 4 is example with mobile phone as the radio target, is depicted in positioning system and correlation method under " from car " pattern.
Fig. 5 describes the radio target that display screen shows with exemplary forms, with reference to the two-dimentional absolute position and the relative position at guided ware and traverse measurement station, and superimposed with it this area map and the remote sensing photo that is pre-stored in the system.
Fig. 6 is example with mobile phone as the radio target, describes when base station transmitter is equipped with at the traverse measurement station, at vehicle-mounted pattern and positioning system and correlation method under the car pattern.
Fig. 7 is example with mobile phone as the radio target, is depicted in positioning system and correlation method under the three dimensional pattern.
Fig. 8 illustrates the preferred embodiment block scheme at traverse measurement station among the present invention.
Fig. 9 illustrates among the present invention the preferred embodiment block scheme with reference to guided ware.
Annotate: among above each figure, similar each other functional unit has used identical label, so that recognition.
Embodiment
Before illustrating embodiment, do 2 statements:
1) in the following description, often uses the example of cellular mobile phone mobile phone as the radio target.But this never be should be understood to: the radio target in the inventive method and the system only limits to mobile phone.In fact, depend on the function of radio target, the radio target may be the cellular mobile phone mobile phone, also may be the PCS Personal Communications System mobile phone, wireless phone, satellite communication phone, palm PC with radio communication or emission function, notebook computer, two-way pagers, the data message machine, the cellular mobile phone of tool data message ability, wireless the Internet equipment, data communications equipment (possessing or do not possess telephony feature), wireless lebal, or the like.The present invention does not have any restriction to this.
2) for ease of describing, the normal in the following detailed description emergency relief business with similar E911 is an example.But the application of the inventive method and system never is limited to emergency relief business such as E911.
Below will be one by one in conjunction with the accompanying drawings, and the detailed description by embodiment among the figure, the present invention is described.
Now be depicted in positioning system and correlation method under the vehicle-mounted pattern in conjunction with Fig. 1.In Fig. 1, radio target 10 is radio transmitting apparatus, and its orientation has to be determined, and it is implemented search.Here, the mobile phone of this radio goal hypothesis for communicating by letter with base station 20A by wireless path 40A.(for example when radio target be one when being in the CDMA emitter of soft changing state) in some cases, radio target 10 also may be simultaneously and other base station communication, for example shown in the figure, communicate by letter with base station 20B by wireless path 40B.Radio target 10 is just in transmitted radio signal, for example, after dialing 120 ambulance calls with first-aid centre's (not drawing among the figure) person of answering speech; Stay quietly on line after perhaps connecting 120 phones; After perhaps connecting 120 phones and on-hook, receive the phone that 120 persons of answering are returned again; Perhaps its mobile phone traffic signaling that is positioned is brought certain into for the specially designed business model of positioning service, launches certain signal specific, for example, and transmit steering (Pilot) signal.After receiving 120 phones, 120 persons of answering can obtain the general orientation of this mobile phone by classical pathway.For example, pass through oral conversation; Or utilization is similar to the technology of " phase one E911 ", the orientation of the base station 20A that will communicate with radio target 10 is as the general orientation of radio target 10, automatically pass past 120 first-aid centres and shown that the propagation delay of path 40A also can be used as additional information by network signal; Or utilize the technology of existing being similar to " subordinate phase E911 ", with the longitude and latitude of its (still have than mistake) radio target 10 that measures general orientation as radio target 10.In the drawings, the above-mentioned general orientation that comprises the radio target 10 of statistical error is 60 by demarcation.Be equipped with the emergency relief vehicle 30A at traverse measurement station, 30B, for example police car, ambulance, fire engine are sent to above-mentioned general orientation by the emergency call center of answering.The professional and technical personnel knows, the signal parameter and the characteristic of 10 emissions of radio target, can be from the database that is installed on the center of answering or links with the center of answering, from the cordless communication network that links with the center of answering, and from the wave point of wireless communication networks, offer traverse measurement station 30A, 30B.These signal parameters and characteristic can comprise transmission frequency, telephone number, Electronic Serial Number (ESN), when the radio target works in TDMA (time division multiple access (TDMA)) mode, its transmission time slot position, when the radio target works in CDMA (CDMA) or DSSS (direct sequence spread spectrum) mode, its spreading code parameter, when the radio target works in the frequency hopping mode, its frequency parameter etc.Use these parameters and characteristic, traverse measurement station 30A, the receiver of 30B can attempt to catch and receive the signal 50A of radio target 10 emissions, 50B in sailing for the way of target area.As shown in FIG., the traverse measurement station on the way (for example the moving from position 30A ' to position 30A) can adopt a lot to incoming signal 50A ' for example, the measurement of 50A.When whenever doing one-shot measurement, the accurate orientation of traverse measurement station 30A itself and moving direction also can adopt such as the GPS that is installed on the traverse measurement station (global positioning satellite system) receiver to be determined.These are on the way at difference moment diverse location 30A ', the incoming signal 50A ' that 30A records for many times, the parameter of 50A, reach accurate orientation and the moving direction of determined traverse measurement station 30A on corresponding point, can be transformed to the input data of suitable location estimation algorithm, use those and be used for separating the orientation that the simultaneously-measured location algorithm of a plurality of measuring stations solves radio target 10 originally.Like this, traverse measurement station 30A constantly carries out new measurement on the way, thereby constantly improves the estimation to radio target 10 orientation.The professional and technical personnel is understood that, in existing based on network method, can receive from radio target 10 send signal measuring station (usually with same place, base station) number usually very little, the near city of outer suburbs and part especially; The geometric relationship of the relative radio target 10 of these measuring stations usually runs into the situation that is unfavorable for bearing accuracy, for example almost point-blank, or the like; In the city of building dense, to direct wave stop and the multipath transmisstion effect usually makes and adopts the method at based on network fixation measuring station to make unacceptable excessive positioning error.When using the traverse measurement station, each measurement point is equivalent to a measuring station, and measurement point number on the way can be hundreds and thousands of, and this just is equivalent in classic method, has built hundreds and thousands of measuring stations on the way.Wherein disadvantageous measurement result can be removed or give lower weighting.Disadvantageous measurement point comprises the point that those have lower signal to noise ratio (S/N ratio) or signal-to-noise ratio; Those direct waves or arrive the earliest that incident wave is lost or weak excessively point; Those are in the point that is unfavorable for the geometric relationship of locating with respect to the radio target location that tentatively records.Above-mentioned removal or the processing procedure of hanging down weighting are the processes of a progression, that is, if current do not have better measurement result to obtain, one relatively preferably measurement result will be used.But in case enough better measurement results have been arranged, those past attempts keep at that time " good " and now unsatisfactory measurement result can in the location estimation algorithm, remove or reduce weighting.This renewal process constantly repeats.This area the professional all be familiar with, and can use SNR estimator or signal-to-noise ratio estimator to realize to the detection of signal to noise ratio (S/N ratio) or signal-to-noise ratio.In a single measurement, detect the route of transmission of later arrival and can use channel impulse response estimator to realize that this is also understood by the professional.In case the route of transmission of these later arrival is detected, it can be removed from the location estimation process.With respect to the unfavorable geometric relationship of the radio target that tentatively records, can (GDOP) measure with " geometric position dilution ", also using of this notion known by the professional, need not further explanation.Whether a kind of travel path that arrives the earliest that is used for determining recording separately is that real direct wave or the real method that arrives travel path the earliest will be described further in conjunction with Fig. 3 hereinafter.In fact, the movability at traverse measurement station also can be used for by the tracing process to incident wave, corrects because the measurement mistake that direct wave is blocked and multipath effect caused.Also will be set forth below this point by Fig. 2.
Existing this city architectural environment of fabricating by Fig. 2 is described multipath transmisstion effect and direct wave and is stopped influence to the traverse measurement station.The 30A position is sailed for from 30A ' position along the street in traverse measurement station 30 among the figure.When it during in 30A ' position, direct wave 50A from radio target 10 " ' be subjected to building B and stop; but traverse measurement station 30 can receive from radio target 10 and through the electric wave 50A ' of building D reflection; the radio target can be assert thus in building D direction in traverse measurement station 30, and " mistake " guided vehicle drive towards building D.When the position 30A before the arrival building D, traverse measurement station 30 has just obtained the visual field of similar building D, and therefore traverse measurement station 30 begins " to see " to direct wave 50A.30 meetings of traverse measurement station " recognize " that wave beam 50A is stronger, arrive more early, and be the wave beam of a more worth tracking, so guiding traverse measurement station 30 place vehicles sail for the real place building C of radio target 10.We see, be installed in traverse measurement station 30 on the vehicle if not employing, but adopt the fixation measuring station (not drawing among the figure) that is installed in same place with the base station, if this fixation measuring station " seeing " is to the wave beam of arrival the earliest through reflection from building D, then can guide to building D to the emergency relief vehicle mistakenly, bring great risk for calling for help person.
Now disseminate environment, describe a kind of in order to determine whether the detected route of transmission that arrives the earliest is real direct wave or the real method that arrives the route of transmission the earliest separately by this multipath of fabricating of Fig. 3.Traverse measurement station 30 among the figure is on the way at 30A, 30A ', 30A " station acquisition is from the signal of radio target 10.Surrounding buildings A, B, C, D formation are transmitted to stopping of traverse measurement station 30 and reflect landforms from radio target 10 signal.At the 30A place, traverse measurement station 30 can detect the travel path 50A through building C reflection
1, but direct wave 50A
2Because of a little less than building A stops too, detect less than.Therefore, though 50A
1Compare 50A
2Arrive evening, at 30A place, 50A
1Still be detected as the wave beam of arrival the earliest at this place.When traverse measurement station 30 arrives 30A ' position, rectilinear propagation path 50A '
3Still stopped and excessively, can't detect by building A.Yet traverse measurement station 30 but can detect respectively the wave beam 50A ' through building C and B reflection
1And 50A '
2At 50A '
1And 50A '
2Between, by the means of difference multipath, 50A ' can be determined in traverse measurement station 30
2Arrival is than 50A '
1Early.Therefore, 50A '
1Be confirmed as not being arriving approach the earliest, and 50A '
2Be by the arrival approach of determining separately the earliest in this 30A ' position.50A ' whether
2Be real arrival approach the earliest, only also can't finally determine with the independent measurement of locating any at 30A '.We attempt to come jointly to determine with the measurement of 2 of 30A and 30A ' now, and they are the detected approach 50A that arrives the earliest separately separately
1And 50A '
2Whether be real arrival approach the earliest, that is, and direct wave.Its method is, measures at 2 30A and 30A ' and goes up the poor of the detected separately propagation delay that arrives approach the earliest, and determine distance between 2 30A and 30A '.If the difference that postpones divided by the light velocity, so, in the middle of two travel paths, can be confirmed as not being real direct wave or real arrival approach the earliest than the long delay person greater than the difference of distance.If the difference that postpones is not more than the difference of distance divided by the light velocity, so, two travel paths can not determine still whether they are real direct wave or real arrival approach the earliest.Example among the figure, if radio target 10 to building C again to the propagation delay of 30A be longer than radio target 10 to building B again to the propagation delay of 30A ', and difference greater than 30A to the distance of 30A ' divided by the light velocity, so, the detected approach 50A that arrives the earliest separately
1Not real direct wave or real arrival approach the earliest; If the former postpones to be shorter than the latter and postpones, and difference greater than 30A to the distance of 30A ' divided by the light velocity, so, the detected approach 50A ' that arrives the earliest separately
2Not real direct wave or real arrival approach the earliest; Otherwise, when above-mentioned both all be false, only according to the joint-detection of 2 of 30A and 30A ', still can't determine 50A
1And 50A '
2Whether be real arrival approach the earliest or direct wave.When traverse measurement station 30 arrives 30A " during the position; we can see in Fig. 3; direct wave 50A can " be observed " at traverse measurement station 30 ", but traverse measurement station 30 itself and do not know this fact, it still need adopt the above-mentioned independent detection method with associating to determine it.With uniting definite method, 50A will be measured in traverse measurement station 30 " and 50A '
2The delay of two approach is poor, determines 30A ' and 30A " distance, and use rule mentioned above whether to verify 50A " and 50A '
2Any one can be confirmed as not being direct wave or arrive approach the earliest in two approach.If about 50A " and 50A '
2this time judge still be uncertain, can be further to 30A " with 30A its corresponding delay difference of 2 uses and apart from and rule mentioned above judge.Along with traverse measurement station 30 continue move ahead, new measurement point constantly obtains, and can be repeatedly the corresponding propagation delay differences and the respective distances of the point-to-point transmission of their combination in any be carried out above-mentioned judgement.
Get back to Fig. 1 now another available embodiment is described.If use a plurality of traverse measurements station, so, between a plurality of traverse measurements station, for example be designated as among the figure between 30A and the 30B traverse measurement station, can intercom mutually by direct or indirect radio path (not shown), with they measure separately about signal 50A from radio target 10, the parameter of 50B is passed to the other side 30A, 30B mutually.A plurality of traverse measurements station 30A, the parameter combinations that 30B records is separated the orientation of radio target 10 together, to arrive higher precision and reliability.
Still referring to Fig. 1, as another available embodiment, we are employed one or more traverse measurements station 30A, 30B and then by Wireless/wired communication channel (not shown) and fixation measuring station 70A, 70B intercoms mutually, share that they record about the signal 40A from radio target 10,40B, 50A, the parameter of 50B.Common fixation measuring station 70A, 70B and base station 20A, 20B is installed on same place.With traverse measurement station 30A, 30B and fixation measuring station 70A, 70B records the orientation that parameter combinations goes to separate radio target 10 together, further to reach high precision and high reliability.
Now suppose mobile phone as the radio target, be described in positioning system and correlation method under " from car " pattern in conjunction with the example of Fig. 4.Adopt said system and method, perhaps adopt other any System and method for, perhaps mix and adopt these System and method fors, at spot (a certain local zonule or the geomorphological structure of determining radio target 10 places, building for example) afterwards, the vehicle that is equipped with traverse measurement station 30A stops near the spot.Be equipped with reference to guided ware 100A, the rescue personnel of 100B walks out from the 30A car, attempts near radio target 10.At reference guided ware 100A, among the 100B with reference to transmitter (hereinafter will further specify) in conjunction with Fig. 9 by wireless path 110A, 110B sets up electric wave with same base station 20A for 10 services of radio target and communicates by letter.With reference to guided ware 100A, this electric wave communication 110A that 100B sets up, 110B communicates by letter through the electric wave of path 40A with radio target 10 and has identical mode of operation.For example, if the electric wave communication that radio target 10 is set up is the CDMA pattern, then with reference to guided ware 100A, the electric wave communication that 100B sets up also is the CDMA pattern; If the electric wave communication that radio target 10 is set up is the GSM pattern, then with reference to guided ware 100A, the electric wave communication that 100B sets up also is the GSM pattern, or the like.If possible, with reference to guided ware 100A, the electric wave communication 110A that 100B sets up, the 110B 40A that preferably communicates by letter with the electric wave of radio target 10 foundation is in same frequency and (for example, is preferably in based on the electric wave communication of TDMA and occupies another time slot on the same frequency; Be preferably in based on the electric wave communication of CDMA and occupy another spreading code on the same frequency).If this can not accomplish (for example based on FDMA electric wave communication), preferably use one with the more approaching frequency of path 40A institute frequency of utilization.The frequency that this is identical or close, perhaps more generally, the same or similar property of the radio characteristic of affiliated signal, to make radio target 10 and with reference to guided ware 100A, the radio wave propagation characteristic of the wireless path of 100B is very similar, and at reference guided ware 100A, 100B is progressive identical during near radio target 10.According to guided ware 100A, wireless path 120A shown in the 100B emitted radio signal warp, 120B, 120C, the also measured station of 120D 30A, 30B receives, and then, when measuring radio target 10 orientation, traverse measurement station 30A, 30B also measure with reference to guided ware 100A, the orientation of 100B.Though to radio target 10 and to reference guided ware 100A, the absolute orientation measuring accuracy of 100B may be because of being hindered such as direct wave, factors such as multipath transmisstion and worsening, but work as with reference to guided ware 100A, 100B is during near radio target 10, owing to radio target 10 and with reference to guided ware 100A, 100B can run into similar and progressive identical multipath effect, traverse measurement station 30A, radio target that 30B measures 10 with reference to guided ware 100A, relative orientation precision between the 100B can be subjected to slight influence, thereby relative orientation is measured more more reliable than the absolute orientation measurement.For making traverse measurement station 30A, 30B is to radio target 10 and with reference to guided ware 100A, and the signal of 100B has similar detection characteristic, radio target 10 and with reference to guided ware 100A, other signal characteristic of 100B, as emissive power, launch time, length etc. also should be tried one's best approaching.In some situation, though hand-held with reference to guided ware 100A, very near radio target 10, the rescue personnel may be in the different building structure with calling for help person the rescue personnel of 100B on distance, for example a wall every two stair among.Provide the differentiation means can improve search efficiency to this situation.This differentiation can be by comparison radio target 10 and with reference to guided ware 100A, the dissimilarity of 100B characteristics of signals realizes, for example, at traverse measurement station 30A, 30B is relatively from their difference of signal intensity, relatively they (10,100A, 100B) the difference of the emissive power of reporting separately, and the difference that compares their multipath transmisstion distribution characteristics figure.Bootstrap technique to search described here also is applicable to the search of using robot, wherein robot replaces reseaching staff's function, one is installed in partly replacing with reference to guided ware 100A with reference to a transmitter and a compass sensor (or claiming geomagnetic sensor) in the robot, the function of 100B (wherein the function of compass sensor or geomagnetic sensor will be described in detail in conjunction with Fig. 9 hereinafter), a display device that is installed on the robot control desk replaces with reference to guided ware 100A another part function of 100B.Others remain unchanged.
Further referring to Fig. 4, traverse measurement station 30A (or 30B) and with reference to guided ware 100A, 100B also comprises another group radio set, wireless local net (WLAN) transceiver preferably, in order to by wireless path 120A ', 120C ' connects each other.By wireless path 120A ', 120C ' transmits and is used to be presented at reference to guided ware 100A, information on the 100B display screen, with display radio target 10 with respect to reference guided ware 100A, the relative orientation of 100B, also simultaneously further display radio target 10 with respect to traverse measurement station 30A, the relative orientation of 30B.These shown information guidings are hand-held with reference to guided ware 100A, each step search action of the reseaching staff of 100B.Relevant display packing is further discussed in conjunction with Fig. 5 below.
Fig. 5 has provided one and has been shown in reference to guided ware 100A, 100B display screen and traverse measurement station 30A, the preferred embodiment of the two dimensional image on the 30B display screen.Shown radio target 10 among the figure, with reference to guided ware 100A, 100B, and traverse measurement station 30A, the absolute and relative orientation of 30B, and superimposed with it this area map and the remote sensing photo that is pre-stored in the system.Relevant figure preferably uses colored the demonstration (limit by the document specification, not shown colour), relevant symbol is indicated radio target 10 respectively among the figure, with reference to guided ware 100A, 100B, and traverse measurement station 30A, the position of 30B, the map and the remote sensing photo that cover on it access from system memory device, in order to indicate the mutual alignment of above-mentioned each target and other object of reference of ground.
Now suppose with mobile phone as the radio target, describe when base station transmitter is equipped with at the traverse measurement station, reach positioning system under the car pattern and another embodiment of correlation method in vehicle-mounted pattern by Fig. 6.With above the same in conjunction with the described method of Fig. 1, when radio target 10 for example dials emergency relief telephone 120, rescue center's (not shown) will be equipped with the breakdown lorry 30A of traverse measurement station equipment, and 30B sends rescue center to and learns roughly target area.Radio target 10 is sent signal and is communicated by letter with base station 20A through wireless path 40A, under some situation, also while and other base station communication, for example shown in the figure, communicates by letter with base station 20B through wireless path 40B.As traverse measurement station 30A, 30B and radio target 10 enough near the time, traverse measurement station 30A, 30B can detect the signal from radio target 10, for example through the path shown in the figure 50 and the up direction in path 200 (direction from radio target 10 to traverse measurement station 30A).So, traverse measurement station 30A, 30B can begin to measure and constantly revise the orientation of radio target 10.When certain traverse measurement station (for example 30A) is close to a certain degree with radio target 10, wireless path between the two (for example 200) quality can become than (the 40A for example of the path between radio target 10 and base station, 40B) quality is not bad, at this moment, corresponding traverse measurement station 30A will start the base station transmitter that wherein loads, and notification service base station 20A sends switching command for radio target 10, it switched to traverse measurement station 30A communicate by letter.After receiving and carrying out switching command, radio target 10 is set up the two-way communication with traverse measurement station 30A, shown in wireless path 200, stops and base station 20A, and 20B is to communication path 40A, 40B.Since between radio target 10 and the traverse measurement station 30A closely, its communication path better quality, calling for help person is more reliable with rescue personnel's the meeting of communicating by letter.Have benefited from closely, the base station transmitter that traverse measurement station 30A loads more can make the average transmit power of radio target 10 reduce more by the power control instruction that many communication standards have, make the battery air time of radio target 10 prolong, help the location and the search work of well afoot.The base station transmitter that traverse measurement station 30A loads more can be coordinated its emitted power steering order with the activity of its location survey mutually, further prolongs the battery air time, and signal to noise ratio (S/N ratio) or signal-to-noise ratio when optimizing location survey are to improve measuring accuracy.The base station transmitter that other characteristic that radio target 10 transmitted is loaded by traverse measurement station 30A also can be controlled and is coordinated mutually with the location survey activity, more helps the raising and the battery service life of bearing accuracy.With above the same in conjunction with the described method of Fig. 4, behind definite radio target 10 residing spots, the vehicle that is equipped with traverse measurement station 30A is stopped at the place, spot, and is hand-held with reference to guided ware 100A, the rescue personnel of 100B gets off from 30A, goes near radio target 10.But describedly with Fig. 4 different be, with reference to guided ware 100A, will set up with traverse measurement station 30A with reference to transmitter (hereinafter will further specify in conjunction with Fig. 9) among the 100B being communicated by letter, as wireless path 210A among the figure, shown in the 210B, rather than with base station 20A.This wireless path 210A, other characteristic of 210B then with Fig. 4 in describe the same, for example, having identical mode of operation with the wireless path 200 of radio target 10 foundation (as is both GSM or is both CDMA, Deng), and use same frequency as far as possible, (when adopting FDMA) then uses approaching with it frequency as far as possible in the time can not using same frequency.Using with reference to guided ware 100A, the 100B guiding is to the search aspect of radio target 10, and method is also identical with the description of Fig. 4.In method shown in Figure 6, wireless path 210A, the down direction of 210B is (from the base station transmitter of traverse measurement station 30A to reference guided ware 100A, among the 100B with reference to the direction of receiver under the transmitter), except being used to transmit calling for help person and reseaching staff's the speech, preferably also be used for doing a new job, promptly transmit and be used to be presented at reference to guided ware 100A, on the 100B screen for information about.So just saved traverse measurement station 30A mentioned above, 30B and with reference to guided ware 100A, the wireless local net transceiver among the 100B.In addition, the base station transmitter of traverse measurement station 30A is sent to reference to guided ware 100A, the power control instruction of 100B also can obtain with reference to guided ware 100A, the advantage that 100B emissive power and the location survey activity of traverse measurement station 30A are coordinated mutually, signal to noise ratio (S/N ratio) when measuring to optimize, reach reference guided ware 100A, the more high position precision of 100B position improves the relative positioning precision to radio target 10 indirectly, simultaneously also can prolong guided ware 100A, the battery life of 100B.Other characteristic that frequency and traverse measurement station base station transmitter are signaled needs suitably to be selected, and guarantees that not to base station 20B, the user that the operation of 20B and they are served causes interference.
Suppose now with mobile phone that as the radio target example by Fig. 7 is depicted in positioning system and the correlation method under the three dimensional pattern.As shown in FIG., in recommended embodiment, when at least one traverse measurement station 30 during sufficiently near radio target 10, or when at least one traverse measurement station 30 after stop the spot, the enforcement of location survey begins to carry out in three-dimensional coordinate.Radio target 10 and be the degradation factors of location survey precision on the surface level no longer just like this with reference to the height of guided ware 100.Further, radio target 10 and also measured simultaneously and be presented on the display screen with reference to guided ware 100 and traverse measurement station 30 with reference to the height of guided ware 100 offers the user as one of information of search location.The display packing of recommending is the bright height of the other mark of each the localizing objects symbol on two-dimentional display graphics; Or under operator's control, in the other object height numeral that ejects of relevant localizing objects symbol.The numerical value of relevant height recommends to adopt the relative height value with respect to traverse measurement station 30 height of living in.As another embodiment, also can adopt three-dimensional picture to the demonstration that comprises locating information highly.
Attention: in the above description, the number at traverse measurement station 30 and be exemplary with reference to the number of guided ware 100.Implementing and using when of the present invention, traverse measurement station 30 can be one or more; Number with reference to guided ware 100 can also be one or more; Traverse measurement station 30 is also not necessarily identical with number with reference to guided ware 100.
Block diagram shown in Figure 8 is the block diagram of traverse measurement station preferred embodiment.Now make an explanation with regard to its each function and mutual relationship thereof.As shown in the figure, the preferred embodiment at traverse measurement of the present invention station 30 comprises an antenna 305, one receivers 310, one gps antenna 315, one GPS receiver, 320, one digital signal processing sub systems, 325, one schools card antenna 330, one correct transmission machine and receiver mobile telephone 335, one shows and user interface section 345, one wireless local net (WLAN) antennas 350, one wireless local net transceivers 355, one gravity sensor 360, and a compass (earth magnetism) sensor 365.As option means, traverse measurement station 30 also can further comprise a base station transmitter 370 and an emitting antenna 375.
As another optional embodiment, antenna 305 can be the narrow beam antenna that is installed on the whirligig and has angular transducer, arrives angle (AOA) in order to measuring-signal.Described whirligig preferably can be done rotation so that arrive measurement of angle at three dimensions on the 3 D stereo angle.
The signal that gps antenna 315 receives from GPS (stellar-based global-positioning system) satellite, or from the signal of other intimate position location satellite, GLONASS (GLONASS (Global Navigation Satellite System)) for example, Big Dipper Navsat, or the markon in the proposal omits (Galileo) global position system, or the like, but in style of writing, be called gps antenna without exception.This antenna preferably is installed on the top of mobile platform, to obtain the optimum field to overhead satellites.Received signal is sent to GPS receiver 320.
Correct transmission machine in correct transmission machine and the receiver mobile telephone 335 partly produces the signal that is used for correction array antenna 305 and array acceptor 310.This correct transmission machine preferably can be provided with like this, and it is produced with radio target 10 and with reference to guided ware 100,100A, and the signal of 100B emission has the correction signal of same frequency and modulation format.Like this, can under the actual working state of traverse measurement station 30 location surveys, carry out the correction of array antenna 305 and array acceptor 310.After obtaining the parameter (for example frequency and modulating mode) of radio target 10, before beginning that it is positioned measurement, preferably use the parameter of above-mentioned acquisition that self-correcting is carried out at traverse measurement station 30.Receiver mobile telephone in correct transmission machine and the receiver mobile telephone 335 partly is used for receiving the radio target 10 serving base station 20A that do for oneself, and the signal of 20B has related parameter and network timing information with what obtain to comprise in the signaling message.In fact, when searched radio target 10 only limits to mobile phone, in fact correct transmission machine and receiver mobile telephone 335 are exactly one can be moved the mobile phone that measuring station 30 is provided with running parameter flexibly, comprises its transmitter section and receiver section.
Show with user interface section 345 and comprise a display screen of accepting data from digital signal processing sub system 325, in order to show locating information, for example, its demonstration may comprise radio target 10, with reference to guided ware 100,100A, 100B, and traverse measurement station 30,30A, absolute and the relative orientation of 30B, highly, this superimposed with it area map, and the remote sensing photo etc. that reflects this zone geomorphological structure.In Fig. 5, provided an example.This unit also comprises user interface, accepts the control of user to traverse measurement station 30.
Wireless local net (WLAN) antenna 350 and transceiver 355 are sent to image or the graphic parameter signal that digital signal processing sub system 325 provides with reference to guided ware 100 through wireless path, 100A, and 100B is so that show on reference guided ware display screen.Though 355 be called as wireless local net transceiver at this, and recommend to adopt wireless local net transceiver, this does not get rid of and uses other type transceiver to implement the present invention.
Compass (earth magnetism) sensor 365 is when vehicle (or the mobile platform at other carrying traverse measurement station 30) stop, to digital signal processing sub system 325 these vehicles of report (or other mobile platform) towards, in order in the calculating of digital signal processing sub system 325, to correct to arriving measurement of angle.When vehicle (or other mobile platform) moved, the moving direction that the most handy GPS records was proofreaied and correct this magnetic sensor, to eliminate the influence of car body magnetic interference.
As another selection, gravity sensor 360 and geomagnetic sensor 365 can be used based on gyrostatic sensor and substitute, or are substituted by an acceleration transducer and correlation computations processing.
Digital signal processing sub system 325 comprises signal processor and device, such as special IC (ASIC), field-programmable gate array (FPGA), digital signal processor (DSP) chip, microcontroller and general purpose microprocessor, semiconductor memory, extensive memory storage (as hard disk or CD), peripherals etc.The function of digital signal processing sub system 325 in traverse measurement station 30 comprises: array acceptor is carried out self-correcting; To from radio target 10, with reference to guided ware 100,100A, the signal of 100B implement to arrive preset angle configuration (AOA), time of arrival (TOA) method, or time of arrival poor (TDOA) method calculating (remodeling that comprises these methods), or calculate associated parameter; Calculating is from radio target 10, with reference to guided ware 100, and 100A, the longitude and latitude at 100B and traverse measurement station 30 and height; 30 whens motion at the traverse measurement station, the information calculations direction of motion that provides according to GPS receiver 320; 30 when static at the traverse measurement station, the input of base area Magnetic Sensor 365 determine vehicle (or the mobile platform at other carrying traverse measurement station 30) towards, determine the pitch angle of vehicle (or other carrying mobile platform) according to the input of gravity sensor 360; With the azimuthal coordinates point at traverse measurement station 30 (provide or by this digital signal processing subsystem 325 calculate obtain by GPS receiver 320) and radio target 10 with reference to guided ware 100,100A, the azimuthal coordinates point of 100B is with superimposed from the one's respective area electronic chart that extensive memory storage accesses, and according to the direction of motion of vehicle (or other carrying mobile platform) or stop towards, above-mentioned figure is rotated to the appropriate display angle; According to the operational order of operator, display graphics is carried out convergent-divergent, translation, rotation and change to attributes, and generate last display graphics or image from user interface 345 inputs; Export described display message to display unit 345, and export described relevant display message to wireless local net transceiver 355, further be sent to reference to guided ware 100,100A, 100B display screen pay and show; Control and all functions parts that are provided with in the traverse measurement station 30.When traverse measurement station 30 is equipped with that base station transmitter 370 is carried at the station and under it during antenna 375 (describing in detail below), digital signal processing sub system 325 further (with receiver 310) shoulders the digital processing function of bearing a base station, as to radio target 10 or with reference to guided ware 100,100A, the coding and decoding of 100B receiving and transmitting signal, power control, the processing of signaling and communication protocol etc.
As a kind of optional embodiment, traverse measurement station 30 also can further comprise a station carry base station transmitter 370 and one under emitting antenna 375.Stand and carry the function that base station transmitter 370 is born an ordinary base station transmitter, comprise with digital signal processing sub system 325 and receiver 310 and realize signaling and communication protocol, power control, also comprise digital-to-analog conversion, modulation, up-conversion, power amplification, and be radiated in the air through antenna 375.As what in explanation, discussed to Fig. 6, when be equipped with the station carry base station transmitter 370 and under during emitting antenna 375, bear above-described wireless local net transceiver 355 and under the function of antenna 350, to reference guided ware 100,100A, 100B transmits video data.
Block diagram shown in Figure 9 among the present invention with reference to the preferred embodiment block diagram of guided ware 100.Now function and the mutual relationship thereof to each square frame makes a detailed description.As shown in the figure, the present invention comprises one with reference to transmitter 440 with reference to the preferred embodiment of guided ware 100, one is used for the antenna 450 with reference to transmitter, one wireless local net (WLAN) transceiver 430, one is used for the antenna 460 of wireless local net transceiver, one microprocessor 410, shows and user interface section 420.In another optional solid yardage case, also further comprise a GPS receiver 480 and affiliated antenna 490, and a compass (earth magnetism) sensor 470.
With reference to transmitter 440 be one can be by the air interface of radio target 10, with the device of identical modulation system and identical (or close) frequency emissioning signal with it.Depend on the communication standard that is adopted, the receiver that the common requirement of this transmitter matches is with it worked together, with the function that realizes stipulating such as in the communication standards such as power control and communication protocol processing.Therefore, in this case, when radio target 10 is when deferring to the mobile phone handsets of certain communication standard, reference transmitter 440 in fact also is mobile phone handsets of deferring to this communication standard, and it comprises the mobile phone receiver that does not obviously indicate among the figure.Described reference transmitter (and affiliated receiver) 440 is preferably supported multiband, many communication standards, and can carry out the phone Speech Communication with radio target 10 grades by it as a common mobile phone.As previously mentioned, the major function of reference transmitter 440 is signals that emission is similar to radio target 10 emission, and in order to being moved measuring station 30,30A, 30B determine the relative orientation of itself and radio target 10.
Wireless local net transceiver 430 reaches affiliated antenna 460 and is installed in traverse measurement station 30,30A, corresponding wireless local net transceiver 355 (referring to Fig. 8) among the 30B intercoms mutually, is shown in data with reference to guided ware 100 video datas and user interface section 420 in order to reception.Though this unit 430 is called as wireless local net transceiver, and recommends to adopt wireless local net transceiver, the present invention not to get rid of and use the transceiver of other type to implement the present invention.
As an optional embodiment, also comprise a geomagnetic sensor 470 with reference to guided ware 100, it to microprocessor 410 report with reference to guided ware 100 bodies hand-held towards, implement rotation according to the image that shows on automatically to display screen 420 towards microprocessor 410, make shown image towards the related side of automatic aligning surrounding environment to, the user can be according to the direct search of decision oneself direction of walking about of the direction that shows in the image, and need not manually to find out all directions, convenience is to the search of radio target 10.
As another optional embodiment, also comprise a GPS receiver 480 and affiliated gps antenna 490 with reference to guided ware 100, they have the occasion of enough field intensity to the absolute orientation of microprocessor 410 reports with reference to guided ware 100 at gps signal.The orientation of being reported sends traverse measurement station 30 to by wireless local net transceiver 430 and affiliated antenna 460.Receive that the orientation about reference guided ware 100 that traverse measurement station 30 oneself records will be revised with it in traverse measurement station 30 from the orientation of 480 reports of GPS receiver in the reference guided ware 100.
As another optional embodiment, as above about the narration of Fig. 6 and Fig. 8, when traverse measurement station 30 comprises that base station transmitter 370 and affiliated antenna 375 are carried in a station, bear the function that wireless local net transceiver 430 reaches affiliated antenna 460 with reference to transmitter (and attached receiver) 440 and affiliated antenna 450, for example, receive the data that are used to be shown in display 420.In this optional embodiment, wireless local net transceiver 430 and affiliated antenna 460 can remove in reference guided ware 100.
Method and system mentioned above, when being applied to not be other business of E911 business, the emission process of radio target 10 can be that radio target 10 is initiated, and can also be 10 terminating of radio target; Can someone get involved, can also be unmanned the intervention.For example, emission process can be that radio target 10 is triggered by some means and startup voluntarily; Can also be that people or machine are got phone, and this phone be begun emission by 10 terminating of radio target; It can also be certain custom-designed special emission process.
In whole instructions and claims, comprise that in the accompanying drawings term " radio target " is interchangeable mutually with " targeted radio emitter " or " radio transmitting apparatus "; Term " with reference to transmitter " is interchangeable mutually with " moving with reference to radio transmitting apparatus " or " with reference to radio transmitting apparatus ".In addition, as previously mentioned, when " with reference to transmitter " and " guided ware " were merged into a device, this device that has with reference to transmitter and guided ware dual-use function was called as " with reference to guided ware ".Based on context, when speaking of, may refer to function, also may refer to the function of guided ware, or both have concurrently with reference to transmitter with reference to guided ware.When relating to guided ware, may refer to independent guided ware, or refer to guided ware function with reference to guided ware.When relating to reference to transmitter or during with reference to wireless launcher, may refer to independent with reference to transmitter or independent with reference to wireless launcher, also may refer to reference to guided ware with reference to transmitter function.
The embodiment of Miao Shuing is the example that comprises with structure, system or the method for the corresponding element of element of the present invention around here.This written explanation this area professional is possessed make and use comprise with element of the present invention accordingly through the ability of the embodiment of the element of change.Therefore, category of the present invention comprises not and contrary other structure of the present invention, system or method, also comprises other structure, system or method with no essential distinction of the present invention.
Claims (8)
1, a kind of removable measuring station and removable orientation of determining the targeted radio emitter with reference to radio transmitting apparatus used, and guiding search personnel or searching machine people find the method for described targeted radio emitter, it is characterized in that, may further comprise the steps:
Determine the residing spot of targeted radio emitter regional area;
Place near spot regional area or the targeted radio emitter with reference to radio transmitting apparatus at least one removable measuring station and at least one are removable;
At least one is removable with reference to the radio transmitting apparatus transmitted radio signal from described;
Obtain described targeted radio emitter and described removable with reference to characteristics of signals that radio transmitting apparatus transmitted;
Described targeted radio emitter and the described removable signal of launching with reference to radio transmitting apparatus are caught and received to described removable measuring station;
Described removable measuring station is implemented the signal parameter measurement to received from described targeted radio emitter and described removable signal with reference to radio transmitting apparatus;
Determine described removable measuring station self the position and towards;
Described targeted radio emitter and described removable orientation with reference to radio transmitting apparatus are implemented to estimate;
Show that on display device described targeted radio emitter with respect to described removable position with reference to radio transmitting apparatus, also can further show their positions with respect to described removable measuring station; And
Move described removable with reference to radio transmitting apparatus, make that estimate that is described removable position with reference to radio transmitting apparatus that demonstrate is constantly approaching with respect to the position of the described targeted radio emitter that estimates that is demonstrate, removablely arrive described targeted radio emitter present position with reference to radio transmitting apparatus up to described.
2, the method for claim 1, it is characterized in that, the described removable signal of launching with reference to radio transmitting apparatus has identical or close radio-frequency propagation characteristic and can detect characteristic with the signal that described targeted radio emitter is launched, wherein said identical or close radio-frequency propagation characteristic and can detect characteristic and comprise:
Identical air interface technologies;
Same frequency;
Close frequencies;
Same band;
Close bandwidth;
Identical modulation system;
Similar modulation system;
Identical frequency agility characteristic;
Similar frequency agility characteristic;
Identical spread spectrum characteristic;
Similar spread spectrum characteristic;
Identical emissive power;
Close emissive power;
Identical power control criterion;
Close power control criterion;
Identical length launch time;
Close length launch time;
Identical transmission time slot; And
Close transmission time slot on time.
3, the method for claim 1, it is characterized in that, comprise that further a step produces quantitative estimating, be used for by relatively from the similarity of described signal characteristic with reference to radio transmitting apparatus and described targeted radio emitter, indicate describedly to be in possibility size among same building structure or the geomorphological structure body with reference to radio transmitting apparatus and described targeted radio emitter, wherein said signal characteristic comprises:
Received signal intensity;
The emissive power of being reported; And
Multipath transmisstion distribution characteristics figure.
4, the method of claim 1, it is characterized in that, when to described targeted radio emitter, with reference to the Display Realization of the relative orientation of radio transmitting apparatus and removable measuring station when the guided ware that the reseaching staff carries, and when described guided ware and described be when device on entity with reference to radio transmitting apparatus, or when described guided ware and described when carrying by same user with reference to radio transmitting apparatus, described demonstration comprises that further a kind of automated graphics is towards the method for adjusting, the symbol of targeted radio emitter described in this method make to show with respect to described symbol with reference to radio transmitting apparatus towards relation, no matter described guided ware how to change towards, all the time with reality in measured targeted radio emitter the position with respect to the guided ware user towards consistent, this automated graphics may further comprise the steps towards the method for adjusting:
Receive original image or the graphical information of using absolute direction;
The physics of determining described guided ware body towards;
Original image or figure are rotated processing, and its anglec of rotation is that the physics of the described guided ware body that is determined is towards with respect to the angle between the absolute direction of described original image or figure;
Demonstration is through the image or the figure of rotation processing; And
Constantly repeat above-mentioned steps.
5, the method of claim 1, it is characterized in that, when described when being installed in described searching machine people and going up with reference to radio transmitting apparatus, and work as described targeted radio emitter, with reference to the Display Realization of the relative orientation of radio transmitting apparatus and removable measuring station when the display screen of ROBOT CONTROL platform or robot vision, comprise that further a kind of automated graphics is towards the method for adjusting, the symbol of targeted radio emitter described in this method make to show with respect to described symbol with reference to radio transmitting apparatus towards relation, no matter how described searching machine people's vision changes towards, all the time with reality in the position of measured targeted radio emitter with respect to described searching machine people's vision towards consistent, this automated graphics may further comprise the steps towards the method for adjusting:
Produce original image or the graphical information of using absolute direction;
The physics of determining described searching machine people's vision towards;
Original image or figure are rotated processing, and its anglec of rotation is that the physics of the described searching machine people's vision that is determined is towards with respect to the angle between the absolute direction of described original image or figure;
Demonstration is through the image or the figure of rotation processing; And
Constantly repeat above-mentioned steps.
6, the method for claim 1 is characterized in that, to described targeted radio emitter, with reference to the described demonstration in the orientation of radio transmitting apparatus and removable measuring station, further comprises:
Show described movement locus with reference to radio transmitting apparatus;
With described targeted radio emitter, with reference to the orientation and the one's respective area electronic chart at radio transmitting apparatus and traverse measurement station, superimposed and shown according to the corresponding relation of position;
With described targeted radio emitter, with reference to the orientation of radio transmitting apparatus and removable measuring station and the remote sensing image of one's respective area earth construction, superimposed and shown according to the corresponding relation of position; And
Demonstration is about described targeted radio emitter, with reference to the third dimension locating information of radio transmitting apparatus and removable measuring station height of living in.
7, the method for claim 1 is characterized in that, to described targeted radio emitter and described location estimation with reference to radio transmitting apparatus, comprise with the described signal parameter that records and described definite orientation and towards, be converted at least down
One of row method of estimation:
Time of arrival on two-dimensional space and arrival preset angle configuration;
Time of arrival on three dimensions and arrival preset angle configuration;
Arrival angle AOA method on two-dimensional space;
Arrival angle AOA method on three dimensions
TOA method time of arrival on two-dimensional space;
TOA method time of arrival on three dimensions;
Difference TDOA method time of arrival on two-dimensional space; And
Difference TDOA method time of arrival on three dimensions.
8, the method for claim 1 is characterized in that, for further improving described location and search index precision, further comprises the following steps:
Use is based on the method for position location satellite, or uses the method based on inertia, or both are used in combination, and determines described removable measuring station and described with reference to the absolute orientation of radio transmitting apparatus in two-dimensional space at least; And
Use the described estimated relative orientation of described determined absolute orientation correction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US10/609,364 | 2003-06-30 | ||
| US10/609,364 US7711375B2 (en) | 2002-08-06 | 2003-06-30 | Method and system for determining a location of a wireless transmitting device and guiding the search for the same |
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| CN2009102108768A Division CN101685152B (en) | 2003-06-30 | 2004-06-29 | Method and system for determining a location of a wireless transmitting device and guiding the search for the same |
| CN 200910210875 Division CN101694520B (en) | 2003-06-30 | 2004-06-29 | Location and searching guidance of wireless transmitting device |
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| CN1576877A CN1576877A (en) | 2005-02-09 |
| CN100578253C true CN100578253C (en) | 2010-01-06 |
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| CN 200910210875 Expired - Fee Related CN101694520B (en) | 2003-06-30 | 2004-06-29 | Location and searching guidance of wireless transmitting device |
| CN2009102108768A Expired - Fee Related CN101685152B (en) | 2003-06-30 | 2004-06-29 | Method and system for determining a location of a wireless transmitting device and guiding the search for the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4809005A (en) * | 1982-03-01 | 1989-02-28 | Western Atlas International, Inc. | Multi-antenna gas receiver for seismic survey vessels |
| CN1152262C (en) * | 1997-12-23 | 2004-06-02 | Ksi公司 | Communications locatization system |
| JP2002277529A (en) * | 2001-03-14 | 2002-09-25 | Nippon Signal Co Ltd:The | Gps sensor and recessed luminaire fitted with gps sensor |
| JP2002281540A (en) * | 2001-03-19 | 2002-09-27 | Hitachi Ltd | Mobile terminal equipment for measuring position |
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2004
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- 2004-06-29 CN CN 200910210875 patent/CN101694520B/en not_active Expired - Fee Related
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| CN101694520B (en) | 2013-05-08 |
| CN101694520A (en) | 2010-04-14 |
| CN1576877A (en) | 2005-02-09 |
| CN101685152B (en) | 2012-01-11 |
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