CN101334467B - Positioning system and positioning method - Google Patents

Abstract

An object of the present invention is to implement accurate positioning of a mobile communication terminal even in an environment in which delay waves are included in radio waves arriving at the mobile communication terminal from radio wave sources. A positioning server 10 forming a positioning system for estimating a location of a cellular terminal 20 has a distance information acquisition unit 13 for acquiring information indicating distances calculated based on radio waves transmitted and received between a plurality of cellular base stations 30 and the cellular terminal 20; a direction information acquisition unit 14 for acquiring a plurality of pieces of information indicating directions of radio waves received by the cellular terminal 20; a virtual sector calculation unit 15 for calculating for each of the cellular base stations, a range of directions from the cellular base station 30 to the cellular terminal 20 from the information indicating the directions of the radio waves, based on a range calculation rule stored in advance; and a location calculation unit 16 for calculating the location of the cellular terminal 20, based on the distances and the range of directions.

Description

Location system, positioning method

Technical field

The present invention relates to infer location system, the positioning method of the position of mobile communication terminal.

Background technology

In the past, it is known using the method for inferring the position of the mobile communication terminal that receives this electric wave as the electric wave of wireless signal.For example; Following method is arranged; That is: number that electric wave sends the source more than or equal to 3 situation under; The distance of calculating from mobile communication terminal to the source of transmission obtained a distance that the center that is circle with each position of sending the source calculates intersection point as each circle of radius, is regarded as this intersection point the position of receiving terminal.GPS) and AFLT (Advanced Forward Link Trilateration: advanced) etc. as this system, be well known that GPS (Global Positioning System:.

And, because the influence of the travel path of the deviation of time synchronized, electric wave etc., be necessary to increase the number in transmission source according to the number of unknown number to be inferred.Number that electric wave sends the source less than 3 situation under, can not use above-mentioned position deduction method.Position deduction method as in this case mobile communication terminal has proposed various location modes.As one of them method, following method is arranged, that is: infer from electric wave and send distance and the electric wave direction of source to the terminal, infer the position at terminal.As this method, for example, be under the situation of example with the cellular system, when sectorization has been carried out in the base station of sending the source as electric wave, can use the sector location.In the location of sector, shown in Figure 12 (a), be estimated as the assigned positions in the sectors such as center of gravity 50 of the sector (having the sector) 50 of terminal existence the position (representing with a some a among the figure, down together) of mobile communication terminal 51.And, in the system of damping capacity of the propagation delay that can measure the electric wave of being received and dispatched (for example RTT:Round Trip Time (round trip cycle)) and intensity etc., shown in Figure 12 (b), can use high precision sector location.High precision sector location is owing to can wait the distance of measuring between base station 52 and the terminal 51 according to the RTT that is measured; Thereby this location is promptly to exist sector directions D to be approximately sense the direction of having carried out five equilibrium from the angle of 52 pairs of sectors, base station to come the location of calculation position (under the situation of using RTT, being called the RTT location).

And, shown in Figure 12 (c), also can be according to carrying out the RTT location based on the distance of 2 different base stations 52 of distance of RTT and the position of sector.In the method, calculate position with base station 52 and be the center and be the intersection point of 2 circles of radius, exist sector 50 interior intersection points to be estimated as the position at terminal 51 being contained in the distance between base station and the terminal.And, shown in Figure 12 (d), go back the method that a side base station 52 in the handlebar said method is replaced into the mixing location of gps satellite 53.Each above-mentioned positioning method has for example been done record in following document, that is: Yulin Zhao, " Standardization of Mobile Phone Positioning for 3G Systems "; IEEE Communications Magazine; P.p.108-116, July 2002. and Samir S.Soliman and Charles E.Wheatley, " Geolocation technologies and applications for third generation wireless "; Wireless Communications and Mobile Computing; Vol.2, p.p.229-251,2002.

In above-mentioned positioning method, the location precision receives electric wave to send the bigger influences such as precision that have information that Determination of distance precision and terminal between source and the terminal are present in which sub-district or sector.Make the range determination precision of utilizing electric wave and the main cause that has the mensuration precise decreasing of information, think the influence of the delay ripple of electric wave.Postpone ripple and be to reflect, diffraction and scattering and the electric wave of incoming terminal, compare with the electric wave (ground wave) of direct arrival and to be postponed to receive.

Use Figure 13 that the influence that postpones ripple is described.Shown in Figure 13 (a), do not reflect at electric wave, diffraction and scattering and under the situation of base station 52 direct incoming terminals 51, can derive the distance between base station 52 and the terminal 51 more exactly.And, the direction of arrival of electric wave also be from the base station 52 towards the terminal 51 direction, but the electric wave of the sector 50a at receiving terminal 51 places.Thus, terminal 51 can be held from the base station 52 directions of coming more exactly.When using ground wave like this, can carry out accurate location.

On the other hand, shown in Figure 13 (b), be to postpone under the situation of ripple at the electric wave of incoming terminal 51 because travel path is than direct wavelength, thus according to this delay ripple calculate 52 bigger than reality from the base station to the distance at terminal.And, in postponing ripple, the direction of arrival of electric wave with from the base station 52 towards the terminal 51 direction is different, perhaps the sector 50a electric wave in addition at place, terminal is received.Thus, 52 directions of coming have been held from the base station at terminal 51 by error.Use when postponing ripple like this, can not carry out accurate location.In cellular system etc., usually, almost can not receive ground wave, and above-mentioned delay ripple is by a large amount of receptions, thereby the accurate location at the terminal difficulty that becomes.

Summary of the invention

The present invention makes in order to overcome the above problems; Include under the environment that postpones ripple even the purpose of this invention is to provide in the electric wave that arrives mobile communication terminal from more than 1 or a plurality of electric wave transmission source, also can accurately carry out location system, positioning method and the positioning program of the location of mobile communication terminal.

In order to achieve the above object; Location system of the present invention is inferred the position of mobile communication terminal; It is characterized in that; This location system has: range information is obtained the unit, and it obtains expression according to send this transmission source that the electric wave received and dispatched between source and the above-mentioned mobile communication terminal calculates and the information of the distance between this mobile communication terminal at the electric wave more than 1; Directional information obtains the unit, and it is obtained a plurality of expressions according to the sector ID that comprises in the electric wave and sends that the source is sent and by the information of the direction of the electric wave that above-mentioned mobile communication terminal received from above-mentioned electric wave; Direction range computation unit; It is according to the information that is obtained the direction of a plurality of expression electric waves of obtaining the unit by above-mentioned directional information; Based on the range computation rule of storage in advance, calculate the hypothetical world towards the direction of above-mentioned mobile communication terminal from above-mentioned electric wave transmission source to each above-mentioned transmission source; And position calculation unit; It is according to the hypothetical world of the above-mentioned direction that is obtained the above-mentioned distance that obtains the unit by above-mentioned range information and calculated by above-mentioned direction range computation unit; Calculate the position of above-mentioned mobile communication terminal; Above-mentioned direction range computation unit calculates above-mentioned hypothetical world through following steps, supposes B _iBe the ID that electric wave sends the source, θ _iThe electric wave direction that expression obtains, R _iThe expression electric wave sends the distance between source and the mobile communication terminal; Wherein i is the integer more than 1: a. to being obtained the information of the said distance of expression that obtains the unit and implemented to gather by the information that said directional information obtains the direction of the expression electric wave of the obtaining the unit whole mensuration results that obtain that are mapped by said range information; Promptly send the source, gather θ to each above-mentioned electric wave _iIdentical mensuration result is made as R _{J, k, l}, here, j is the subscript that electric wave sends the source, and k is the subscript of electric wave direction, and l is the subscript of distance; B. send the source to each above-mentioned electric wave, use the function that calculates the minimum fan-shaped angle that comprises whole electric wave directions to calculate angular range as the imaginary sector of hypothetical world; C. send source to each above-mentioned electric wave, the pointing direction of 2 mean lines of central angle that calculates above-mentioned imaginary sector is as the pointing direction of imaginary sector; D. send the source to each above-mentioned electric wave, use R _{J, k, l}Arbitrary value or R _{J, k, l}Minimum value or R _{J, k, l}Mean value as the radius of above-mentioned imaginary sector; E. according to angular range, the pointing direction of imaginary sector and the radius of imaginary sector of the above-mentioned imaginary sector that calculates, obtain each above-mentioned electric wave and send the hypothetical world of source towards the direction of above-mentioned mobile communication terminal.

In the location system that the present invention relates to, by mobile communication terminal receive a plurality of from more than 1 or a plurality of electric waves send the electric wave in source.Next, in location system, obtain the information of the direction of this electric wave of expression,, calculate from the transmission source scope towards the direction of mobile communication terminal to each transmission source according to this information.On the other hand, in location system,, obtain the information of the distance between expression transmission source and the mobile communication terminal according to the electric wave of between transmission source and mobile communication terminal, being received and dispatched.In location system,, calculate the position of mobile communication terminal according to the information of the scope of distance and direction.Like this; In the location system that the present invention relates to; Because according to carrying out location towards the scope of the direction of mobile communication terminal from more than 1 or a plurality of electric waves source of sending; Even thereby be moved that communication terminal receives from more than 1 or a plurality of electric waves send in the electric wave in source and include the delay ripple, as long as include the electric wave that can carry out location exactly of ground wave etc. in the electric wave from this transmission source, just can take in it.Therefore, according to the location system that the present invention relates to,, also can carry out the location of mobile communication terminal exactly even in the electric wave that arrives mobile communication terminal from more than 1 or a plurality of electric wave transmission source, include under the environment that postpones ripple.

What expect is that direction range computation unit also basis comes the scope of calculated direction by the number of times of the electric wave in each transmission source that mobile communication terminal received.According to this structure, owing to can pay attention to next electric wave of having the received transmission of more electric waves source by oneself etc., thereby can carry out location more accurately.

What expect is; Position calculation unit has: the reliability evaluation unit; It is according to the scope of the direction that is obtained the distance that obtains the unit by range information and calculated by direction range computation unit; Based on the Calculation of Reliability rule of storage in advance, estimate the reliability of the electric wave of the location that is directed against mobile communication terminal to each transmission source; And the decision unit, the reliability that its basis is estimated out by the reliability evaluation unit, the transmission source that the information that decision is used in the position calculation of mobile communication terminal relates to.According to this structure, owing to can carry out location according to electric wave from the transmission source that is suitable for carrying out location, thereby can carry out location more accurately.

What expect is; Position calculation unit is according to the electric wave of being received and dispatched between by decision transmission source that the unit determined and mobile communication terminal; Calculating from this transmission source towards the direction of mobile communication terminal and should the transmission source and mobile communication terminal between distance, and according to the position of this direction and distance calculation mobile communication terminal.According to this structure, can calculate the position of mobile communication terminal reliably.

Specifically, expectation is that position calculation unit will be from by the direction of decision transmission source that the unit determined towards mobile communication terminal, as calculating from this transmission source towards the center of the scope of the direction of this mobile communication terminal.And, expectation be that position calculation unit will be from by the direction of decision transmission source that the unit determined towards mobile communication terminal, calculates as the mean value of the direction of sending and be moved the electric wave that communication terminal receives from this transmission source.And; What expect is; Position calculation unit will be from by the direction of decision transmission source that the unit determined towards mobile communication terminal, and this transmission source that calculates according to this electric wave as making the direction of sending and be moved the electric wave that communication terminal receives from this transmission source and the direction apart from minimum between the mobile communication terminal calculate.

Specifically; What expect is; Position calculation unit will be calculated as any distance in the distance that calculates according to the electric wave of between this transmission source and this mobile communication terminal, being received and dispatched by decision transmission source that the unit determined and the distance between the mobile communication terminal.And; What expect is; Position calculation unit will be calculated as the minor increment in the distance that calculates according to the electric wave of between this transmission source and this mobile communication terminal, being received and dispatched by decision transmission source that the unit determined and the distance between the mobile communication terminal.And, expectation be that position calculation unit will be by decision transmission source that the unit determined and the distance between the mobile communication terminal, calculates as the mean value of the distance that calculates according to the electric wave of between this transmission source and this mobile communication terminal, being received and dispatched.And; What expect is; Position calculation unit is for by decision transmission source that the unit determined and the distance between the mobile communication terminal; The distance that will calculate according to the electric wave of between this transmission source and this mobile communication terminal, being received and dispatched is by each trooping of distance range, and calculates the distance between above-mentioned transmission source and the mobile communication terminal.

What expect is; The location system that the present invention relates to also has sending controling unit; This sending controling unit is controlled; So that location is sent to mobile communication terminal with signal from the transmission source, obtain the distance that obtains the unit and obtain the electric wave that direction is obtained in the unit by directional information as being used to calculate by range information.According to this structure, can send electric wave reliably from the electric wave source of sending, and can make the electric wave that in location, uses clear and definite, thereby embodiment of the present invention reliably.

Expectation be that range information is obtained the unit according to from receiving through sending controling unit control and the location that sends from the transmission source is sent out with the reception of signal corresponding to this location with the mobile communication terminal of signal and is come computed range by the propagation delay of the response signal of this transmission source reception or the damping capacity of intensity.According to this structure, can obtain the distance between transmission source and the mobile communication terminal reliably, thereby embodiment of the present invention reliably.

Expectation be that directional information obtains the information based on the direction of sector that the electric wave that received by mobile communication terminal is obtained in the unit, as the information of the direction of this electric wave of expression.According to this structure, can obtain the information of expression electric wave direction reliably, thereby embodiment of the present invention reliably.

In addition, the present invention also can be described below and describe as the invention of positioning method and positioning program except the invention that can be used as location system is as stated described.This is the difference of type etc., comes down to same invention, obtains identical effect and effect.

Promptly; The positioning method that the present invention relates to is inferred the position of mobile communication terminal; It is characterized in that; This positioning method comprises: range information is obtained step, obtains expression according to send this transmission source that the electric wave received and dispatched between source and the above-mentioned mobile communication terminal calculates and the information of the distance between this mobile communication terminal at the electric wave more than 1; Directional information obtains step, obtains a plurality of expressions according to the sector ID that comprises in the electric wave and sends that the source is sent and by the information of the direction of the electric wave that above-mentioned mobile communication terminal received from above-mentioned electric wave; Direction range computation step; Information according to the direction of a plurality of expression electric waves of obtaining in the step in above-mentioned directional information to be obtained; Based on the range computation rule of storage in advance, calculate the hypothetical world towards the direction of above-mentioned mobile communication terminal from above-mentioned electric wave transmission source to each above-mentioned transmission source; And position calculation step; Hypothetical world according to above-mentioned distance that obtains in the step at above-mentioned range information to be obtained and the above-mentioned direction that in above-mentioned direction range computation step, calculated; Calculate the position of above-mentioned mobile communication terminal; Above-mentioned direction range computation step is calculated above-mentioned hypothetical world through following steps, supposes B _iBe the ID that electric wave sends the source, θ _iThe electric wave direction that expression obtains, R _iThe expression electric wave sends the distance between source and the mobile communication terminal; Wherein i is the integer more than 1: a. to obtaining the information of the said distance of expression that step obtains and implement to gather through the information that said directional information obtains the direction of the expression electric wave that step the obtains whole mensuration results that obtain that are mapped through said range information; Promptly send the source, gather θ to each above-mentioned electric wave _iIdentical mensuration result is made as R _{J, k, l}, here, j is the subscript that electric wave sends the source, and k is the subscript of electric wave direction, and l is the subscript of distance; B. send the source to each above-mentioned electric wave, use the function that calculates the minimum fan-shaped angle that comprises whole electric wave directions to calculate angular range as the imaginary sector of hypothetical world; C. send source to each above-mentioned electric wave, the pointing direction of 2 mean lines of central angle that calculates above-mentioned imaginary sector is as the pointing direction of imaginary sector; D. send the source to each above-mentioned electric wave, use R _{J, k, l}Arbitrary value or R _{J, k, l}Minimum value or R _{J, k, l}Mean value as the radius of above-mentioned imaginary sector; E. according to angular range, the pointing direction of imaginary sector and the radius of imaginary sector of the above-mentioned imaginary sector that calculates, obtain each above-mentioned electric wave and send the hypothetical world of source towards the direction of above-mentioned mobile communication terminal.

In the present invention; Because according to carrying out location to the scope of the direction of the electric wave of mobile communication terminal from electric wave transmission source; Even thereby by including the delay ripple in the electric wave that mobile communication terminal received; As long as include the electric wave that ground wave etc. can carry out location exactly in this electric wave, just can take in to it.Therefore, according to the present invention,, also can carry out the location of mobile communication terminal exactly even in the electric wave that arrives mobile communication terminal from more than 1 or a plurality of electric wave transmission source, include under the environment that postpones ripple.

Description of drawings

Fig. 1 is that the location system that embodiment of the present invention relates to is shown is the figure of the functional structure of location server.

Fig. 2 illustrates the figure of the location of each cellular basestation of use with a plurality of examples of the mensuration result of signal.

Fig. 3 is the figure that the imaginary sector of each cellular basestation is shown.

Fig. 4 is the figure that the location hardware of server structure that embodiment of the present invention relates to is shown.

Fig. 5 is the process flow diagram that the performed processing (positioning method) of location server that embodiment of the present invention relates to is shown.

Fig. 6 illustrates the sector of cellular basestation and the figure of the pointing direction corresponding with the sector.

Fig. 7 illustrates to use the table of location with the mensuration result of signal.

Fig. 8 is the figure that imaginary sector is shown.

Fig. 9 is the figure that the concrete example of imaginary sector is shown.

Figure 10 is the figure that the imaginary sector when obtaining reliability is shown.

Figure 11 is the figure that the imaginary sector when obtaining reliability is shown.

Figure 12 is the figure that existing positioning method schematically is shown.

Figure 13 is the figure that the radio wave propagation method from the cellular basestation to the cellular terminal is shown.

Figure 14 is the figure that the structure of the positioning program that the present invention relates to is shown.

Figure 15 illustrates the figure of the location of 1 cellular basestation of use with a plurality of examples of the mensuration result of signal.

Figure 16 is the figure that the imaginary sector of 1 cellular basestation is shown.

Embodiment

Below, in conjunction with accompanying drawing location system and the preferred implementation of positioning method in cellular system that the present invention relates to is elaborated.In addition, in description of drawings, identical element is enclosed same numeral, omit repeat specification.

It is location server 10 that Fig. 1 illustrates the location system that this embodiment relates to.Location server 10 is to infer the device that the mobile communication terminal that comprises in the cellular system is the position of cellular terminal 20.The location of the cellular terminal 20 that location server 10 carries out is to use the framework as the cellular system of GSM to carry out.That is, as shown in Figure 1, utilize cellular terminal 20 through with mobile radio communication in arbitrary side in a plurality of cellular basestations 30 of comprising carry out the situation that radio communication is carried out mobile communication, carry out location.Location server 10 is connected with a plurality of cellular basestations 30, can and each cellular basestation 30 between receive and send messages, carry out location according to this information.In addition, location server 10 also can be included in the mobile radio communication.

Cellular terminal 20 is the mobile communication terminals that can carry out mobile communication.Cellular terminal 20 receives the pilot signal (reporting signal) of being sent from cellular basestation 30, carries out location registers according to this pilot signal to any cellular basestation 30, thus carry out and cellular basestation 30 between radio communication.That is, cellular terminal 20 carry out and cellular basestation 30 between radio communication the time, be present in the sub-district that cellular basestation 30 relates to (sub-district that has cellular terminal 20 calls and has the sub-district).It is electric wave with signal that cellular terminal 20 is received in the location that uses the location that location server 10 carries out from cellular basestation 30, and sending to cellular basestation 30 as the electric wave with this electric wave corresponding response signal.Cellular terminal 20 is set telephone number etc. and confirms the information of self uniquely, and location server 10 can be confirmed cellular terminal 20 according to this information with cellular basestation 30.CPU), hardware such as storer and wireless communication module in addition, cellular terminal 20 constitutes and has CPU (Central Processing Unit:.

Each cellular basestation 30 is the sides in the inscape in the mobile radio communication, is that the electric wave that sends the electric wave be used to carry out location sends the source, and has been determined the position in advance respectively and is set up.And the positional information etc. that in each cellular basestation 30, is set with base station IDs and base station is used for confirming uniquely the information of cellular basestation 30, and location server 10 can be confirmed cellular basestation 30 according to this information with cellular terminal 20.And each cellular basestation 30 has been carried out sectorization, to each direction setting that sends electric wave a plurality of sectors is arranged.For example, as shown in Figure 2, set 6 sectors to 1 cellular basestation 30.In this case, 1 sector and cellular basestation 30 angulations are π/3 (circular measures represent, down with).In addition, in the pilot signal that cellular terminal 20 receives in order communicating, to include sector ID etc. and to be used for confirming that the information of sector is sector ID, the sector also is determined (call this sector and have the sector) when cellular terminal 20 communicates.

And of the back, the control that cellular basestation 30 is accepted from location server 10 sends to cellular terminal 20 to location with signal.And, receive from receiving the response signal that location is sent with the cellular terminal 20 of signal, the expression cellular terminal 20 that comprises in the response signal to have the sub-district and have the information of sector be that base station IDs and sector ID are notified to location server 10.And cellular basestation 30 carries out the mensuration of location with the round trip propagation time (RTT) of signal and response signal, the signal intensity of response signal etc., is used to calculate the distance between cellular basestation 30 and the cellular terminal 20.The mensuration of the RTT that cellular basestation 30 carries out is regularly and with this location regularly to carry out with the reception of signal corresponding response signal with the transmission of signal according to location.The mensuration of RTT can use the existing method of processing delay of having considered in the cellular terminal 20 etc. to carry out.Cellular basestation 30 is also notified this mensuration result to location server 10.CPU), hardware such as storer and wireless communication module in addition, cellular basestation 30 constitutes and has CPU (Central Processing Unit:.

The summary of the positioning method in the location server 10 of this embodiment is shown here.In the method, use signal from the location that cellular basestation 30 is received, obtain and receive location with the direction of signal (electric wave) and the information of the distance between cellular basestation 30 and the cellular terminal 20 according to cellular terminal 20.In this embodiment,, use sector directions as receiving the direction of location with signal.In the method, from a plurality of reception results of cellular terminal 20, obtain a plurality of information relevant with electric wave.For example, as shown in Figure 2, from 3 cellular basestations 30 (base station IDs is respectively " BTS-1 ", " BTS-2 ", " BTS-3 "), obtain 6 information of total.

According to distance that obtains like this and electric wave direction,, generate imaginary sector (imaginary sector) 32 shown in Figure 3 to each cellular basestation 30 based on preset rule.Imagination sector 32 is to be the sector that benchmark illustrates the scope in the place that cellular terminal 20 can exist with sector 31.Imagination sector 32 is to use radius (apart from the distance of cellular basestation 30), direction and angular range (direction scope) to confirm.In the method, infer the position of cellular terminal 20 according to this imagination sector 32.

Below, the functional structure of location server 10 is described.As shown in Figure 1, location server 10 constitutes to have: receiving and transmitting part 11, send control part 12, and range information is obtained portion 13, and directional information obtains portion 14, imaginary sector calculating part 15, and position calculation portion 16.

Receiving and transmitting part 11 be and cellular basestation 30 between carry out the unit of information transmit-receive.Receiving and transmitting part 11 outputs to the information that received from cellular basestation 30 that range information is obtained portion 13 or directional information obtains portion 14 according to information.

Send control part 12 and be and control location is sent to the sending controling unit of cellular terminal 20 from cellular basestation 30 as the electric wave that is used to carry out location with signal.Send control part 12 and send to cellular basestation 30 to the signal that carries out this control via receiving and transmitting part 11.

The cellular basestation 30 of receiving this control sends to cellular terminal 20 to location with signal.Cellular terminal 20 is receiving location when using signal, as sending to cellular basestation 30 to this location with the electric wave of the response signal of signal.As stated, the expression base station IDs that has a sub-district and the expression information that exists sector ID and the RTT etc. of sector to be used for computed range is sent to location server 10 from the cellular basestation 30 that receives response signal.These information are received by receiving and transmitting part 11 as stated.

Range information obtain portion 13 be obtain expression according to more than 1 or the range information of the information of the cellular basestation 30 that calculates of the electric wave of being received and dispatched between a plurality of cellular basestations 30 and the cellular terminal 20 and the distance between the cellular terminal 20 obtain the unit.Specifically, range information is obtained portion 13 and is received the input of information that is sent to the expression RTT of location server 10 from cellular basestation 30 from receiving and transmitting part 11, comes computed range according to this information, thereby obtains the information of expression distance.That is, range information is obtained portion 13 and is calculated and obtain distance according to the propagation delay of electric wave.Distance calculation according to RTT can be used existing method.In addition, the calculating of distance also can be unlike such RTT that uses as stated, and measures the damping capacity of received-signal strengths by cellular basestation 30, and carries out according to this damping capacity.In addition, above-mentioned distance calculation can be used existing method.Range information is obtained portion 13 and the range information of being obtained is lumped together with the information that is used for confirming cellular terminal 20 and cellular basestation 30 is outputed to imaginary sector calculating part 15.

Directional information obtains portion 14 and obtains expression from more than 1 or a plurality of cellular basestations 30 sends and the directional information of the information of the direction of the electric wave that received by cellular terminal 20 obtains the unit.Specifically there is the sector ID of sector in the information of the direction of expression electric wave.In location server 10, the information relevant with the sector such as sector strucre of each cellular basestation 30 are remained in database etc., through hold which direction of section orientation that sector ID relates to reference to this information.Directional information obtains portion 14 and the directional information that is obtained is lumped together with the information that is used for confirming cellular terminal 20 and cellular basestation 30 outputs to imaginary sector calculating part 15.

Imagination sector calculating part 15 is according to obtaining range information that portion 13 imported from range information and obtain the electric wave directional information that portion 14 is imported from directional information, calculating the unit of above-mentioned imaginary sector to each cellular basestation 30.Specifically, radius (presumed value of 30 distance), (sensing) direction (from the presumed value of cellular basestation 30) of imaginary sector and the angular range (direction scope) of this direction of the imaginary sector of calculating part 15 calculating, imaginary sector towards the direction of cellular terminal 20 from cellular terminal 20 to cellular basestation.These calculating are to carry out according to the computation rule that is stored in the imaginary sector in the imaginary sector calculating part 15 in advance.Promptly; Imagination sector calculating part 15 is the information according to the direction that obtains a plurality of expression electric waves that portion 14 imported from directional information; Based on the range computation rule of storage in advance, calculate from the direction range computation unit of cellular basestation 30 towards the scope (direction scope) of the direction of cellular terminal 20 to each cellular basestation 30.Specifically, how to calculate imaginary sector, that is, the computation rule of imaginary sector is that which type of rule will be described later.Imagination sector calculating part 15 outputs to position calculation portion 16 to the information of the imaginary sector that expression is calculated.

The position calculation unit of the position of cellular terminal 20 is calculated according to the information of the expression imagination sector that calculating part 15 is imported from imaginary sector by position calculation portion 16.The computing method of the position of cellular terminal 20 are to carry out according to the position calculation rule that is stored in advance in the position calculation portion 16.As shown in Figure 1, position calculation portion 16 constitutes and comprises 16a of reliability evaluation portion and determination section 16b.

The 16a of reliability evaluation portion is the information according to the expression imagination sector that calculating part 15 is imported from imaginary sector, estimates the reliability evaluation unit of the reliability of imaginary sector based on the reliability evaluation rule of storage in advance.The evaluation of reliability of imagination sector is equivalent to the location to cellular terminal 20, to each cellular basestation 30 estimate from the electric wave of cellular basestation 30 can on which kind of degree electric wave reliability reliably.The 16a of reliability evaluation portion outputs to determination section 16b to the information of the reliability of the imaginary sector of representing to be estimated.

Determination section 16b is the decision unit that decides the imaginary sector that the information in the position calculation of cellular terminal 20, used relates to according to the reliability of being estimated out by the 16a of reliability evaluation portion.The decision of imagination sector is equivalent to determine the cellular basestation 30 that the information in the position calculation of cellular terminal 20, used relates to.For example, in the computation rule of position, under situation about using from the RTT location of the electric wave of 1 cellular basestation 30, the imaginary sector that relates to the highest imaginary sector decision of reliability for the information of in position calculation, using.

Position calculation portion 16 uses the information of the imaginary sector that is determined by determination section 16b, calculates the position of cellular terminal 20 as the information of for example representing latitude and longitude.Promptly; Position calculation portion 16 is according to the electric wave of the imaginary sector that is determined by determination section 16b; The base station 30 that calculating relates to from this imagination sector is towards the direction of cellular terminal 20 and the distance between this base station 30 and the cellular terminal 20, and the position of calculating mobile communication terminal 20 according to this direction and distance.According to this structure, can calculate the position of cellular terminal 20 reliably.

The back will be described in more detail, specifically, expectation be that position calculation portion 16 calculates the base stations 30 that relate to from the imaginary sector that is determined by determination section 16b towards the direction of cellular terminal 20 center as the direction scope of imaginary sector.And, expectation be that position calculation portion 16 is calculating from the base station 30 that related to by the imaginary sector that determination section 16b determined towards the direction of cellular terminal 20 mean value as the direction of the electric wave that sends from this base station 30 and received by cellular terminal 20.And; What expect is; Position calculation portion 16 is the direction of the base stations 30 that relate to from the imaginary sector that is determined by determination section 16b towards cellular terminal 20, calculates as this base station 30 of calculating according to this electric wave the direction of the electric wave that sends from this base station 30 and received by cellular terminal 20 and the direction of the distance minimum between the cellular terminal 20.

And; Specifically; What expect is; Base station 30 that 16 imaginary sectors that determined by determination section 16b of position calculation portion relate to and the distance between the cellular terminal 20 calculate as the arbitrary side in the distance that calculates according to the electric wave of between this base station 30 and this cellular terminal 20, being received and dispatched.And; What expect is; Base station 30 that position calculation portion 16 relates to the imaginary sectors that determined by determination section 16b and the distance between the cellular terminal 20 are as according to the electric wave of between this base station 30 and this cellular terminal 20, being received and dispatched and the minor increment in the calculated distance calculates.And; What expect is; Base station 30 that 16 imaginary sectors that determined by determination section 16b of position calculation portion relate to and the distance between the cellular terminal 20, the mean value of the distance that the electric wave of between this base station 30 and this cellular terminal 20, being received and dispatched as basis calculates calculates.And; The base station 30 that to be position calculation portion 16 relate to for the imaginary sector that is determined by determination section 16b of expectation and the distance between the cellular terminal 20; The distance that will calculate according to the electric wave of between this base station 30 and this cellular terminal 20, being received and dispatched is calculated the distance between above-mentioned base station 30 and the cellular terminal 20 by each trooping of distance range.

In addition, in location server 10, the information (for example, latitude and the information of longitude of expression cellular basestation 30) of the position of each cellular basestation 30 of expression is remained in the database etc. these information of use in the position calculation of cellular terminal 20.Position calculation portion 16 exports the information of the position of the cellular terminal 20 that calculated of expression as required.The back is handled in the position calculation of interior position calculation portion 16 processing that comprises 16a of reliability evaluation portion and determination section 16b and is described in more detail.

Fig. 4 illustrates the hardware configuration of location server 10.As shown in Figure 4; Location server 10 constitutes and comprises computing machine; This computing machine has: CPU 101; As the RAM of main storage means (Random Access Memory: RAS) 102 and ROM (Read Only Memory: ROM (read-only memory)) 103, the communication module 104 that is used to communicate, and hardware such as auxilary unit 105 such as hard disk.These inscapes are carried out work by program etc., thereby bring into play the function of above-mentioned location server 10.

Next, location server 10, cellular terminal 20 and the cellular basestation 30 performed processing (positioning method) of using the process flow diagram of Fig. 5 that this embodiment is related to describe.For example begin this processing through receiving the location request from cellular terminal 20 via mobile radio communication by location server 10.In addition, also can serve as to trigger to begin the location processing with the situation beyond above-mentioned.

At first, in location server 10, carry out location is sent to signal the control (S01 sends controlled step) of cellular terminal 20 from sending 12 pairs of each cellular basestations 30 of control part.Through this control, location is sent to cellular terminal 20 with signal from cellular basestation 30.For example the certain intervals with every hundreds of μ s continues to carry out to use signal from cellular basestation 30 transmission locations.

Cellular terminal 20 receives the pilot signal of being sent from cellular basestation 30, carry out location registers according to this pilot signal, and carries out radio communication between (having the sub-district) cellular basestation 30 of relating to of this location registers.And cellular terminal 20 is confirmed the sector according to the information that comprises in the pilot signal, carries out radio communication afterwards.In cellular terminal 20, there be the base station IDs and the sector ID that has the sector of sub-district.Cellular terminal 20 is receiving location when using signal, generates to the response signal of location with signal, and sends it to the cellular basestation 30 that has the sub-district.Include the information and the sector ID that has the sector that are used for confirming cellular terminal 20 in the response signal.

The cellular basestation 30 that has a sub-district is when cellular terminal 20 receives response signal, and the information of confirming being used for of comprising in this signal cellular terminal 20 is that self base station IDs sends to location server 10 with having the sector ID of sector and having the base station IDs of sub-district.And cellular basestation 30 mensuration RTT etc. are used to measure the information of distance, and send to location server 10 to this information.In location server 10, receive above-mentioned information of sending (S02) by receiving and transmitting part 11.After, in location server 10, these information conducts are managed with the corresponding information of signal with 1 location.In location server 10, above-mentioned each information that is received by receiving and transmitting part 11 is outputed to range information according to information and obtains portion 13 and obtain portion 14 with directional information.

In addition, repeat the reception of this information, up to arriving predetermined times n.That is, cellular terminal 20 receives locations with signal n time, this at every turn information measured position server 10 of reception obtain.This frequency n for example is stored in the receiving and transmitting part 11 of location server 10.Also can work as reception number of times that cellular terminal 20 relates to when having reached n time, this advisory given send control part 12, stop to send the control of locations with signal from cellular basestation 30.N is the number (that is, obtaining a plurality of information) more than or equal to 2, for example, sets the number about number～2 figure places of the latter half of 1 figure place.And the number of n is big more, and the possibility that then can carry out accurate location is just high more.In the several seconds, carry out obtaining of n information.

Next; In location server 10; Obtain portion 13 by range information and use signal to each location, the information that is used to measure distance according to RTT etc. is calculated the distance (S03, range information is obtained step) between cellular terminal 20 and (having the sub-district) cellular basestation 30.That is, calculate the information of n expression distance.The information of distance for example is to be the numerical value of unit with rice.The information of institute's calculated distance is imported into imaginary sector calculating part 15.

Next, in location server 10, obtain portion 14 by directional information and use signal, confirm as the direction (S04, directional information obtains step) of location with the electric wave of signal according to the sector ID that has the sector to each location.For example, the direction of electric wave is the direction of the central angle that uses the determined sector 31 of sector ID being carried out 2 five equilibriums.Through holding each sector 31 towards which direction with reference to the database that stores the structure of sector.For example as shown in Figure 6, (right-hand rotation) angle between the first decision reference direction (among Fig. 6, the last direction of paper), available and reference direction is represented the direction (pointing direction of sector 31) of electric wave.Among Fig. 6, for example, in the 31a of sector, the direction of electric wave is θ ₁=0, in the 31b of sector, the direction of electric wave is θ ₂=π/3, in the 31c of sector, the direction of electric wave is θ ₃=2 π/3.The information of the direction of determined electric wave is imported into imaginary sector calculating part 15.

At this constantly, as the information of the position that is used to measure cellular terminal 20, according to each location with signal to imaginary sector calculating part 15 input base station IDs, the direction of electric wave and the information (mensuration result) of distance.Here, measuring the result to n is set at:

B _i: base station IDs

θ _i: the direction of electric wave (sector pointing direction)

R _i: the distance between cellular terminal 20 and the cellular basestation 30.

Here, i is and the corresponding subscript of 1 information (measure for 1 time: 1 location is with the reception of signal), is the integer of 1～n.For example, suppose that resulting information is 6, then puts in order by Fig. 7 (a).

Here, in imaginary sector calculating part 15, according to above-mentioned information calculations imagination sector (S05, direction range computation step).The below computing of the imaginary sector of explanation.

At first, all are measured result { B _i, θ _i, R _i| 1≤i≤n} implements trooping.That is,

1. gathering base station IDs is B _iBe identical mensuration result, be made as B ' _jBe made as b to its number (number of base station IDs).In above-mentioned, j is the subscript of base station IDs.

And to base station IDs be B ' _jMensuration result, gather θ _iIdentical mensuration result is made as θ _{J, k}Be made as p to its number (number of the direction of the electric wave of each base station IDs) _jHere, k is the subscript of electric wave direction.

3. and to gather base station IDs be B ' _jAnd θ _iIdentical mensuration result is made as R _{J, k, l}, be made as m to its number (base station IDs with each electric wave direction apart from number) _{J, k}Here, l is the subscript of distance.

Fig. 7 (b) illustrates the result after mensuration result to Fig. 7 (a) has carried out above-mentioned trooping.In this example, each parameter is:

b＝3

p ₁＝2，p ₂＝1，p ₃＝1

m _1，1＝2，m _1，2＝1，m _2，1＝2，m _3，1＝1

Then, the mensuration result after the trooping of use is to each B ' _j(cellular basestation 30), the parameter of calculating imaginary sector 32 shown in Figure 8 respectively is the angular extensions alpha of imaginary sector 32 _j, imaginary sector pointing direction θ ' _jAnd the radius R ' of imaginary sector _j

Below, imaginary sector B ' is shown _jComputing method.

[the angular extensions alpha of imaginary sector _jCalculating]

In addition, following calculating is to be carried out according to the range computation rule of being stored by imaginary sector computing unit 15.At B ' _jIn, the angular extensions alpha of imaginary sector _jBe calculated as the pointing direction θ of each sector 31 _{J, k}Function F.

θ _{J, k}Several p _j＞1 situation:

Example as the function F of the angular range that calculates imaginary sector uses the function that calculates the minimum fan-shaped angle that comprises whole pointing directions.Concrete grammar is, to whole pointing direction θ _{J, k}, carry out ascending sort, be made as θ ' to its result _{J, k}Then, to θ ' _{J, k}, calculate adjacent pointing direction difference Δ α _k=θ ' _{J, k+1}-θ ' _{J, k}At this moment, be regarded as the angle at the angle of beginning and end adjacent.And, when differential seat angle is Δ α _k＜0 o'clock, Δ α _k=2 π+Δ α _kAnd, to MAX [the Δ α of maximum _k], 2 π-MAX [Δ α _k] be regarded as the angular range of imaginary sector 32.That is, obtain

[formula 1]

θ′ _j，k＝SORT[θ _j，k]

$\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k=\left\{\begin{array}{cc}{{\mathrm{\&theta;}}^{\&prime;}}_{j,k+1}{{-\mathrm{\&theta;}}^{\&prime;}}_{j,k},& 1\&le;k<p_j\\ {{\mathrm{\&theta;}}^{\&prime;}}_{j,1}-{{\mathrm{\&theta;}}^{\&prime;}}_{j,k},& k=p_j\end{array}\right.$

And, $\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k=\left\{\begin{array}{cc}\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k,& 0\&le;\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k\\ 2\mathrm{\&pi;}+\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k,& \mathrm{\&Delta;}{\mathrm{\&alpha;}}_k<0\end{array}\right.$

${\mathrm{\&alpha;}}_j=F\left({\mathrm{\&theta;}}_{j,k}\right)=2\mathrm{\&pi;}-\underset{k=1}{\overset{p_j}{\mathrm{MAX}}}\left[\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k\right]$

Angular range by the above-mentioned imaginary sector of obtaining 32 is to comprise the sector pointing direction θ that this imagination sector 32 relates to _iAngular range.

Perhaps, according to the number that receives signal, according to θ _{J, k}Interior R _{J, k, l}Several m _{J, k}, the function that the angular range of imaginary sector 32 is narrowed down is so that improve the reliability of imaginary sector.That is, use to m _{J, k}Reduce function.As example, consider with minor function etc. based on above-mentioned function:

[formula 2]

θ′ _j，k＝SORT[θ _j，k]

$\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k=\left\{\begin{array}{cc}{{\mathrm{\&theta;}}^{\&prime;}}_{j,k+1}{{-\mathrm{\&theta;}}^{\&prime;}}_{j,k},& 1\&le;k<p_j\\ {{\mathrm{\&theta;}}^{\&prime;}}_{j,1}-{{\mathrm{\&theta;}}^{\&prime;}}_{j,k},& k=p_j\end{array}\right.$

And, $\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k=\left\{\begin{array}{cc}\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k,& 0\&le;\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k\\ 2\mathrm{\&pi;}+\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k,& \mathrm{\&Delta;}{\mathrm{\&alpha;}}_k<0\end{array}\right.$

(γ: constant, 0≤γ≤2 π)

Perhaps,

[formula 3]

θ′ _j，k＝SORT[θ _j，k]

$\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k=\left\{\begin{array}{cc}{{\mathrm{\&theta;}}^{\&prime;}}_{j,k+1}{{-\mathrm{\&theta;}}^{\&prime;}}_{j,k},& 0\&le;k<p_j\\ {{\mathrm{\&theta;}}^{\&prime;}}_{j,0}-{{\mathrm{\&theta;}}^{\&prime;}}_{j,k},& k=p_j\end{array}\right.$

And, $\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k=\left\{\begin{array}{cc}\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k,& 0\&le;\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k\\ 2\mathrm{\&pi;}+\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k,& \mathrm{\&Delta;}{\mathrm{\&alpha;}}_k<0\end{array}\right.$

${\mathrm{\&alpha;}}_j=F\left({\mathrm{\&theta;}}_{j,k}\right)=(2\mathrm{\&pi;}-\underset{k=0}{\overset{p_j}{\mathrm{MAX}}}[\mathrm{\&Delta;}{\mathrm{\&alpha;}}_k\left]\right)\&CenterDot;\frac{100-\underset{k=1}{\overset{p_j}{\mathrm{\&Sigma;}}}{m}_{j,k}}{100}\&CenterDot;\mathrm{\&gamma;}$ (γ: constant, 0＜γ≤1)

θ _{J, k}Several p _j=1 situation:

As the example of the angular range computing function of imaginary sector, α _jBe made as the constant of [0,2 π].That is, be made as

[formula 4]

α _j=φ (φ: constant, 0≤φ≤2 π)

As an example, under the situation of the such cellular system of this embodiment, it is effective that the value of φ is used the big value of angular range of 1 sector of π geometric ratio.

Perhaps, according to this θ _{J, k}In R _{J, k, l}Several m _{J, k}, the function that the angular range of imaginary sector is narrowed down.For example, consider with minor function etc.:

[formula 5]

α _j=φ-m _{J, 1}γ (φ, γ: constant, 0≤φ≤2 π, 0≤γ≤2 π)

Perhaps,

[formula 6]

${\mathrm{\&alpha;}}_j=\mathrm{\&phi;}\&CenterDot;\frac{\mathrm{\&gamma;}}{m_{j,1}}$ (φ, γ: constant, 0≤φ≤2 π, 0≤γ≤2 π)

As stated, imaginary sector 32 is sectors of expression cellular terminal 20 scope that can exist, thereby expectation is, also according to the location of each cellular basestation 30 that is received by the cellular terminal 20 number of times (m with signal _{J, k}) calculate, so that angular range narrows down.Preferably, suitably determine the coefficient gamma in the above-mentioned formula according to above-mentioned viewpoint.

[the pointing direction θ ' of imaginary sector _jCalculating]

At B ' _jIn, the pointing direction θ ' of imaginary sector 32 _jBe used as the pointing direction θ of each sector 31 _{J, k}, or cellular basestation 30 and cellular terminal 20 between distance R _{J, k, l}And θ _{J, k}Function G and calculate.

θ _{J, k}Several p _j＞1 situation:

As θ ' _jThe example of computing function, use the pointing direction of 2 mean lines of the central angle of imaginary sector 32.That is, obtain 2 pointing direction θ of the angular range that forms imaginary sector 32 ₁, θ ₂(θ ₁＞θ ₂), the direction (θ of the angle between wherein ₁-θ ₂)/2 are made as θ ' _jYet, at θ ₁, θ ₂The situation of differential seat angle greater than n under, θ ' _j-π is made as pointing direction.That is,

[formula 7]

${{\mathrm{\&theta;}}^{\&prime;}}_j=G\left({\mathrm{\&theta;}}_{j,k}\right)=\left\{\begin{array}{cc}\frac{{\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_2}{2},& 0\&le;|{\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_2|\&le;\mathrm{\&pi;}\\ \frac{{\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_2}{2}-\mathrm{\&pi;},& \mathrm{\&pi;}<|{\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_2|<2\mathrm{\&pi;}\end{array}\right.$

And, as θ ' _jThe example of computing function, also can use all θ _{J, k}Mean value.That is, also can be made as

[formula 8]

${{\mathrm{\&theta;}}^{\&prime;}}_j=G\left({\mathrm{\&theta;}}_{j,k}\right)=\frac{\underset{k=1}{\overset{p_j}{\mathrm{\&Sigma;}}}\left[{\mathrm{\&theta;}}_{j,k}\right]}{p_j}$

And, as θ ' _jThe example of computing function, also can be with the R of minimum _{J, k, l}In pointing direction be made as θ ' _jThat is, can also be:

[formula 9]

$\begin{array}{cc}{{\mathrm{\&theta;}}^{\&prime;}}_j=G({\mathrm{\&theta;}}_{j,k},R_{j,k,l})={\mathrm{\&theta;}}_{j^{\&prime;},k^{\&prime;}}& (j^{\&prime;},k^{\&prime;}:R_{j^{\&prime;},k^{\&prime;},l^{\&prime;}}=\underset{k=1}{\overset{p_j}{\mathrm{MIN}}}[\underset{l=1}{\overset{m_{j,k}}{\mathrm{MIN}}}\left[R_{j,k,l}\right]\left]\right)\end{array}$

And, as θ ' _jThe example of computing function, also can use and consider R _{J, k, l}All θ of number _{J, k}Mean value.That is, can use with inferior function.

[formula 10]

${{\mathrm{\&theta;}}^{\&prime;}}_j=G({\mathrm{\&theta;}}_{j,k},R_{j,k,l})=\frac{\underset{k=1}{\overset{p_j}{\mathrm{\&Sigma;}}}[{\mathrm{\&theta;}}_{j,k}\&CenterDot;m_{j,k}]}{\underset{k=1}{\overset{p_j}{\mathrm{\&Sigma;}}}\left[m_{j,k}\right]}$

θ _{J, k}Several p _j=1 situation:

As θ ' _jThe example of computing function, with θ _{J, k}As θ ' _jThat is, can be made as

[formula 11]

θ′ _j＝θ _j，k

[the radius R ' of imaginary sector _jCalculating]

At B ' _jIn, the radius R ' of imaginary sector 32 _jBe used as B ' _jIn cellular basestation 30 and the distance R between the cellular terminal 20 _{J, k, l}Function H and calculate.

R _{J, k, l}Total ∑ m _{J, k}＞1 situation:

As R ' _jThe example of computing function, can be with R _{J, k, l}Arbitrary value as R ' _jThat is,

[formula 12]

${R^{\&prime;}}_j=H\left(R_{j,k,l}\right)=\&ForAll;R\&Element;R_{j,k,l}$

And, as R ' _jThe example of computing function, can be R _{J, k, l}Minimum value as R ' _jThat is, can be made as

[formula 13]

${R^{\&prime;}}_j=H\left(R_{j,k,l}\right)=\underset{k=1}{\overset{p_j}{\mathrm{MIN}}}\left[\underset{l=1}{\overset{m_{j,k}}{\mathrm{MIN}}}\right[R_{j,k,l}\left]\right]$

And, as R ' _jThe example of computing function, R _{J, k, l}Mean value as R ' _jThat is, can be made as

[formula 14]

${R^{\&prime;}}_j=H\left(R_{j,k,l}\right)=\frac{\underset{k=1}{\overset{p_j}{\mathrm{\&Sigma;}}}\underset{l=1}{\overset{m_{j,k}}{\mathrm{\&Sigma;}}}{R}_{j,k,l}}{\underset{k=1}{\overset{p_j}{\mathrm{\&Sigma;}}}{m}_{j,k}}$

And, as R ' _jThe example of computing function, with R _{J, k, l}Trooping can be according to the decision of the number in respectively trooping R ' _j

R _{J, k, l}Total ∑ m _{J, k}=1 situation:

R _{J, k, l}As R ' _jThat is, can be made as

[formula 15]

R′ _j＝R _j，k，l

Fig. 9 illustrates an example of using the imaginary sector 32 that above-mentioned method obtains.In this example, the sector radius R ' ₁=R _1,3,1, angular extensions alpha _j=| θ _1,3-θ _1,1|, pointing direction θ ' ₁(θ _1,3-θ _1,1)/2.

The information of the imaginary sector 32 that expression is calculated by imaginary sector calculating part 15 is as stated outputed to position calculation portion 16.

Next, in location server 10, estimate the reliability (S06, reliability evaluation step, position calculation step) of imaginary sector 32 by the 16a of reliability evaluation portion of position calculation portion 16.Think that the size of imaginary sector 32 is more little, the position of cellular terminal 20 is just contracted more for a short time.Reliability is calculated according to above-mentioned thought.Reliability ε _jBe according to imaginary sector B ' _jThe sector radius R ' _jAnd angular extensions alpha _jFunction E calculate.Suppose reliability ε _jValue more little, then imaginary sector B ' _jReliability just high more.

Example as the evaluation function E of imaginary sector can use following function.

The angular range of imagination sector is 0≤α _jThe situation of≤π:

In the zone of [0, π], about the sector radius R ' of imaginary sector _jAnd angular extensions alpha _jThe increase function be used as reliability function.As function, can use following any.

(1) area of the imaginary sector of use.That is,

[formula 16]

${\mathrm{\&epsiv;}}_j=E({R^{\&prime;}}_j,{\mathrm{\&alpha;}}_j)=\frac{{\mathrm{\&alpha;}}_j{{R^{\&prime;}}_{\mathrm{<figure-callout\; id="2"\; label="j"\; filenames="S2008100805664E00021.png,S2008100805664E00031.png"\; state="\{\{state\}\}">j</figure-callout>}}}^2}{2}$

(2) distance of the mid point of use from the end points on the arc of imaginary sector to arc.That is,

[formula 17]

${\mathrm{\&epsiv;}}_j=E({R^{\&prime;}}_j,{\mathrm{\&alpha;}}_j)=\sqrt{2{{R^{\&prime;}}_j}^2(1-\cos \frac{{\mathrm{\&alpha;}}_j}{2})}$

(3) distance of the center of gravity of use from the end points on the arc of imaginary sector to imaginary sector.That is,

[formula 18]

${\mathrm{\&epsiv;}}_j=E({R^{\&prime;}}_j,{\mathrm{\&alpha;}}_j)={{R^{\&prime;}}_j}^2(1+\frac{4{\sin }^2({\mathrm{\&alpha;}}_j/2)}{9{({\mathrm{\&alpha;}}_j/2)}^2}-\frac{4\sin {\mathrm{\&alpha;}}_{\mathrm{<figure-callout\; id="3"\; label="j"\; filenames="S2008100805664E00021.png,S2008100805664E00031.png"\; state="\{\{state\}\}">j</figure-callout>}}}{3{\mathrm{\&alpha;}}_j})$

(4) use the mid point of the arc of imaginary sector as the average estimation error under the situation of the estimated position of the point on the arc that is positioned at imaginary sector.That is, shown in figure 10, being made as r to the distance of the mid point 32b of arc, then from putting 32a arbitrarily

[formula 19]

$r=\sqrt{2{{R^{\&prime;}}_j}^2(1-\cos ({\mathrm{\&alpha;}}_j/2-\mathrm{\&beta;}))}$

${\mathrm{\&epsiv;}}_j=E({R^{\&prime;}}_j,{\mathrm{\&alpha;}}_j)={\&Integral;}_0^{{\mathrm{\&alpha;}}_j/2}\mathrm{rd\&beta;}$

(5) distance of using mid point from the two-end-point on the circular arc of imaginary sector to circular arc with.That is,

[formula 20]

${\mathrm{\&epsiv;}}_j=E({R^{\&prime;}}_j,{\mathrm{\&alpha;}}_j)=2\sqrt{2{{R^{\&prime;}}_j}^2(1-\cos \frac{{\mathrm{\&alpha;}}_j}{2})}$

(6) length (distance) of the string of the imaginary sector of use from an end points on the circular arc to another end points.That is,

[formula 21]

${\mathrm{\&epsiv;}}_j=E({R^{\&prime;}}_j,{\mathrm{\&alpha;}}_j)=\sqrt{2{{R^{\&prime;}}_j}^2(1-\cos {\mathrm{\&alpha;}}_j)}$

The angular range of imagination sector is π＜α _jThe situation of＜2 π:

In the zone of (π, 2 π), about the sector radius R ' of imaginary sector _jAnd angular extensions alpha _jThe increase function be used as reliability function.As function, the two-end-point 32c that for example can use circular arc from imaginary sector shown in Figure 11 to the distance of the mid point 32b of circular arc with etc. 0 above-mentioned≤α _jIn (1) under the situation of≤π, (2), (4), (5) any.[0,2 π) in, can be with 2 kinds of incompatible uses of group of functions of above-mentioned [0, π] and (π, 2 π).

As the reliability ε that has estimated the imaginary sector 32 that each cellular basestation 30 relates to as stated by the 16a of reliability evaluation portion _jThe time, next, by the determination section 16b imaginary sector 32 (S07, deciding step, position calculation step) that decision is used in the position calculation of cellular terminal 20 according to this reliability.For example, under the situation of the position calculation rule being set for the position of imaginary sector 32 calculating cellular terminals 20, will have expression reliability ε according to 1 _jThe 32 imaginary sectors of decision, imaginary sector of the highest value (being the minimum value of numerical value in this embodiment) in position calculation, using.Determining to come under the situation of calculating location, with above-mentioned the same 2 the imaginary sectors 32 that determine according to 2 imaginary sectors 32.And, also can be according to the reliability ε of each imaginary sector 32 _jValue decide and in position calculation, be to use 1 imaginary sector also to be to use 2 imaginary sectors (for example, have under the situation more than 2, use 2 imaginary sectors etc.) in the high imaginary sector of reliability.

Next, in location server 10, by the position (S08, position calculation step) of position calculation portion 16 according to the imaginary sector that is determined 32 calculating cellular terminals 20.In position calculation, can use the information of imaginary sector 32, and the use method identical with above-mentioned RTT location.That is, according to the cellular basestation 30 that the imaginary sector 32 that is determined relates to, cellular terminal 20 is calculated as the direction θ that is positioned at imaginary sector _i Imaginary sector 32 in to make the distance between cellular terminal 20 and the cellular basestation 30 be R _iThe position on.In position calculation, can use the positional information of the cellular basestation 30 in the database that is stored in location server 10.The situation of using 2 imaginary sectors also is the same (direction shown in Figure 12 (c)).

The positional information of the cellular terminal 20 that is calculated is exported as required, for example is sent to cellular terminal 20 that has carried out the location request etc.It more than is the performed processing of the location server 10 that relates to of this embodiment, cellular terminal 20 and cellular basestation 30.

As stated, in this embodiment, through receiving and dispatching a plurality of electric waves (location is used signal), calculate imaginary sector, and calculate the position of cellular terminal 20 according to this imagination sector with angular range (direction scope).

Usually, move owing to cellular terminal 20 or surrounding environment change changes the communication environments of electric wave.Under this environment, because probabilistic ground receives ground wave and reflection wave, thereby the electric wave under reception and the good communication environments is that the possibility of the approaching signal of ground wave increases.In this embodiment,, thereby can carry out location based on the signal that approaches ground wave because basis is come calculating location to the imaginary sector of having done to consider based on the distance and the direction of " a plurality of electric wave " like this.Thus, according to this embodiment,, also can carry out the location of cellular terminal 20 exactly even in the electric wave that arrives cellular terminal 20 from cellular basestation 30, include under the environment that postpones ripple.

And, expectation be as this embodiment, also, to calculate the angular range of imaginary sector according to the location of each cellular basestation 30 that is received by cellular terminal 20 number of times with signal.According to this structure, further improve reliability to receiving more locations with the imaginary sector of the cellular basestation 30 of signal, electric wave from this cellular basestation 30 etc. can be paid attention to, thereby location can be carried out more accurately.

And; As this embodiment; As long as calculate the reliability of imaginary sector and determine the imaginary sector of in position calculation, using to calculate the position according to reliability; Just can carry out location, thereby can carry out location more accurately according to electric wave from the cellular basestation 30 that is suitable for carrying out location.

And, as this embodiment, use signal as long as send location, just can send electric wave reliably, and can make the employed electric wave of location clear and definite from cellular basestation 30, thereby embodiment of the present invention reliably.Yet, in the situation of existing electric wave capable of using etc. down, there is no need to send location and use signal.

And, as this embodiment, as long as in according to the distance calculation of each electric wave, use the propagation delay of electric wave or the damping capacity of intensity, embodiment of the present invention reliably just.And, as long as calculate the direction of each electric wave according to the sector of cellular basestation 30, embodiment of the present invention reliably just.Yet, in cellular terminal 20, have the directive property that can detect electric wave mechanism situation etc. down, there is no need certain above-mentioned structure that adopts.And, in cellular basestation 30, have and can detect down from the situation of the mechanism of the directive property of the electric wave of cellular terminal 20 etc., there is no need certain above-mentioned structure that adopts.

And in this embodiment, as shown in Figure 2 is that example is described to have the situation that a plurality of electric waves send the source, yet even under the situation that obtains the information that a plurality of electric waves relates to from 1 electric wave transmission source, also can use the present invention.For example; Shown in figure 15; Even be under the situation of the information that relates to from the electric wave of 1 cellular basestation 30 only at the reception result of cellular terminal 20; Also the same with this embodiment, can calculate imaginary sector shown in Figure 16, and can be according to the position of the information calculations cellular terminal 20 of representing imaginary sector.In this case, also can estimate the reliability ε of this imagination sector by the 16a of reliability evaluation portion _j, only be judged as reliability ε by determination section 16b _jUnder the situation greater than pre-set threshold, just carry out the position calculation of cellular terminal 20.

And; In this embodiment, be that example is described with the cellular system; Yet system in addition just can use the present invention so long as calculate distance and the direction from the signal source of electric wave to mobile communication terminal and infer the location system of the position of mobile communication terminal.And in this embodiment, the function that location system relates to is used as location server 10 and realizes, yet the mobile communication terminal of location object self also can have this function.

Next, the positioning program that is used to make computing machine carry out the processing of the location that carries out above-mentioned a series of mobile communication terminal is described.Shown in figure 14, positioning program 81 is stored in the program storage area 80a that is formed in the recording medium 80 that computing machine has.

Positioning program 81 constitutes to have: the primary module 81a that unified control location is handled; Transceiver module 81b; Send control module 81c, range information is obtained module 81d, and directional information obtains module 81e; Imagination sector computing module 81f, and the position computation module 81g that comprises reliability evaluation module 81h and decision module 81i.Carry out transceiver module 81b through making computing machine; Send control module 81c; Range information is obtained module 81d; Directional information obtains module 81e; Imagination sector computing module 81f; Position computation module 81g; The receiving and transmitting part 11 of reliability evaluation module 81h and decision module 81i and the function that realizes and above-mentioned location server 10; Send control part 12; Range information is obtained portion 13; Directional information obtains portion 14; Imagination sector calculating part 15; Position calculation portion 16; The function of 16a of reliability evaluation portion and determination section 16b is identical respectively.

In addition, positioning program 81 can also constitute, and one of which partly or entirely is transmitted via transmission mediums such as communication lines, is received and record (comprising installation) by other equipment.

Claims (15)

1. location system, the position that it infers mobile communication terminal is characterized in that, this location system has:

Range information is obtained the unit, and it obtains expression according to send this transmission source that the electric wave received and dispatched between source and the above-mentioned mobile communication terminal calculates and the information of the distance between this mobile communication terminal at the electric wave more than 1;

Directional information obtains the unit, and it is obtained a plurality of expressions according to the sector ID that comprises in the electric wave and sends that the source is sent and by the information of the direction of the electric wave that above-mentioned mobile communication terminal received from above-mentioned electric wave;

Direction range computation unit; It is according to the information that is obtained the direction of a plurality of expression electric waves of obtaining the unit by above-mentioned directional information; Based on the range computation rule of storage in advance, calculate the hypothetical world towards the direction of above-mentioned mobile communication terminal from above-mentioned electric wave transmission source to each above-mentioned transmission source; And

Position calculation unit, it is according to the hypothetical world of the above-mentioned direction that is obtained the above-mentioned distance that obtains the unit by above-mentioned range information and calculated by above-mentioned direction range computation unit, the position of calculating above-mentioned mobile communication terminal,

Above-mentioned direction range computation unit calculates above-mentioned hypothetical world through following steps, supposes B _iBe the ID that electric wave sends the source, θ _iThe electric wave direction that expression obtains, R _iThe expression electric wave sends the distance between source and the mobile communication terminal, and wherein i is the integer more than 1:

A. to obtaining the information of the said distance of expression that obtains the unit and implement to gather by said range information by the information that said directional information obtains the direction of the expression electric wave of the obtaining the unit whole mensuration results that obtain that are mapped; Promptly send the source, gather θ to each above-mentioned electric wave _iIdentical mensuration result is made as R _{J, k, l}, here, j is the subscript that electric wave sends the source, and k is the subscript of electric wave direction, and l is the subscript of distance;

B. send the source to each above-mentioned electric wave, use the function that calculates the minimum fan-shaped angle that comprises whole electric wave directions to calculate angular range as the imaginary sector of hypothetical world;

C. send source to each above-mentioned electric wave, the pointing direction of 2 mean lines of central angle that calculates above-mentioned imaginary sector is as the pointing direction of imaginary sector;

D. send the source to each above-mentioned electric wave, use R _{J, k, l}Arbitrary value or R _{J, k, l}Minimum value or R _{J, k, l}Mean value as the radius of above-mentioned imaginary sector;

E. according to angular range, the pointing direction of imaginary sector and the radius of imaginary sector of the above-mentioned imaginary sector that calculates, obtain each above-mentioned electric wave and send the hypothetical world of source towards the direction of above-mentioned mobile communication terminal.

2. location system according to claim 1 is characterized in that, above-mentioned direction range computation unit also basis calculates the scope of above-mentioned direction by the number of times of the electric wave in each above-mentioned transmission source that above-mentioned mobile communication terminal received.

3. location system according to claim 1 is characterized in that, above-mentioned position calculation unit has:

The reliability evaluation unit; It is according to the scope of the above-mentioned direction that is obtained the above-mentioned distance that obtains the unit by above-mentioned range information and calculated by above-mentioned direction range computation unit; Based on the Calculation of Reliability rule of storage in advance, estimate the reliability of the electric wave of the location that is directed against above-mentioned mobile communication terminal to each transmission source; And

The decision unit, the reliability that its basis is estimated out by above-mentioned reliability evaluation unit, the above-mentioned transmission source that the information that decision is used in the position calculation of above-mentioned mobile communication terminal relates to.

4. location system according to claim 3; It is characterized in that; Above-mentioned position calculation unit is according to the electric wave of between above-mentioned transmission source that is determined by above-mentioned decision unit and above-mentioned mobile communication terminal, being received and dispatched; Calculating from this transmission source towards the direction of above-mentioned mobile communication terminal and should the transmission source and above-mentioned mobile communication terminal between distance, and according to the position of this direction and the above-mentioned mobile communication terminal of distance calculation.

5. location system according to claim 4; It is characterized in that; Above-mentioned position calculation unit will be from the transmission source that determined by above-mentioned decision unit towards the direction of above-mentioned mobile communication terminal, as from this transmission source towards the center of the scope of the direction of this mobile communication terminal and calculate.

6. location system according to claim 4; It is characterized in that; Above-mentioned position calculation unit will be from the transmission source that determined by above-mentioned decision unit towards the direction of above-mentioned mobile communication terminal, as sending from this transmission source and being calculated by the mean value of the direction of the electric wave that above-mentioned mobile communication terminal received.

7. location system according to claim 4; It is characterized in that; Above-mentioned position calculation unit will be from the transmission source that determined by above-mentioned decision unit towards the direction of above-mentioned mobile communication terminal, calculates as this transmission source of sending from this transmission source and being calculated according to this electric wave by making the direction of the electric wave that above-mentioned mobile communication terminal received and the minimum direction of distance between the above-mentioned mobile communication terminal.

8. location system according to claim 4; It is characterized in that; Transmission source that above-mentioned position calculation unit will be determined by above-mentioned decision unit and the distance between the above-mentioned mobile communication terminal calculate as any distance in the above-mentioned distance that calculates according to the electric wave of between this transmission source and this mobile communication terminal, being received and dispatched.

9. location system according to claim 8; It is characterized in that; Transmission source that above-mentioned position calculation unit will be determined by above-mentioned decision unit and the distance between the above-mentioned mobile communication terminal calculate as the minor increment in the above-mentioned distance that calculates according to the electric wave of between this transmission source and this mobile communication terminal, being received and dispatched.

10. location system according to claim 4; It is characterized in that; Transmission source that above-mentioned position calculation unit will be determined by above-mentioned decision unit and the distance between the above-mentioned mobile communication terminal calculate as the mean value of the above-mentioned distance that calculates according to the electric wave of between this transmission source and this mobile communication terminal, being received and dispatched.

11. location system according to claim 4; It is characterized in that; Above-mentioned position calculation unit is for transmission source that is determined by above-mentioned decision unit and the distance between the above-mentioned mobile communication terminal; The above-mentioned distance that will calculate according to the electric wave of between this transmission source and this mobile communication terminal, being received and dispatched is by each trooping of distance range, and calculates the distance between above-mentioned transmission source and the above-mentioned mobile communication terminal.

12. according to each the described location system in the claim 1～11; It is characterized in that; This location system also has sending controling unit; This sending controling unit is controlled, and so that location is sent to above-mentioned mobile communication terminal with signal from above-mentioned transmission source, obtains the distance that obtains the unit and obtains the electric wave that direction is obtained in the unit by above-mentioned directional information as being used to calculate by above-mentioned range information.

13. location system according to claim 12; It is characterized in that above-mentioned range information is obtained the unit according to being sent out with the reception of signal corresponding to this location with the above-mentioned mobile communication terminal of signal and being calculated above-mentioned distance by the propagation delay of the response signal of this transmission source reception or the damping capacity of intensity from receiving the location that sends from the transmission source through the control of above-mentioned sending controling unit.

14. according to each the described location system in the claim 1～11; It is characterized in that; Above-mentioned directional information obtains the information based on the direction of sector that the electric wave that received by above-mentioned mobile communication terminal is obtained in the unit, as the information of the direction of this electric wave of expression.

15. a positioning method, this positioning method is inferred the position of mobile communication terminal, it is characterized in that, this positioning method comprises:

Range information is obtained step, obtains expression according to send this transmission source that the electric wave received and dispatched between source and the above-mentioned mobile communication terminal calculates and the information of the distance between this mobile communication terminal at the electric wave more than 1;

Directional information obtains step, obtains a plurality of expressions according to the sector ID that comprises in the electric wave and sends that the source is sent and by the information of the direction of the electric wave that above-mentioned mobile communication terminal received from above-mentioned electric wave;

Direction range computation step; Information according to the direction of a plurality of expression electric waves of obtaining in the step in above-mentioned directional information to be obtained; Based on the range computation rule of storage in advance, calculate the hypothetical world towards the direction of above-mentioned mobile communication terminal from above-mentioned electric wave transmission source to each above-mentioned transmission source; And

The position calculation step, according to the hypothetical world of above-mentioned distance that obtains in the step at above-mentioned range information to be obtained and the above-mentioned direction that in above-mentioned direction range computation step, calculated, the position of calculating above-mentioned mobile communication terminal,

Above-mentioned direction range computation step is calculated above-mentioned hypothetical world through following steps, supposes B _iBe the ID that electric wave sends the source, θ _iThe electric wave direction that expression obtains, R _iThe expression electric wave sends the distance between source and the mobile communication terminal, and wherein i is the integer more than 1:

A. to obtaining the information of the said distance of expression that step obtains and implement to gather through said range information through the information that said directional information obtains the direction of the expression electric wave that step the obtains whole mensuration results that obtain that are mapped; Promptly send the source, gather θ to each above-mentioned electric wave _iIdentical mensuration result is made as R _{J, k, l}, here, j is the subscript that electric wave sends the source, and k is the subscript of electric wave direction, and l is the subscript of distance;

B. send the source to each above-mentioned electric wave, use the function that calculates the minimum fan-shaped angle that comprises whole electric wave directions to calculate angular range as the imaginary sector of hypothetical world;

C. send source to each above-mentioned electric wave, the pointing direction of 2 mean lines of central angle that calculates above-mentioned imaginary sector is as the pointing direction of imaginary sector;

D. send the source to each above-mentioned electric wave, use R _{J, k, l}Arbitrary value or R _{J, k, l}Minimum value or R _{J, k, l}Mean value as the radius of above-mentioned imaginary sector;

E. according to angular range, the pointing direction of imaginary sector and the radius of imaginary sector of the above-mentioned imaginary sector that calculates, obtain each above-mentioned electric wave and send the hypothetical world of source towards the direction of above-mentioned mobile communication terminal.

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