CN101398476B - Positioning system - Google Patents

Abstract

The invention discloses a positioning system. An antenna-assisted positioning method is adopted to realize two-point positioning for positioning algorithms which use TOA and RSS. Compared with the known AOA algorithm, the invention has the following advantages when applied to two-point positioning: (1) more accurate positioning; (2) farther positioning distance and wider range; (3) lower cost; and (4) higher reliability.

Description

Positioning system

Technical field

The present invention relates to a kind of positioning system, and particularly relate to a kind of positioning system of utilizing the antenna assisted location method to realize two point locations.

Background technology

Generally speaking, the location of being adopted in wireless telecommunications is the most frequently used in the mode of three-point fix, as using time of arrival (time of arrival, TOA) algorithm, received signal intensity (receive signal strength, RSS) located in connection technology such as algorithm is shown in Figure 1A.No matter TOA algorithm or RSS algorithm all must utilize three base stations, could do the location to mobile device.In other words, if TOA algorithm or RSS algorithm are used in two point locations, can't judge the position of mobile device accurately, shown in Figure 1B.

When mobile device is done two point locations, and angle orientation that relatively commonly used is (Angle of Arrival, AOA) algorithm, as shown in Figure 2.The signal that the AOA algorithm is sent by measurement mobile device 3 arrives the different angles α of at least two base stations 1,2 ₁, α ₂, to determine the transmitting site of signal.The method requires at least two base stations 1,2 to receive the signal of mobile device 3.In order to determine sense, need on antenna for base station, install intelligent array antenna system additional, this will bring huge cost.In addition, the AOA algorithm is subjected to non-visual range (None-Line-Of-Sight, Effect of Environmental NLOS) is bigger.

Therefore, category of the present invention is to provide a kind of positioning system, and then addresses the above problem.

Summary of the invention

Category of the present invention is to provide a kind of positioning system, utilizes the antenna assisted location method to realizing two point locations with the location algorithm of TOA, RSS.

According to a preferred embodiment, positioning system of the present invention is in order to locate a mobile device.Positioning system comprises first wireless communication module, second wireless communication module, storage module and processing module.First wireless communication module comprises M and props up first antenna, and second wireless communication module comprises N and prop up second antenna, and wherein M and N are the integer more than or equal to 1, and N is not equal to M.Storage module stores corresponding M and props up M first antenna gain table of first antenna and N the second antenna gain table that corresponding N props up second antenna.

In this embodiment, mobile device is repaid first received signal intensity to the i and is propped up first antenna, and repays second received signal intensity to the j and prop up second antenna, wherein i be between 1 and M between integer, and j be between 1 and N between integer.Second wireless communication module cooperates with first wireless communication module, utilizes TOA or RSS algorithm to determine the primary importance and the second place of corresponding mobile device.

Processing module is in order to judge whether the environmental interference factor can be ignored.When the environmental interference factor can be ignored, processing module judged that according to the first received signal intensity, the second received signal intensity, i first an antenna gain table and j the second antenna gain table mobile device is positioned at the primary importance or the second place.

By this, when the present invention is applied to two point locations, has following advantage: (1) location more accurate (be subjected to disturbing effect little) than known AOA algorithm; (2) farther orientation distance and scope (not being subject to LOS, NLOS environment, the limited LOS environment that is used in of AOA); (3) lower cost (AOA need possess intelligent array antenna, and the present invention can not need); (4) fiduciary level is higher.

Can be further understood by the following detailed description and accompanying drawings about the advantages and spirit of the present invention.

Description of drawings

Figure 1A shows the synoptic diagram of three-point fix.

Figure 1B shows the synoptic diagram of two point locations.

Fig. 2 shows the synoptic diagram of angle orientation.

Fig. 3 A shows the functional block diagram of the positioning system of one preferred embodiment according to the present invention.

Fig. 3 B shows the functional block diagram of positioning system according to yet another preferred embodiment of the present invention.

Fig. 3 C shows the functional block diagram of positioning system according to yet another preferred embodiment of the present invention.

Fig. 4 shows first wireless communication module and cooperates with second wireless communication module, to determine the position of corresponding mobile device.

Fig. 5 shows the synoptic diagram of antenna gain table.

Fig. 6 shows before the switching and the antenna patterns illustrated synoptic diagram after switching.

Fig. 7 A shows the synoptic diagram of oriented antenna field pattern.

Fig. 7 B shows the synoptic diagram of omni-directional antenna field pattern.

Fig. 8 A shows the synoptic diagram of six oriented antennas and an omni-directional antenna.

Fig. 8 B shows the geometric configuration of antenna patterns illustrated among Fig. 8 A.

Fig. 9 A shows the synoptic diagram of four oriented antennas and an omni-directional antenna.

Fig. 9 B shows the geometric configuration of antenna patterns illustrated among Fig. 9 A.

Figure 10 A shows the synoptic diagram of three oriented antennas and an omni-directional antenna.

Figure 10 B shows the geometric configuration of antenna patterns illustrated among Figure 10 A.

The reference numeral explanation

1,2: base station 3: mobile device

4,4 ', 4 ": positioning system 40,42: wireless communication module

400,420: antenna 402,422: radio circuit

404,424: baseband circuit 44,44a, 44b: hardware system

440,440a, 440b: processing module 442,442a, 442b: storage module

46: network 48: servomechanism

α ₁, α ₂, θ ₁, θ ₂, θ ₃, θ ₄, Φ: angle

L, d ₁, d ₂: distance P ₁(X ₁, Y ₁), P ₂(X ₂, Y ₂): the position

G ₁, G ₂, G ₅, G ₆: gain 6,7: antenna patterns illustrated

Embodiment

Please refer to Fig. 3 A to Fig. 3 C.Fig. 3 A shows the functional block diagram of the positioning system 4 of one preferred embodiment according to the present invention.Fig. 3 B show according to yet another preferred embodiment of the present invention positioning system 4 ' functional block diagram.Fig. 3 C shows positioning system 4 according to yet another preferred embodiment of the present invention " functional block diagram.

Positioning system of the present invention can have following three kinds of forms: (1) as shown in Figure 3A, first, second wireless communication module 40,42 is coupled to same hardware system 44; (2) shown in Fig. 3 B, first, second wireless communication module 40,42 is respectively coupled to two different hardware system 44a, 44b, and links by network 46; (3) shown in Fig. 3 C, first, second wireless communication module 40,42 is respectively coupled to two different hardware system 44a, 44b, and connects by network 46 and servomechanism 48.

In the present invention, first, second wireless communication module 40,42 has identical wireless communication standard.Then positional accuracy can be higher if use identical wireless communication module at this.When the location, hardware system need be controlled the identical electric wave power of antenna emission of first, second wireless communication module 40,42.First, second wireless communication module 40,42 spacings are L, and first, second wireless communication module 40,42 comprises first, second antenna (antenna) 400,420, radio frequency (RF) circuit 402,422, fundamental frequency (baseband) circuit 404,424 respectively.Be noted that among Fig. 3 A to Fig. 3 C, dotted line represents that antenna can be provided with many.Hardware system 44,44a or 44b can comprise processing module 440,440a or 440b, storage module 442,442a or 442b and all are because of the required hardware of different application work.

Please refer to Fig. 4, Fig. 4 shows first wireless communication module 40 and cooperates second wireless communication module 42, to determine the position P of corresponding mobile device (not shown) ₁And position P ₂The distance that the mobile device and first wireless communication module are 40 is d ₁, the distance that the mobile device and second wireless communication module are 42 is d ₂, and the distance of 42 of first wireless communication module 40 and second wireless communication modules is L.In this embodiment, d ₁, d ₂Can utilize wireless location algorithms such as TOA or RSS to obtain by first, second wireless communication module 40,42 respectively, the distance L that first, second wireless communication module is 40,42 be known, then angle θ ₁Can be by d ₁, d ₂, L is used in combination the cosine law and obtains.

The cosine law: ${\cos \mathrm{\θ}}_1=\frac{d_1^2+L^2-d_2^2}{{2d}_{1}L},$ Then ${\mathrm{\θ}}_1={\cos }^{-1}\left(\frac{d_1^2+L^2-d_2^2}{{2d}_{1}L}\right).$

θ ₂＝360-θ ₁。In like manner, ${\mathrm{\θ}}_3=180-{\cos }^{-1}\left(\frac{d_2^2+L^2-d_1^2}{{2d}_{2}L}\right),$ And θ ₄=360-θ ₃

Position P ₁Coordinate (X ₁, Y ₁) can be by d ₁, θ ₁Or d ₂, θ ₂Be converted to.If with first wireless communication module 40 is reference coordinate center, then X ₁=d ₁Cos θ ₁, Y ₁=d ₁Sin θ ₁In like manner, position P ₂Coordinate (X ₂, Y ₂) also can draw thus.

Please refer to Fig. 5, Fig. 5 shows the synoptic diagram of antenna gain table.Different antennas all has corresponding antenna gain table.As shown in Figure 5, m represents that m props up antenna, the setting of n can be 360 or by the deviser according to the practical application adjustment, G represents the yield value (Gain) of antenna.The present invention utilizes the antenna gain table to show the yield value G of antenna and the relation of angle θ.

The technology used in the present invention means and complementary work thereof are imitated, and now lift several specific embodiments and are illustrated as follows:

First specific embodiment:

First specific embodiment utilizes the positioning system 4 among Fig. 3 A, illustrates how to judge that mobile device is arranged in the position P of Fig. 4 ₁Or position P ₂

In this embodiment, first wireless communication module 40 comprises M and props up first antenna, and second wireless communication module 42 comprises N and prop up second antenna, and wherein M and N are the integer more than or equal to 1, and N is not equal to M.Storage module 442 stores corresponding M and props up M first antenna gain table of first antenna and N the second antenna gain table that corresponding N props up second antenna.The first antenna gain table or the second antenna gain table are as shown in Figure 5.

When beginning to locate, first, second wireless communication module 40,42 utilizes TOA location mobile device to be positioned, to obtain d ₁, d ₂, θ ₁, θ ₂, θ ₃, θ ₄Value, θ wherein ₁, θ ₂, θ ₃, θ ₄Can obtain by aforesaid method.Simultaneously, mobile device repayment received signal intensity (RSS) is given processing module 440, and wherein mobile device is repaid the first received signal intensity (Rss ₁) prop up first antenna to i, and repay the second received signal intensity (RSS ₂) prop up second antenna to j, wherein i be between 1 and M between integer, and j be between 1 and N between integer.

Processing module 440 utilizes d, θ information that it is done computing.Order $K_1=\frac{G_1}{d_1^2},$ $K_2=\frac{G_2}{d_1^2},$ ${\mathrm{<figure-callout\; id="3"\; label="K"\; filenames="S2007101532119E00011.png"\; state="\{\{state\}\}">K</figure-callout>}}_3=\frac{G_3}{d_2^2},$ And $K_4=\frac{G_4}{d_2^2},$ Processing module 440 calculates K ₁, K ₂, K ₃, K ₄, G wherein ₁, G ₂, G ₃, G ₄Can obtain according to the θ correspondence by the antenna gain table.When the influence of not considering environment and other interference, when the single-degree-of-freedom space,

The power that is received with receiving end is directly proportional, and wherein G is the gain of emitting antenna, and d is the spacing of transmitting terminal and receiving end.

Judging position P ₁, P ₂Which is only before the real position location, needs to confirm earlier the problem of interference, to improve

The confidence level that is used for assessing.The invention provides following three kinds of methods:

Learn by the successful demodulation rate of baseband circuit 404,424 gained of receiving end (being first, second wireless communication module 40,42) that (1) its successful demodulation rate is obtained by the percentage that the useful purpose information that receives accounts for all information of reception.Therefore, can establish a successful demodulation rate value (as 80%), be that the visual environment disturbing effect is little at this more than the value.

(2) number of times that retransfers by transmitting terminal (being mobile device) comes the Evaluation Environment disturbing effect.Counter (counter) is arranged in transmitting terminal or the receiving end, and counter has the cycle (duty cycle), at this moment between in number of times calculate to take place to transmit once more.When the number of times that retransfers in the fixed cycle when counter surpassed the 3rd predetermined value, processing module 440 judged that promptly the environmental interference factor can ignore.If for example, the 3rd predetermined value can be made as n, and n can be formulated according to different wireless standard by the deviser, and n also can decide according to the successful demodulation rate of signal, for example when needing demodulation rate 80%, is its correspondence with the n of counter records at that time.

(3) when following inequality one and inequality two one of them is set up at least the time, processing module 440 judges that promptly the environmental interference factor can ignore.

Inequality one:

Inequality two:

In this embodiment, first predetermined value can be set according to practical application by the deviser, as 20%～30%.

When the environmental interference factor can be ignored, and following inequality three and inequality four be when all setting up, and processing module 440 judges that promptly mobile device is arranged in the primary importance P of Fig. 4 ₁

Inequality three:

Inequality four: | Δ ₁-Δ |≤| Δ ₂-Δ |.

${\mathrm{\&Delta;}}_1=\frac{K_1-K_3}{K_1},$ ${\mathrm{\&Delta;}}_2=\frac{K_2-K_4}{K_2},$ $\mathrm{\&Delta;}=\frac{{\mathrm{RSS}}_1-{\mathrm{RSS}}_2}{{\mathrm{RSS}}_1},$ ${\mathrm{\&Phi;}}_1=\frac{{\mathrm{\&Delta;}}_1-\mathrm{\&Delta;}}{{\mathrm{\&Delta;}}_1},$ And ${\mathrm{\&Phi;}}_2=\frac{{\mathrm{\&Delta;}}_2-\mathrm{\&Delta;}}{{\mathrm{\&Delta;}}_2}.$

On the other hand, when the environmental interference factor can be ignored, and following inequality three and inequality five be when all setting up, and processing module 440 judges that promptly this mobile device is arranged in the second place P of Fig. 4 ₂

Inequality three:

Inequality five: | Δ ₂-Δ |≤| Δ ₁-Δ |.

In this embodiment, second predetermined value is defined as position P ₁, P ₂The difference percent, the deviser can set according to practical application, as 50%.If

Less than deviser's standard (as 50%), then be difficult to determine real position location.Its reason can be from the antenna patterns illustrated of first, second wireless communication module 40,42 and the antenna patterns illustrated of mobile device.In sum, if can judge real position location, then finish.

When the environmental interference factor be can not ignore, maybe can't prop up first antenna and j props up the second Antenna Positioning mobile device by i, processing module 440 can optionally be switched i and prop up first antenna props up first antenna to remaining M-1 one of them.Then, mobile device is repaid the 3rd received signal intensity (Rss ₃) first antenna after switch.440 first antenna gain tables according to first antenna after the correspondence switching of processing module obtain the corresponding first angle θ ₁The 5th yield value (G ₅) and the corresponding second angle θ ₂The 6th yield value (G ₆).When following condition one or condition two establishments, processing module 440 judges that promptly mobile device is arranged in the primary importance P of Fig. 4 ₁

Condition one: G ₅＞G ₁, RSS ₃＞RSS ₁, and G ₆≤ G ₂

Condition two: G ₅＜G ₁, RSS ₃＜RSS ₁, and G ₆〉=G ₂

On the other hand, when following condition three or condition four establishments, processing module 440 judges that promptly mobile device is arranged in the second place P of Fig. 4 ₂

Condition three: G ₆＞G ₂, RSS ₃＞RSS ₁, and G ₅≤ G ₁

Condition four: G ₆＜G ₂, RSS ₃＜RSS ₁, and G ₅〉=G ₁

Please refer to Fig. 6, Fig. 6 shows before the switching and the antenna patterns illustrated synoptic diagram after switching.The antenna patterns illustrated that the original i of solid line 6 expressions props up first antenna, and the antenna patterns illustrated of first antenna after the dotted line 7 expression switchings.As shown in Figure 6, G ₅＜G ₁, and G ₆〉=G ₂, work as RSS ₃＜RSS ₁, processing module 440 promptly judges that according to above-mentioned condition two mobile device is arranged in the primary importance P of Fig. 4 ₁

In like manner, when the environmental interference factor be can not ignore, maybe can't prop up first antenna and j props up this mobile device of second Antenna Positioning by i, processing module 440 is also optionally switched j and is propped up second antenna props up second antenna to remaining N-1 one of them.Then, mobile device is repaid the 4th received signal intensity (RSS ₄) second antenna after switch.440 second antenna gain tables according to second antenna after the correspondence switching of processing module obtain corresponding third angle degree θ ₃The 7th yield value (G ₇) and corresponding the 4th angle θ ₄The 8th yield value (G ₈).Upright when following condition five or condition sixty percent, processing module 440 judges that promptly mobile device is arranged in the primary importance P of Fig. 4 ₁

Condition five: G ₇＞G ₃, RSS ₄＞RSS ₂, and G ₈≤ G ₄

Condition six: G ₇＜G ₃, RSS ₄＜RSS ₂, and G ₈〉=G ₄

On the other hand, most probably upright when following condition seven or condition, processing module 440 judges that promptly mobile device is arranged in the second place P of Fig. 4 ₂

Condition seven: G ₈＞G ₄, RSS ₄＞RSS ₂, and G ₇≤ G ₃

Condition eight: G ₈＜G ₄, RSS ₄＜RSS ₂, and G ₇〉=G ₃

Be noted that,, after antenna switches, need reorientate mobile device to be positioned again, to obtain new d, θ if first, second wireless communication module 40,42 utilizes RSS algorithm location mobile device to be positioned.If new θ value is different with old θ value, then replace old θ value with new θ value.

In addition, the present invention also can utilize positioning system 4 among Fig. 3 B ' or Fig. 3 C in positioning system 4 " judge that mobile device system is arranged in the position P of Fig. 4 ₁Or position P ₂Hardware system 44 can be replaced by hardware system 44a or 44b, and processing module 440 can be replaced by processing module 440a or 440b, and storage module 442 can be decided on practical application by storage module 442a or 442b replacement.

Second specific embodiment:

Second specific embodiment utilizes the positioning system 4 among Fig. 3 A, illustrates how to judge that mobile device is arranged in the position P of Fig. 4 ₁Or position P ₂

In this embodiment, first wireless communication module 40 comprises M and props up first antenna, and second wireless communication module 42 also comprises M and prop up second antenna, and wherein M is the integer more than or equal to 1, and each corresponding respectively M of second antenna props up first antenna one of them.Storage module 442 stores corresponding M and props up M first antenna gain table of first antenna and M the second antenna gain table that corresponding M props up second antenna.The first antenna gain table or the second antenna gain table are as shown in Figure 5.

When beginning to locate, first, second wireless communication module 40,42 utilizes TOA location mobile device to be positioned, to obtain d ₁, d ₂, θ ₁, θ ₂, θ ₃, θ ₄Value, θ wherein ₁, θ ₂, θ ₃, θ ₄Can obtain by aforesaid method.Simultaneously, mobile device repayment received signal intensity (RSS) is given processing module 440, and wherein mobile device is repaid the first received signal intensity (Rss ₁) prop up first antenna to i, and repay the second received signal intensity (RSS ₂) prop up second antenna to i, wherein i be between 1 and M between integer.Processing module 440 utilizes d, θ information that it is done computing.Order $K_1=\frac{G_1}{d_1^2},$ $K_2=\frac{G_2}{d_1^2},$ ${\mathrm{<figure-callout\; id="3"\; label="K"\; filenames="S2007101532119E00011.png"\; state="\{\{state\}\}">K</figure-callout>}}_3=\frac{G_3}{d_2^2},$ And $K_4=\frac{G_4}{d_2^2},$ Processing module 440 calculates K ₁, K ₂, K ₃, K ₄, G wherein ₁, G ₂, G ₃, G ₄Can obtain according to the θ correspondence by the antenna gain table.

Judging position P ₁, P ₂Which is only before the real position location, needs to confirm earlier the problem of interference, to improve

The confidence level that is used for assessing.As for how judging interference, see also the relevant narration of first embodiment, do not repeat them here.

When the environmental interference factor can be ignored, and following inequality three and inequality four be when all setting up, and processing module 440 judges that promptly mobile device is arranged in the primary importance P of Fig. 4 ₁

Inequality three:

Inequality four: | △ ₁-△ |≤| △ ₂-△ |.

${\mathrm{\&Delta;}}_1=\frac{K_1-K_3}{K_1},$ ${\mathrm{\&Delta;}}_2=\frac{K_2-K_4}{K_2},$ $\mathrm{\&Delta;}=\frac{{\mathrm{RSS}}_1-{\mathrm{RSS}}_2}{{\mathrm{RSS}}_1},$ ${\mathrm{\&Phi;}}_1=\frac{{\mathrm{\&Delta;}}_1-\mathrm{\&Delta;}}{{\mathrm{\&Delta;}}_1},$ And ${\mathrm{\&Phi;}}_2=\frac{{\mathrm{\&Delta;}}_2-\mathrm{\&Delta;}}{{\mathrm{\&Delta;}}_2}.$

On the other hand, when the environmental interference factor can be ignored, and following inequality three and inequality five be when all setting up, and processing module 440 judges that promptly this mobile device is arranged in the second place P of Fig. 4 ₂

Inequality three:

Inequality five: | △ ₂-△ |≤| △ ₁-△ |.

In this embodiment, second predetermined value is defined as position P ₁, P ₂The difference percent, the deviser can set according to practical application, as 50% if

Less than deviser's standard (as 50%), then be difficult to determine real position location.Its reason can be from the antenna patterns illustrated of first, second wireless communication module 40,42 and the antenna patterns illustrated of mobile device.In sum, if can judge real position location, then finish.

When the environmental interference factor can be ignored, and can't prop up first antenna and i and prop up the second Antenna Positioning mobile device by i the time, antenna switches by following manner.

When following condition one or condition two establishments, processing module 440 can be calculated the corresponding first angle θ at each first remaining antenna and each corresponding second remaining antenna ₁The 5th new yield value (G ₅) with corresponding third angle degree θ ₃The 7th new yield value (G ₇) one first difference, and calculate the corresponding second angle θ ₂The 6th new yield value (G ₆) with corresponding the 4th angle θ ₄The 8th new yield value (G ₈) one second difference.

Condition one: G ₅＞G ₇And G ₆＜G ₈

Condition two: G ₅＜G ₇And G ₆＞G ₈

When first difference and second difference are maximum, processing module 440 promptly can be switched original i and prop up first antenna to the first corresponding antenna, and switches original i and prop up second antenna to the second corresponding antenna.

Then, mobile device is repaid the 3rd received signal intensity (RSS ₃) first antenna after switch, and repay the 4th received signal intensity (RSS ₄) second antenna after switch.440 first antenna gain tables according to first antenna after the correspondence switching of processing module obtain the corresponding first angle θ ₁The 5th yield value (G ₅) and the corresponding second angle θ ₂The 6th yield value (G ₆).Simultaneously, the second antenna gain table of second antenna after processing module is switched according to correspondence obtains corresponding third angle degree θ ₃The 7th yield value (G ₇) and corresponding the 4th angle θ ₄The 8th yield value (G ₈).When following inequality six and inequality seven were all set up, processing module 440 judged that promptly mobile device is arranged in the primary importance P of Fig. 4 ₁

Inequality six:

Inequality seven: | △ ₃-△ ' |≤| △ ₄-△ ' |.

${\mathrm{\&Delta;}}_3=\frac{K_5-K_7}{K_5},$ ${\mathrm{\&Delta;}}_4=\frac{K_6-K_8}{K_6},$ ${\mathrm{\&Delta;}}^{\&prime;}=\frac{{\mathrm{RSS}}_3-{\mathrm{RSS}}_4}{{\mathrm{<figure-callout\; id="3"\; label="RSS"\; filenames="S2007101532119E00011.png"\; state="\{\{state\}\}">RSS</figure-callout>}}_3},$ ${\mathrm{\&Phi;}}_3=\frac{{\mathrm{\&Delta;}}_3-{\mathrm{\&Delta;}}^{\&prime;}}{{\mathrm{\&Delta;}}_3},$ ${\mathrm{\&Phi;}}_4=\frac{{\mathrm{\&Delta;}}_4-{\mathrm{\&Delta;}}^{\&prime;}}{{\mathrm{\&Delta;}}_4},$ $K_5=\frac{G_5}{d_1^2},$ $K_6=\frac{G_6}{d_1^2}$ $K_7=\frac{G_7}{d_2^2},$ And $K_8=\frac{G_8}{d_2^2},$

On the other hand, when following inequality six and inequality eight were all set up, processing module 440 judged that promptly mobile device is arranged in the second place P of Fig. 4 ₂

Inequality six:

Inequality eight: | △ ₄-△ ' |≤| △ ₃-△ ' |.

When the environmental interference factor be can not ignore, in the time of maybe can't propping up first antenna and i and prop up the second Antenna Positioning mobile device by i, antenna switches by following manner.

When following condition 11 or condition 12 establishments, processing module 440 can be calculated the corresponding first angle θ at each first remaining antenna ₁The 9th new yield value (G ₉) and the first original yield value (G ₁) one the 3rd difference, and calculate the corresponding second angle θ ₂The tenth new yield value (G ₁₀) and the second original yield value (G ₂) one the 4th difference.

Condition 11: G ₉＞G ₁And G ₁₀＜G ₂

Condition 12: G ₉＜G ₁And G ₁₀＞G ₂

When the 3rd difference and the 4th difference maximum, processing module 440 promptly can be switched original i and prop up first antenna to the first corresponding antenna.

And when following condition 13 or condition 14 establishments, processing module 440 can be calculated corresponding third angle degree θ at each second remaining antenna ₃The 11 new yield value (G ₁₁) and the 3rd original yield value (G ₃) one the 5th difference, and calculate corresponding the 4th angle θ ₄The 12 new yield value (G ₁₂) and the 4th original yield value (G ₄) one the 6th difference.

Condition 13: G ₁₁＞G ₃And G ₁₂＜G ₄

Condition 14: G ₁₁＜G ₃And G ₁₂＞G ₄

When the 5th difference and the 6th difference maximum, processing module 440 promptly can be switched original i and prop up second antenna to the second corresponding antenna.

Then, mobile device is repaid the 5th received signal intensity (RSS ₅) first antenna after switch, and repay the 6th received signal intensity (RSS ₆) second antenna after switch.440 first antenna gain tables according to first antenna after the correspondence switching of processing module obtain the corresponding first angle θ ₁The 9th yield value (G ₉) and the corresponding second angle θ ₂The tenth yield value (G ₁₀), and the second antenna gain table of second antenna after switching according to correspondence, obtain corresponding third angle degree θ ₃The 11 yield value (G ₁₁) and corresponding the 4th angle θ ₄The 12 yield value (G ₁₂).

When following condition three or condition four establishments, processing module 440 judges that promptly mobile device is arranged in the primary importance P of Fig. 4 ₁

Condition three: G ₉＞G ₁, RSS ₅＞RSS ₁, and G ₁₀≤ G ₂

Condition four: G ₉＜G ₁, RSS ₅＜RSS ₁, and G ₁₀〉=G ₂

On the other hand, when following condition five or condition sixty percent immediately, processing module 440 judges that promptly mobile device is arranged in the second place P of Fig. 4 ₂

Condition five: G ₁₀＞G ₂, RSS ₅＞RSS ₁, and G ₉≤ G ₁

Condition six: G ₁₀＜G ₂, RSS ₅＜RSS ₁, and G ₉〉=G ₁

When following condition seven or condition most probably immediately, processing module 440 judges that promptly mobile device is arranged in the primary importance P of Fig. 4 ₁

Condition seven: G ₁₁＞G ₃, RSS ₆＞RSS ₂, and G ₁₂≤ G ₄

Condition eight: G ₁₁＜G ₃, RSS ₆＜RSS ₂, and G ₁₂〉=G ₄

On the other hand, upright when following condition nine or condition hundred per cent, processing module 440 judges that promptly mobile device is arranged in the second place P of Fig. 4 ₂

Condition nine: G ₁₂＞G ₄, RSS ₆＞RSS ₂, and G ₁₁≤ G ₃

Condition ten: G ₁₂＜G ₄, RSS ₆＜RSS ₂, and G ₁₁〉=G ₃

According to the second above-mentioned embodiment, positioning system of the present invention can be found out the most suitable antenna that is used for locating mobile device before switched antenna, and then avoids insignificant calculating.

Be noted that,, after antenna switches, need reorientate mobile device to be positioned again, to obtain new d, θ if first, second wireless communication module 40,42 utilizes RSS algorithm location mobile device to be positioned.If new θ value is different with old θ value, then replace old θ value with new θ value.

In addition, the present invention also can utilize positioning system 4 among Fig. 3 B ' or Fig. 3 C in positioning system 4 " judge that mobile device is arranged in position P1 or the position P2 of Fig. 4.Processing module 440 can be replaced by processing module 440a or 440b, and storage module 442 can be decided on practical application by storage module 442a or 442b replacement.

Please refer to Fig. 7 A and Fig. 7 B.Fig. 7 A shows the synoptic diagram of oriented antenna field pattern.Fig. 7 B shows the synoptic diagram of omni-directional antenna field pattern.The adoptable field pattern of the present invention has the field pattern (shown in Fig. 7 A) of directive property and isotropic field pattern (shown in Fig. 7 B) to cooperate, and is faint at the communication signal of some direction with the field pattern of mending directive property.Certainly the antenna that also is the directive property field pattern in enforcement of the present invention is The more the better, and the zone of reducing location possibility difficult judgment, also can adopt the field pattern of directive property and the judgement that the switching between the isotropic field pattern comes auxiliary positioning.Φ among Fig. 7 A represents the angle that the main beam width of oriented antenna is shared.

Please refer to Fig. 8 A to Figure 10 B.Fig. 8 A shows the synoptic diagram of six oriented antennas and an omni-directional antenna.Fig. 8 B shows the geometric configuration of antenna patterns illustrated among Fig. 8 A.Fig. 9 A shows the synoptic diagram of four oriented antennas and an omni-directional antenna.Fig. 9 B shows the geometric configuration of antenna patterns illustrated among Fig. 9 A.Figure 10 A shows the synoptic diagram of three oriented antennas and an omni-directional antenna.Figure 10 B shows the geometric configuration of antenna patterns illustrated among Figure 10 A.

In order to reduce the zone of location possibility difficult judgment, the present invention proposes three kinds of antenna switch forms shown in Fig. 8 A, Fig. 9 A and Figure 10 A.This three's main difference is positioning range and accurate, and Fig. 8 A is preferable, and Fig. 9 A takes second place.The geometric configuration of this three's orientation range is shown in Fig. 8 B, Fig. 9 B and Figure 10 B.For better determine effect is arranged, the present invention can further set following rule:

(1) gain of using oriented antenna in the value of main beam greater than the gain of omni-directional antenna 3dB at least;

(2) if the oriented antenna that uses surpasses six, the gain of then using oriented antenna in the value of main beam greater than the gain of omni-directional antenna 6dB at least;

(3) if the oriented antenna that uses is six, then Φ can be 30 and spends to 60 degree;

(4) if the oriented antenna that uses is five, then Φ can be 30 and spends to 72 degree;

(5) if the oriented antenna that uses is four, then Φ can be 45 and spends to 90 degree;

(6) if the oriented antenna that uses is three, then Φ can be 60 and spends to 120 degree.

In addition, if can't judge the position of mobile device, the present invention also can be by following method auxiliary positioning:

(1) by the position of past through orienting the database of corresponding RSS data, the point with difficult judgment compares again.Because the d value and the P of former method gained ₁, P ₂Possible anchor point is clear and definite, only needs now to confirm that the orientation gets final product.Its embodiment is the X-Y plane of two dimension by the figure that database became of the corresponding RSS data in some position, and relatively at known P ₁, P ₂The RSS of possible anchor point.See respectively at P ₁, P ₂The RSS and the degree of closeness in the database of possible anchor point can be judged.If this point is scarce for database has, then obtain with least square method.

(2) if the contiguous device that positioning function (TOA, RSS) arranged can be assisted the Antenna Positioning of assisting first, second wireless communication module 40,42.

By the above detailed description of preferred embodiments, hope can be known description feature of the present invention and spirit more, and is not to come category of the present invention is limited with above-mentioned disclosed preferred embodiment.On the contrary, its objective is that hope can contain in the category that is arranged in claim of the present invention of various changes and tool equality.Therefore, the category of claim of the present invention should be done the broadest explanation according to above-mentioned explanation, contains the arrangement of all possible change and tool equality to cause it.

Claims (20)

1. positioning system, in order to locate a mobile device, this positioning system comprises:

One first wireless communication module comprises M and props up first antenna, and this mobile device is repaid one first received signal intensity to the i and propped up first antenna, and M is one more than or equal to 1 integer, i be one between 1 and M between integer;

One second wireless communication module, comprise N and prop up second antenna, this mobile device is repaid one second received signal intensity to the j and is propped up second antenna, this second wireless communication module cooperates with this first wireless communication module, with decision to a primary importance and a second place that should mobile device, N is one more than or equal to 1 integer, and N is not equal to M, j be one between 1 and N between integer;

One storage module stores to M first antenna gain table should M propping up first antenna and to should N propping up N the second antenna gain table of second antenna; And

One processing module, judge whether the environmental interference factor can be ignored, when the environmental interference factor can be ignored, this processing module judges that according to this first received signal intensity, this second received signal intensity, i first an antenna gain table and j the second antenna gain table this mobile device is positioned at this primary importance or this second place.

2. positioning system as claimed in claim 1, wherein each this M the first antenna gain table and each this N second antenna gain table writes down a plurality of angles and a plurality of yield value respectively, one of them of the corresponding described angle of each described yield value difference; Wherein this processing module is according to this i the first antenna gain table, obtain one first yield value of corresponding first angle and one second yield value of corresponding second angle, and, obtain one the 3rd yield value of corresponding third angle degree and one the 4th yield value of corresponding the 4th angle according to this j the second antenna gain table.

3. positioning system as claimed in claim 2, wherein when following inequality one and inequality two one of them is set up at least the time, this processing module judges that environmental interference factor can ignore:

Inequality one:

And

Inequality two:

Wherein,

And

Above-mentioned RSS ₁Be the first received signal intensity of this mobile device repayment, above-mentioned RSS ₂Be the second received signal intensity of this mobile device repayment, above-mentioned G ₁, G ₂, G ₃And G ₄Be respectively this first gain, this second gain, the 3rd gain and the 4th gain, above-mentioned d ₁Be the distance between this mobile device and this first wireless communication module, above-mentioned d ₂Be the distance between this mobile device and this second wireless communication module.

4. positioning system as claimed in claim 3 wherein can be ignored when the environmental interference factor, and following inequality three and inequality four be when all setting up, and this processing module judges that this mobile device is positioned at this primary importance:

Inequality three:

And

Inequality four: | Δ ₁-Δ |≤| Δ ₂-Δ |;

Wherein,

And

5. positioning system as claimed in claim 4 wherein can be ignored when the environmental interference factor, and following inequality three and inequality five be when all setting up, and this processing module judges that this mobile device is positioned at this second place:

Inequality three:

And

Inequality five: | Δ ₂-Δ |≤| Δ ₁-Δ |.

6. positioning system as claimed in claim 4, wherein working as the environmental interference factor can not ignore, maybe can't prop up first antenna and this j props up this mobile device of second Antenna Positioning by this i, this processing module is switched this i and is propped up first antenna props up first antenna to remaining M-1 one of them, this mobile device is repaid this first antenna after one the 3rd received signal intensity is extremely switched, this first antenna gain table of this first antenna after this processing module is switched according to correspondence, obtain to one the 5th yield value that should first angle and to one the 6th yield value that should second angle, and when following condition one or condition two establishments, this processing module judges that this mobile device is positioned at this primary importance:

Condition one: G ₅＞G ₁, RSS ₃＞RSS ₁, and G ₆≤ G ₂And

Condition two: G ₅＜G ₁, RSS ₃＜RSS ₁, and G ₆〉=G ₂

7. positioning system as claimed in claim 6, wherein when following condition three or condition four establishments, this processing module judges that this mobile device is positioned at this second place:

Condition three: G ₆＞G ₂, RSS ₃＞RSS ₁, and G ₅≤ G ₁And

Condition four: G ₆＜G ₂, RSS ₃＜RSS ₁, and G ₅〉=G ₁

8. positioning system as claimed in claim 4, wherein working as the environmental interference factor can not ignore, maybe can't prop up first antenna and this j props up this mobile device of second Antenna Positioning by this i, this processing module is switched this j and is propped up second antenna props up second antenna to remaining N-1 one of them, this mobile device is repaid this second antenna after one the 4th received signal intensity is extremely switched, this second antenna gain table of this second antenna after this processing module is switched according to correspondence, obtain to one the 7th yield value that should the third angle degree and to one the 8th yield value that should the 4th angle, and upright when following condition five or condition sixty percent, this processing module judges that this mobile device is positioned at this primary importance:

Condition five: G ₇＞G ₃, RSS ₄＞RSS ₂, and G ₈≤ G ₄And

Condition six: G ₇＜G ₃, RSS ₄＜RSS ₂, and G ₈〉=G ₄

9. positioning system as claimed in claim 8, it is most probably upright wherein to work as following condition seven or condition, and this processing module judges that this mobile device is positioned at this second place:

Condition seven: G ₈＞G ₄, RSS ₄＞RSS ₂, and G ₇≤ G ₃And

Condition eight: G ₈＜G ₄, RSS ₄＜RSS ₂, and G ₇〉=G ₃

10. positioning system, in order to locate a mobile device, this positioning system comprises:

One first wireless communication module comprises M and props up first antenna, and this mobile device is repaid one first received signal intensity to the i and propped up first antenna, and M is one more than or equal to 1 integer, i be one between 1 and M between integer;

One second wireless communication module, comprise M and prop up second antenna, this mobile device is repaid one second received signal intensity to the i and is propped up second antenna, this second wireless communication module cooperates with this first wireless communication module, to a primary importance and a second place that should mobile device, each this M props up second antenna respectively to should M propping up one of them of first antenna with decision;

One storage module stores to M first antenna gain table should M propping up first antenna and to should M propping up M the second antenna gain table of second antenna; And

One processing module, judge whether the environmental interference factor can be ignored, when the environmental interference factor can be ignored, this processing module judges that according to this first received signal intensity, this second received signal intensity, i first an antenna gain table and i the second antenna gain table this mobile device is positioned at this primary importance or this second place.

11. positioning system as claimed in claim 10, wherein each this M the first antenna gain table and each this M second antenna gain table writes down a plurality of angles and a plurality of yield value respectively, one of them of the corresponding described angle of each described yield value difference; Wherein this processing module is according to this i the first antenna gain table, obtain one first yield value of corresponding first angle and one second yield value of corresponding second angle, and, obtain one the 3rd yield value of corresponding third angle degree and one the 4th yield value of corresponding the 4th angle according to this i the second antenna gain table.

12. positioning system as claimed in claim 11, wherein when following inequality one and inequality two one of them is set up at least the time, this processing module judges that environmental interference factor can ignore:

Inequality one:

And

Inequality two:

Wherein,

And

Above-mentioned RSS ₁Be the first received signal intensity of this mobile device repayment, above-mentioned RSS ₂Be the second received signal intensity of this mobile device repayment, above-mentioned G ₁, G ₂, G ₃And G ₄Be respectively this first gain, this second gain, the 3rd gain and the 4th gain, above-mentioned d ₁Be the distance between this mobile device and this first wireless communication module, above-mentioned d ₂Be the distance between this mobile device and this second wireless communication module.

13. positioning system as claimed in claim 12 wherein can be ignored when the environmental interference factor, and following inequality three and inequality four be when all setting up, this processing module judges that this mobile device is positioned at this primary importance:

Inequality three:

And

Inequality four: | Δ ₁-Δ |≤| Δ ₂-Δ |;

Wherein,

And

14. positioning system as claimed in claim 13 wherein can be ignored when the environmental interference factor, and following inequality three and inequality five be when all setting up, this processing module judges that this mobile device is positioned at this second place:

Inequality three:

And

Inequality five: | Δ ₂-Δ |≤| Δ ₁-Δ |.

15. positioning system as claimed in claim 13, wherein working as the environmental interference factor can ignore, and can't prop up first antenna and this i props up this mobile device of second Antenna Positioning by this i, this processing module is switched this i and is propped up first antenna props up first antenna to remaining M-1 one of them, and switch this i and prop up second antenna props up second antenna to remaining M-1 one of them, this mobile device is repaid this first antenna after one the 3rd received signal intensity is extremely switched, and repay this second antenna after one the 4th received signal intensity is extremely switched, this first antenna gain table of this first antenna after this processing module is switched according to correspondence, obtain to one the 5th yield value that should first angle and to one the 6th yield value that should second angle, this second antenna gain table of this second antenna after this processing module is switched according to correspondence, obtain to one the 7th yield value that should the third angle degree and to one the 8th yield value that should the 4th angle, and when following inequality six and inequality seven were all set up, this processing module judged that this mobile device is positioned at this primary importance:

Inequality six:

And

Inequality seven: | Δ ₃-Δ ' |≤| Δ ₄-Δ ' |;

Wherein,

And

16. positioning system as claimed in claim 15, wherein when following inequality six and inequality eight were all set up, this processing module judged that this mobile device is positioned at this second place:

Inequality six:

And

Inequality eight: | Δ ₄-Δ ' |≤| Δ ₃-Δ ' |.

17. positioning system as claimed in claim 12, wherein working as the environmental interference factor can not ignore, in the time of maybe can't propping up first antenna and this i and prop up this mobile device of second Antenna Positioning by this i, this processing module is switched this i and is propped up first antenna props up first antenna to remaining M-1 one of them, and switch this i and prop up second antenna props up second antenna to remaining M-1 one of them, this mobile device is repaid this first antenna after one the 5th received signal intensity is extremely switched, and repay this second antenna after one the 6th received signal intensity is extremely switched, this first antenna gain table of this first antenna after this processing module is switched according to correspondence, obtain to one the 9th yield value that should first angle and to 1 the tenth yield value that should second angle, and this second antenna gain table of this second antenna after switching according to correspondence obtains should third angle degree θ ₃1 the 11 yield value and to should the 4th angle θ ₄1 the 12 yield value; Wherein when following condition three or condition four establishments, this processing module judges that this mobile device is positioned at this primary importance:

Condition three: G ₉＞G ₁, RSS ₅＞RSS ₁, and G ₁₀≤ G ₂And

Condition four: G ₉＜G ₁, RSS ₅＜RSS ₁, and G ₁₀〉=G ₂

18. positioning system as claimed in claim 12, wherein working as the environmental interference factor can not ignore, in the time of maybe can't propping up first antenna and this i and prop up this mobile device of second Antenna Positioning by this i, this processing module is switched this i and is propped up first antenna props up first antenna to remaining M-1 one of them, and switch this i and prop up second antenna props up second antenna to remaining M-1 one of them, this mobile device is repaid this first antenna after one the 5th received signal intensity is extremely switched, and repay this second antenna after one the 6th received signal intensity is extremely switched, this first antenna gain table of this first antenna after this processing module is switched according to correspondence, obtain to one the 9th yield value that should first angle and to 1 the tenth yield value that should second angle, and this second antenna gain table of this second antenna after switching according to correspondence obtains should third angle degree θ ₃1 the 11 yield value and to should the 4th angle θ ₄1 the 12 yield value, wherein when following condition five or condition sixty percent immediately, this processing module judges that this mobile device is positioned at this second place:

Condition five: G ₁₀＞G ₂, RSS ₅＞RSS ₁, and G ₉≤ G ₁And

Condition six: G ₁₀＜G ₂, RSS ₅＜RSS ₁, and G ₉〉=G ₁

19. positioning system as claimed in claim 12, wherein working as the environmental interference factor can not ignore, maybe can't prop up first antenna and this i props up this mobile device of second Antenna Positioning by this i, this processing module is switched this i and is propped up first antenna props up first antenna to remaining M-1 one of them, and switch this i and prop up second antenna props up second antenna to remaining M-1 one of them, this mobile device is repaid this first antenna after one the 5th received signal intensity is extremely switched, and repay this second antenna after one the 6th received signal intensity is extremely switched, this first antenna gain table of this first antenna after this processing module is switched according to correspondence, obtain to one the 9th yield value that should first angle and to 1 the tenth yield value that should second angle, and this second antenna gain table of this second antenna after switching according to correspondence obtains should third angle degree θ ₃1 the 11 yield value and to should the 4th angle θ ₄1 the 12 yield value, wherein when following condition seven or condition most probably immediately, this processing module judges that this mobile device is positioned at this primary importance:

Condition seven: G ₁₁＞G ₃, RSS ₆＞RSS ₂, and G ₁₂≤ G ₄And

Condition eight: G ₁₁＜G ₃, RSS ₆＜RSS ₂, and G ₁₂〉=G ₄

20. positioning system as claimed in claim 12, wherein working as the environmental interference factor can not ignore, maybe can't prop up first antenna and this i props up this mobile device of second Antenna Positioning by this i, this processing module is switched this i and is propped up first antenna props up first antenna to remaining M-1 one of them, and switch this i and prop up second antenna props up second antenna to remaining M-1 one of them, this mobile device is repaid this first antenna after one the 5th received signal intensity is extremely switched, and repay this second antenna after one the 6th received signal intensity is extremely switched, this first antenna gain table of this first antenna after this processing module is switched according to correspondence, obtain to one the 9th yield value that should first angle and to 1 the tenth yield value that should second angle, and this second antenna gain table of this second antenna after switching according to correspondence obtains should third angle degree θ ₃1 the 11 yield value and to should the 4th angle θ ₄1 the 12 yield value, wherein when following condition nine or condition hundred per cent immediately, this processing module judges that this mobile device is positioned at this second place:

Condition nine: G ₁₂＞G ₄, RSS ₆＞RSS ₂, and G ₁₁≤ G ₃And

Condition ten: G ₁₂＜G ₄, RSS ₆＜RSS ₂, and G ₁₁〉=G ₃

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