CN102045837B - Mobile node positioning method and device - Google Patents

Abstract

The embodiment of the invention provides a mobile node positioning method and a mobile node positioning device. The mobile node positioning method comprises the following steps of: determining azimuth and radial distance of a mobile node relative to an anchor point; and determining the position of the mobile node according to the azimuth and radial distance of the mobile node relative to the anchor point, the intelligent antenna reference direction of the anchor point and the position information of the anchor point. By using the technical scheme provided by the embodiment of the invention, antenna cost and complexity can be reduced.

Description

Mobile node positioning method and device

Technical field

The present invention relates to communication technical field, particularly a kind of mobile node positioning method and device.

Background technology

Traditional localization method of wireless network has: based on received signal strength indicator (Receive SignalStrength Indicator, RSSI), the time of advent (TOA), the time of advent poor (TDOA), arrival angle (AOA), wherein the method for RSSI is the most easily to realize, most economical, and the signal strength information that often needs a plurality of base stations is as a reference; Adopt the AOA/TOA hybrid locating method only to need a base station just can carry out two-dimensional localization to mobile terminal, but its system is comparatively complicated, also higher to equipment requirement; And the TDOA method needs two base stations equally at least.

Universal and application along with smart antenna, the scheme that prior art provides smart antenna that a kind of utilization has direction-measuring function that mobile terminal is positioned, be specially: the electromagnetic wave that the antenna reception mobile terminal sends is also made phase estimation, calculate according to the phase estimation result angle that electromagnetic wave arrives, utilize the angle of the electromagnetic wave arrival of calculating and the time that electromagnetic wave arrives, mobile terminal is accurately located.

The inventor is in realizing process of the present invention, find that there is following shortcoming at least in prior art: the scheme that prior art provides needs smart antenna to have the phase estimation function, and have and detect the electromagnetic wave time detection device of the time of advent, requirement to smart antenna is very high, has increased cost and the complexity of antenna.

Summary of the invention

The embodiment of the present invention provides a kind of mobile node positioning method and device, has reduced cost and the complexity of antenna.

In view of this, the embodiment of the present invention provides:

A kind of mobile node positioning method comprises:

Determine that mobile node is with respect to azimuth and the radial distance of anchor point;

According to azimuth and the radial distance of described mobile node with respect to described anchor point, reach the smart antenna reference direction of anchor point and the positional information of anchor point, determine the position of described mobile node.

A kind of mobile node positioner comprises:

Determining unit is used for determining that mobile node is with respect to azimuth and the radial distance of anchor point;

The position converting unit is used for according to azimuth and the radial distance of described mobile node with respect to described anchor point, and the smart antenna reference direction of anchor point and the positional information of anchor point, determines the position of described mobile node.

The embodiment of the present invention is determined the position of mobile node by obtaining mobile node with respect to azimuth and the distance of anchor point, does not need antenna to have phase estimation function and time detection device, has reduced cost and the complexity of antenna.

Description of drawings

In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, the below will do to introduce simply to the accompanying drawing of required use in embodiment, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.

Fig. 1 is the mobile node positioning method flow chart that the embodiment of the present invention one provides;

Fig. 2 is the mobile node positioning method flow chart that the embodiment of the present invention two provides;

Fig. 3 is the wave beam schematic diagram that the embodiment of the present invention provides;

Fig. 4 is the angular relationship schematic diagram of the wave beam that provides of the embodiment of the present invention;

Fig. 5 is the schematic diagram that relative coordinate that the embodiment of the present invention provides converts absolute coordinate to;

Fig. 6 is the mobile node positioning method flow chart that the embodiment of the present invention three provides;

Fig. 7 is the mobile node positioning method flow chart that the embodiment of the present invention four provides;

Fig. 8 is the mobile node positioning method flow chart that the embodiment of the present invention five provides;

Fig. 9 is the mobile node positioning method flow chart that the embodiment of the present invention six provides;

Figure 10 A is a kind of mobile node positioning device structure figure that the embodiment of the present invention seven provides;

Figure 10 B is the another kind of mobile node positioning device structure figure that the embodiment of the present invention seven provides.

Embodiment

Embodiment one:

Consult Fig. 1, the embodiment of the present invention one provides a kind of mobile node positioning method, comprising:

101, determine that mobile node is with respect to azimuth and the radial distance of anchor point;

Wherein, mobile node is that the line of mobile node and anchor point is with respect to the deflecting angle of the communication beams of the smart antenna of anchor point with respect to the azimuth of anchor point.

Wherein, this step can be the information according to the smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determines that mobile node is with respect to azimuth and the radial distance of the anchor point at smart antenna place.

Concrete, this step can realize by following dual mode:

First kind of way: adopt two formula following and calculate mobile node with respect to azimuth and the radial distance of anchor point:

C+G(θ ₁)+L(r)＝s ₁

C+G(θ ₂)+L(r)＝s ₂

Wherein, s ₁The received signal strength of mobile node when being operated on the first communication beams for anchor point; s ₂The received signal strength of mobile node when being operated on the second communication wave beam for anchor point; G (θ ₁) be that the first communication beams is based on deflecting angle θ ₁Antenna gain; G (θ ₂) be that the second communication wave beam is based on deflecting angle θ ₂Antenna gain; L (r) is based on the path loss apart from r; Deflecting angle θ ₁Be the deflecting angle of mobile node with the relative first communication beams reference line of line of anchor point; Deflecting angle θ ₂Be the deflecting angle of mobile node with the relative second communication wave beam of the line reference line of anchor point, C is constant.

Can determine deflecting angle θ by beamwidth ₁With deflecting angle θ ₂Between relation, therefore, utilize above-mentioned two formula and beamwidth just can obtain deflecting angle θ ₁Value, deflecting angle θ ₂Value and mobile node are with respect to the radial distance of anchor point.

Wherein, the first communication beams, second communication wave beam are respectively the optimal communication wave beam of anchor point use and any two communication beams in the adjacent communication wave beam, and wherein, the adjacent communication wave beam is the communication beams adjacent with described optimal communication wave beam.

The second way: utilize the smart antenna communication beams received signal strength information in when communication according to mobile node, obtain average μ and the variance yields σ of the observation vector x corresponding with described smart antenna communication beams ²According to observation vector x and angle θ with apart from the relational expression C+G (θ) of r+L (r)=x, and average μ and the variance yields σ of observation vector x ², determine θ value and r value, wherein, G (θ) is that the smart antenna communication beams is based on the antenna gain of angle θ; L (r) is based on the path loss apart from r;

Wherein, when only utilizing a communication beams, determine to make θ value and the r value of the probability density function maximum of observation vector x, described θ value and the r value of the probability density function maximum of observation vector x of making is respectively described mobile node with respect to azimuth and the radial distance of anchor point.

When utilizing a plurality of communication beams, determine to make θ value and the r value of the joint probability density function maximum of the observation vector x corresponding with each communication beams; Wherein, a plurality of communication beams can comprise at least two communication beams of an anchor point; The communication beams that perhaps comprises a plurality of anchor points.

Perhaps, this step also can be according to average μ and the variance yields σ of the smart antenna communication beams sign that prestores with observation vector x ²Corresponding relation, obtain average μ and the variance yields σ of the corresponding observation vector x of smart antenna communication beams sign in smart antenna communication beams information ²According to observation vector x and angle θ with apart from the relational expression C+G (θ) of r+L (r)=x, and average μ and the variance yields σ of observation vector x ², determine θ value and r value, wherein, G (θ) is that the smart antenna communication beams is based on the antenna gain of angle θ; L (r) is based on the path loss apart from r.Wherein, when only utilizing a communication beams, determine to make θ value and the r value (being that described mobile node is with respect to azimuth and the radial distance of anchor point) of the probability density function maximum of observation vector x; When utilizing a plurality of communication beams, determine to make θ value and the r value of the joint probability density function maximum of the observation vector x corresponding with each communication beams; Wherein, a plurality of communication beams can comprise at least two communication beams of an anchor point; The communication beams that perhaps comprises a plurality of anchor points.

102, according to azimuth and the radial distance of described mobile node with respect to described anchor point, reach the smart antenna reference direction of anchor point and the positional information of anchor point, determine the position of described mobile node.

Wherein, the executive agent of the method is for being used for the network entity of location, and the network entity that should be used for the location can be a physical entity that is independent of mobile node and anchor point, also can be positioned on mobile node or anchor point, perhaps be positioned on server, do not affect realization of the present invention.

The embodiment of the present invention one is determined the position of mobile node by obtaining mobile node with respect to azimuth and the distance of anchor point, does not need antenna to have phase estimation function and time detection device, has reduced cost and the complexity of antenna.

Embodiment two:

Consult Fig. 2, the embodiment of the present invention two provides a kind of mobile node positioning method, comprising:

201, when disposing anchor point (Anchor Point, AP), record reference direction information and the position of anchor point in unified coordinate system of the smart antenna that anchor point uses.

Concrete, when disposing anchor point, need to determine the reference direction of smart antenna reference beam, wave beam sign and beamwidth follow-uply can obtain according to above-mentioned information the reference direction of any wave beam.

202, the network entity that is used for the location obtains optimal communication wave beam information and adjacent communication wave beam information, the RSSI information of mobile node when obtaining anchor point and being operated on the optimal communication wave beam, and the RSSI information of anchor point mobile node when being operated on the adjacent communication wave beam, wherein, the adjacent communication wave beam is the wave beam adjacent with the optimal communication wave beam.

This step includes but not limited to following two kinds of implementations:

First kind of way: the wave beam that antenna system is communicated by letter with mobile node according to certain rules selection, such as the wave beam of selecting the RSSI maximum is the optimal communication wave beam, antenna system notifies with the sign of optimal communication wave beam and the sign of adjacent communication wave beam the network entity that is used for the location.The RSSI information of mobile node when the network entity that is used for the location records the sign of optimal communication wave beam and anchor point and is operated on the optimal communication wave beam, and the RSSI information of mobile node when recording the sign of adjacent communication wave beam and anchor point and being operated on the adjacent communication wave beam.When wherein, anchor point is operated on the optimal communication wave beam, the RSSI information of mobile node and anchor point are operated on the adjacent communication wave beam, the RSSI information of mobile node is to be obtained from mobile node by the network entity that is used for the location.

The second way: antenna system does not possess the function of selecting the wave beam communicate by letter with mobile node, when Location Request is initiated, the network entity and the anchor point that are used for the location carry out information interaction, require the anchor point switching-beam, determine that the wave beam of RSSI maximum of mobile node is as the optimal communication wave beam.When smart antenna is worked on the optimal communication wave beam, the RSSI information of mobile node when the network entity that is used for the location records the sign of optimal communication wave beam and anchor point and is operated on the optimal communication wave beam; When smart antenna switches to respectively on two wave beams adjacent with the optimal communication wave beam, the RSSI information of mobile node when the network entity that is used for the location records the sign of adjacent communication wave beam and anchor point and is operated on the adjacent communication wave beam.When wherein, anchor point is operated on the optimal communication wave beam, the RSSI information of mobile node and anchor point are operated on the adjacent communication wave beam, the RSSI information of mobile node is to be obtained from mobile node by the network entity that is used for the location.

As shown in Figure 3, when the wave beam of smart antenna at S ₁, S ₂And S ₃Between when switching successively, the RSSI that mobile node M receives is respectively s ₁, s ₂And s ₃, the wave beam information that the network entity that is used for locating is collected and the RSSI information of mobile node are as shown in table 1:

Wave beam information	The RSSI information of mobile node
		Wave beam sign reference direction beamwidth ψ gain	The received signal strength RSSI sampling number sampling interval unites to the sampled value of several RSSI

The statistical information that meter obtains

Table 1

The RSSI information of mobile node when the network entity that 203, is used for the location is operated on corresponding wave beam according to the sign of three groups of wave beams and anchor point determines that the deflecting angle of mobile node and the relative optimal communication wave beam of the line reference line of anchor point and this mobile node are to the radial distance of anchor point.Wherein, mobile node is mobile node with respect to the azimuth of anchor point with the deflecting angle of the relative optimal communication wave beam of the line reference line of anchor point.

Fig. 4 is the angle schematic diagram of smart antenna, supposes S ₂Be the optimal communication wave beam of smart antenna, the beamwidth ψ of this wave beam is BOC, and wherein, OA, OB and OC are respectively wave beam S ₁, S ₂And S ₃Sector start angle reference line (be called for short communication beams reference line), the sector start angle reference line of mobile node to the angle of the line of anchor point and each wave beam take respective beam is as benchmark, counter clockwise direction is positive-angle, clockwise direction is negative angle.

When anchor point is operated in wave beam S ₁, S ₂And S ₃When upper, the RSSI that mobile node is received is respectively s ₁, s ₂And s ₃

Smart antenna transmits relation with received signal strength as shown in formula (1):

P _T-P _L+G _T+G _R＝P _R (1)

Wherein, G _TTransmitter antenna gain (dBi), G _RReceiving antenna gain, P _TAnd P _RBe respectively and transmit and receive signal strength signal intensity, P _LBe path loss, the unit of each variable is all dB.

Wherein, transmit signal strength P _TBe constant, suppose with C to represent.Path loss P _LThe function L (r) relevant with radial distance r, transmitter antenna gain (dBi) G _TThe function G (θ) relevant with deflecting angle θ, because reception antenna is omnidirectional antenna, therefore receiving antenna gain G _TBe 0.

Wherein, if antenna is cubical antenna:

This shows, formula (1) is simplified to following formula:

C+G(θ)-L(r)＝s (3)

As shown in Figure 4, with optimal beam S ₂Be reference, S ₂The relatively move deflecting angle of line of node and anchor point of sector start angle reference line be

, S ₁The relatively move deflecting angle of line of node and anchor point of sector start angle reference line be

, S ₃The relatively move deflecting angle of line of node and anchor point of sector start angle reference line be

, according to wave beam sign and beamwidth, as can be known

,

With

Between satisfy following formula:

θ ₁＝ψ+θ ₂ (4)

θ ₃＝-(ψ-θ ₂) (5)

With formula (4) and formula (5) substitution formula (3), obtain following equation group respectively:

C+G(θ _i)-L(r)＝s _i i＝1，2，3 (6)

Can adopt following dual mode to obtain mobile node with respect to the azimuth of anchor point and the mobile node radial distance to anchor point in this step.

First kind of way:

The RSSI information of mobile node when utilizing above-mentioned anchor point to be operated in three wave beams on any two wave beams, simultaneous is set up equation group, and is following with wave beam S ₁And S ₂Equation group for example foundation:

C+G(θ ₁)-L(r)＝s ₁ (7)

C+G(θ ₂)-L(r)＝s ₂ (8)

According to formula (7), (8) and (4), obtain the r value, θ ₁Value and θ ₂Value.

In addition, in the time of also can getting two groups of different wave beam information and anchor point at every turn and be operated on respective beam, the combination of the received signal strength information of mobile node is (as wave beam S ₁And S ₃, or wave beam S ₂And S ₃), calculate after the same method a plurality of azimuths and radial distance.

Adopt this implementation, amount of calculation is less.

The second way:

In this implementation, the received signal strength information when utilizing the communication of smart antenna communication beams according to mobile node is obtained each observation vector x corresponding with this smart antenna communication beams _iAverage μ _iWith variance yields σ ² _i, observation vector x _i(being variable) is about θ _i(its functional relation is x=C+G (θ with the function of r _i)+L (r)), will be with θ _iWith r be the observation vector s of variable _iRespectively in the probability density function of each observation vector of substitution, determine to make the θ of the probability density function product maximum of each observation vector _iAnd r.

How the probability density function of following each observation vector of description builds:

Known vector x=[x ₁, x ₂, x ₃], can be converted into known parameters α=[θ, r] to the maximal possibility estimation of parameter alpha=[θ, r], the maximum a posteriori probability of vector x is estimated, to the maximum a posteriori probability estimator of vector x be:

$\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\max }p\left(\mathrm{\α}\right|x)---\left(9\right)$

According to Bayesian formula, have following relation:

$p\left(\mathrm{\α}\right|x)=\frac{p\left(x\right|\mathrm{\α})p\left(\mathrm{\α}\right)}{p\left(x\right)}=\frac{p\left(x\right|\mathrm{\α})p\left(\mathrm{\α}\right)}{{\∫}_{\mathrm{\Θ}}p\left(x\right|{\mathrm{\α}}^{\′})p\left({\mathrm{\α}}^{\′}\right)d{\mathrm{\α}}^{\′}}---\left(10\right)$

Wherein, p (x)=∫ _ΘP (x| α ') p (α ') d α ' is equivalent to normaliztion constant, p (α | x) maximum is equivalent to p (x| α) p (α) maximum, to the maximum a posteriori probability estimator of vector x is:

$\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\max }p\left(x\right|\mathrm{\α})p\left(\mathrm{\α}\right)---\left(11\right)$

Wherein, formula (11) is equivalent to:

$\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\max }[\ln p\left(x\right|\mathrm{\α})+\ln p\left(\mathrm{\α}\right)]---\left(12\right)$

Because positions of mobile nodes is evenly to distribute, formula (12) is equivalent to:

$\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\max }\left[\ln p\left(x\right|\mathrm{\α})\right]---\left(13\right)$

For continuous random variable, variable drops on certain point one section very little probability that length Δ x scope is interior on every side, be approximately equal to probability density function at the value of this point and the product of Δ x, around variable drops on some points, the interior probability of Δ x scope can be according to value approximate obtain of probability density function at these points.

Due to observation vector x _iGaussian distributed x _i～n (μ _i, σ _i ²), according to the derivation of formula (9)～(13) as can be known, and Probability p (α | maximum probability x) is equivalent to the maximum probability of Probability p (x| α)

$p\left(x_i\right|\mathrm{\α})=p({\mathrm{\μ}}_i+n_i|\mathrm{\α})\≈\mathrm{\Δx}\frac{1}{\sqrt{2\mathrm{\π}}{\mathrm{\σ}}_i}\exp \{-\frac{{(x_i-{\mathrm{\μ}}_i)}^2}{2{{\mathrm{\σ}}_i}^2}\}---\left(14\right)$

For i=1,2,3 o'clock, p (x _i| α) uncorrelated each other, $p\left(x\right|\mathrm{\α})=p(x_1,x_2,x_3|\mathrm{\α})={\mathrm{\Π}}_{i=1}^{i=3}p\left(x_i\right|\mathrm{\α}),$ Wherein, by formula (6) as can be known, this variable x _iFor the function of θ and r, with x _i=C+G (θ _i)-L (r) substitution formula (14);

Wherein, u _iAnd σ _i ²Respectively observation vector x _iAverage and variance, can adopt following dual mode to obtain u _iAnd σ _i ²:

(1), within certain time period, observation vector is sampled with higher sampling rate, obtain the u of this observation vector by statistics _iAnd σ _i ²

(2), off-line measurement obtains the u of observation vector _iAnd σ _i ², set up gain lookup on the network entity that is used for the location, storage u _iAnd σ _i ²With the corresponding relation of communication beams sign, the network entity that is used for the location in this step is identified at gain lookup according to communication beams and searches corresponding u _iAnd σ _i ²

To the best estimate of parameter alpha=[θ, r], be the joint probability density function ∏ that makes each observation vector _I=1 ^I=3p(s _i| α) maximum solution, it can be to make the solution of following formula (15) when getting maximum:

$Y(\mathrm{\θ},r)={\mathrm{\Π}}_{i=1}^{i=3}\frac{1}{\sqrt{2\mathrm{\π}}{\mathrm{\σ}}_i}\exp \{-\frac{{(x_i-{\mathrm{\μ}}_i)}^2}{2{{\mathrm{\σ}}_i}^2}\}---\left(15\right)$

Namely $\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\max }Y(\mathrm{\θ},r)---\left(16\right)$

In order to facilitate program to calculate, Y (θ, r) is got negative logarithm, make F (θ, r)=-ln (Y (θ, r)); Asking F (θ, r) α=[θ, r] hour is best estimate:

$\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\min }F(\mathrm{\θ},r)---\left(17\right)$

Wherein, can adopt numerical methods of solving θ and r.

204, according to the deflecting angle of mobile node and the relative optimal communication wave beam of the line reference line of anchor point and this mobile node radial distance to anchor point, with reference direction and the positional information of anchor point in unified coordinate system of anchor point smart antenna, determine the position of this mobile node in unified coordinate system.

Need to prove, if obtain a plurality of azimuths and radial distance in the first kind of way in above-mentioned steps 203, try to achieve respectively the absolute position of mobile node in this step according to each azimuth and corresponding radial distance, average can be got in a plurality of absolute positions of the mobile node of trying to achieve, as the final absolute position in coordinate system of this mobile node.

Consult Fig. 5, OA is the zero degree reference line of smart antenna, and OB is the sector start angle reference line of optimal communication wave beam, and regional BOC is optimal communication wave beam zone.S _idThe numbering of expression communication beams, ψ is beamwidth.

1) numbering and the beamwidth according to the optimal communication wave beam calculates drift angle ω, and this drift angle ω has represented the reference direction of optimal communication wave beam;

2) according to drift angle ω, mobile node azimuth and the radial distance with respect to anchor point, calculate the coordinate offset amount of the relative anchor point of mobile node;

x _of＝r×cos(ω+θ)，y _of＝r×sin(ω+θ) (2.18)

3) determine the position [x of mobile node in unified coordinate system ₀+ x _of, y ₀+ y _of]; Wherein, x ₀And y ₀Be respectively horizontal stroke, the ordinate of anchor point in unified coordinate system.

The embodiment of the present invention two is by obtaining mobile node with respect to azimuth and the radial distance of anchor point, determine the position of mobile node in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced cost and the complexity of antenna.Further, only need an anchor point to participate in the location Calculation of mobile node, can solve the orientation problem of mobile node in the more sparse environment of anchor point.

Embodiment three:

Consult Fig. 6, the embodiment of the present invention three provides a kind of mobile node positioning method, and the network entity that is used for the location in the method is positioned at mobile node, and the method specifically comprises:

601, when disposing anchor point (Anchor Point, AP), anchor point records reference direction and the position of anchor point in unified coordinate system of the smart antenna that anchor point uses.

602, mobile node principle maximum according to received signal strength determined optimal communication wave beam S ₂, send to anchor point and switch the adjacent beams request.

603, anchor point switches to the adjacent communication wave beam, utilizes the adjacent communication wave beam to send information and send the sign S of adjacent communication wave beam to mobile node to mobile node ₁And S ₃

604, mobile node records the sign S of adjacent communication wave beam ₁And S ₃, and the RSSI of mobile node when recording anchor point and being operated on the adjacent communication wave beam.

605, mobile node according to the sign of optimal communication wave beam, sign and the beamwidth of adjacent communication wave beam, is determined the deflecting angle relation of any two communication beams, as formula (4) and formula (5).The RSSI of mobile node and formula (6) when mobile node is operated in optimal communication wave beam and adjacent communication wave beam according to determined deflecting angle relation, anchor point determine that the deflecting angle of mobile node and the relative optimal communication wave beam of the line reference line of anchor point and this mobile node are to the radial distance of anchor point.

This step can have two kinds of implementations, and is concrete identical with corresponding description in embodiment two, do not repeat them here.

606, mobile node sends the location interrogation request to anchor point.

607, anchor point sends to mobile node with the positional information of oneself.

608, mobile node is according to the deflecting angle of mobile node and the relative optimum beam reference line of line of anchor point and this mobile node radial distance to anchor point, and reference direction and the positional information of anchor point in unified coordinate system of anchor point smart antenna, determine the position of this mobile node in unified coordinate system.

The concrete implementation of this step is identical with step 204 in embodiment two, does not repeat them here.

In the embodiment of the present invention three, mobile node is by obtaining its azimuth and radial distance with respect to anchor point, determine own position in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced cost and the complexity of antenna.Further, only need an anchor point to participate in the location Calculation of mobile node, can solve the orientation problem of mobile node in the more sparse environment of anchor point.

Embodiment four:

Consult Fig. 7, the embodiment of the present invention four provides a kind of mobile node positioning method, and the network entity that is used for the location in the method is positioned at anchor point, and the method specifically comprises:

701, when disposing anchor point (Anchor Point, AP), record reference direction and the position of anchor point in unified coordinate system of the smart antenna that anchor point uses.

702, mobile node sends Location Request to anchor point, the RSSI of mobile node when reporting anchor point to be operated in optimal communication wave beam S2 to anchor point simultaneously.

703, the anchor point writing task is at optimal communication wave beam S ₂The time mobile node RSSI, and switch to the adjacent communication wave beam, use the adjacent communication wave beam to send information to mobile node.

The RSSI of mobile node when 704, mobile node records anchor point and is operated on the adjacent communication wave beam, when being operated in anchor point on the adjacent communication wave beam, the RSSI of mobile node sends to anchor point.

705, anchor point is determined optimal communication wave beam S ₂, adjacent communication wave beam S ₁And S ₃Between the deflecting angle relation, as formula (4) and formula (5).The RSSI of mobile node and formula (6) when anchor point is operated in optimal communication wave beam and adjacent communication wave beam according to determined deflecting angle relation, anchor point determine that the deflecting angle of mobile node and the relative optimum beam reference line of line of anchor point and this mobile node are to the radial distance of anchor point.

Wherein, anchor point is to determine the deflecting angle relation according to sign and the beamwidth of optimal communication wave beam, adjacent communication wave beam.

This step can have two kinds of implementations, and concrete implementation is identical with corresponding description in embodiment two, does not repeat them here.

706, anchor point is according to the deflecting angle of mobile node and the relative optimum beam reference line of line of anchor point and this mobile node radial distance to anchor point, and reference direction and the positional information of anchor point in unified coordinate system of anchor point smart antenna, determine the position of this mobile node in unified coordinate system.

Concrete implementation is identical with step 204 in embodiment two, does not repeat them here.

707, anchor point sends locating result information to mobile node, and this locating result information comprises the positional information of mobile node in unified coordinate system.

In the embodiment of the present invention four, anchor point is by obtaining mobile node with respect to azimuth and the radial distance of anchor point, determine own position in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced cost and the complexity of antenna.Further, only need an anchor point to participate in the location Calculation of mobile node, can solve the orientation problem of mobile node in the more sparse environment of anchor point.

Embodiment five:

Consult Fig. 8, the embodiment of the present invention five provides a kind of mobile node positioning method, comprising:

801, when disposing anchor point (Anchor Point, AP), the anchor point in system records reference direction and the position of anchor point in unified coordinate system of the smart antenna that anchor point uses.

802, the first anchor point (AP1) receives the Location Request that mobile node sends, and optimal communication wave beam information is sent to terminal to be positioned; The second anchor point (AP2) receives the Location Request that mobile node sends, and optimal communication wave beam information is sent to terminal to be positioned.The optimal communication wave beam information that wherein sends comprises optimal communication wave beam sign and beamwidth.

803, the deflecting angle of the sector start angle reference line of the optimal communication wave beam that provides with respect to the first anchor point of supposition the first anchor point (AP1) and the line of mobile node (M) is θ ₁The deflecting angle of the sector start angle reference line of the optimal communication wave beam that the line of the second anchor point (AP2) and mobile node (M) provides with respect to the second anchor point is θ ₂, the first anchor point (AP1) is r to the radial distance of mobile node (M) ₁, the second anchor point (AP2) is r to the radial distance of mobile node (M) ₂, determine to make the θ of the joint probability density function maximum of each observation vector _iAnd r _iWherein, can adopt numerical methods of solving θ _iAnd r _i

Namely determine to make ${\mathrm{\Π}}_{i=1}^{i=2}\frac{1}{\sqrt{2\mathrm{\π}}{\mathrm{\σ}}_i}\exp \{-\frac{{(x_i-{\mathrm{\μ}}_i)}^2}{2{{\mathrm{\σ}}_i}^2}\}$ Maximum θ _iAnd r _i, wherein, the functional relation of observation vector x and deflecting angle θ and radial distance r is: x=C+G (θ)-L (r).

Wherein, observation vector x _iAverage u _iAnd variances sigma _i ²Two kinds of acquisition patterns can be arranged, specifically see the corresponding description of embodiment two.

804, mobile node sends the location interrogation request to certain anchor point (supposition the first anchor point).

805, the first anchor point sends to mobile node with the positional information of oneself.

806, mobile node is according to radial distance and the corresponding deflecting angle of itself and the first anchor point, and reference direction and the positional information of the first anchor point in unified coordinate system of the first anchor point smart antenna, determines the position of this mobile node in unified coordinate system.

In the embodiment of the present invention five, mobile node is by obtaining its azimuth and radial distance with respect to anchor point, determine own position in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced cost and the complexity of antenna.

Embodiment six:

Consult Fig. 9, the embodiment of the present invention six provides a kind of mobile node positioning method, and the method specifically comprises:

901, when disposing anchor point (Anchor Point, AP), the anchor point in system records reference direction and the position of anchor point in unified coordinate system of the smart antenna that anchor point uses.

Concrete, when disposing anchor point, need to determine the reference direction of smart antenna reference beam, wave beam sign and beamwidth follow-uply can obtain according to above-mentioned information the reference direction of any wave beam.

The RSSI information of mobile node when the network entity that 902, is used for the location obtains optimal communication wave beam information and anchor point and is operated on the optimal communication wave beam.Wherein, optimal communication wave beam information comprises: the wave beam sign.

Wherein, the network entity that is used for the location can be positioned at mobile node or anchor point, does not affect realization of the present invention.

This step includes but not limited to following two kinds of implementations:

First kind of way: the wave beam that antenna system is communicated by letter with mobile node according to certain rules selection, such as the wave beam of selecting the RSSI maximum is the optimal communication wave beam, antenna system is used for the sign notice of optimal communication wave beam the network entity of location.The RSSI information of mobile node when the network entity that is used for the location records the sign of optimal communication wave beam and anchor point and is operated on the optimal communication wave beam.

The second way: antenna system does not possess the function of selecting the wave beam communicate by letter with mobile node, when initiate the location, the network entity and the anchor point that are used for the location carry out information interaction, require the anchor point switching-beam, determine that the wave beam of RSSI maximum of mobile node is as the optimal communication wave beam.When smart antenna is worked on the optimal communication wave beam, the RSSI information of mobile node when the network entity that is used for the location records the sign of optimal communication wave beam and anchor point and is operated on the optimal communication wave beam.

The particular content of the information of obtaining in this step is as shown in table 1.

903, the network entity for the location identifies according to communication beams, searches the gain index table, obtains average u and the variances sigma of observation vector x ²Wherein, preserve average u and the variances sigma of communication beams sign and observation vector x in the gain index table ²Corresponding relation, the u of this observation vector _iAnd σ _i ²It is off-line measurement.

Wherein, also can adopt other modes to obtain average u and the variances sigma of observation vector x ², the RSSI to mobile node in anchor point is operated in certain time period of optimal communication wave beam samples with higher employing speed, obtains average u and variances sigma by statistics ²

904, the selected initial search point (θ, r) of network entity that is used for the location, i.e. selected θ value and r value.

905, adopt certain Policy Updates search point (θ, r), namely upgrade θ value and r value until F (θ, r) convergence, the θ value of this moment and r value are respectively mobile nodes and the deflecting angle of the relative optimal communication wave beam of line of anchor point and the mobile node radial distance to anchor point.

F (θ, r) in this step obtains in the following way: the functional relation of determining observation vector and θ and r according to formula (6) is: x=C+G (θ)-L (r), and with the observation vector x substitution formula take θ and r as variable $Y(\mathrm{\θ},r)=\frac{1}{\sqrt{2\mathrm{\π}}\mathrm{\σ}}\exp \{-\frac{{(x-\mathrm{\μ})}^2}{2{\mathrm{\σ}}^2}\}$ Y (θ, r) is got negative logarithm, make F (θ, r)=-ln (Y (θ, r)).

Wherein, this step can adopt more new search point (θ, r) of steepest descent method, Newton method, quasi-Newton method or conjugate gradient method.

The embodiment of the present invention six is by obtaining mobile node with respect to azimuth and the radial distance of anchor point, determine the position of mobile node in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced cost and the complexity of antenna.Further, only need an anchor point to participate in the location Calculation of mobile node, can solve the orientation problem of mobile node in the more sparse environment of anchor point.Further, adopt numerical solution to find the solution θ and r, reduce the computing capability requirement of the network entity that is used for the location.

Embodiment seven:

Consult Figure 10 A and 10B, the embodiment of the present invention seven provides a kind of mobile node positioner, comprising:

Determining unit 100 is used for determining that mobile node is with respect to azimuth and the radial distance of anchor point;

Position converting unit 200 is used for according to azimuth and the radial distance of described mobile node with respect to described anchor point, and the smart antenna reference direction of anchor point and the positional information of anchor point, determines the position of described mobile node.

Wherein, determining unit 100 comprises: acquiring unit 300, be used for obtaining the information of smart antenna communication beams, and the received signal strength information of mobile node when utilizing described smart antenna communication beams communication; With computing unit 400, be used for the information according to described smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determine that mobile node is with respect to azimuth and the radial distance of the anchor point at smart antenna place.

Concrete, the information of the smart antenna communication beams that described acquiring unit 300 obtains comprises: the first communication beams sign, second communication wave beam sign and the beamwidth of anchor point; This moment, computing unit 400 was for the deflecting angle θ that utilizes mobile node with the relative first communication beams reference line of line of described anchor point ₁, mobile node and the relative second communication wave beam of the line reference line of described anchor point deflecting angle θ ₂Relation between the two, received signal strength and the deflecting angle θ of mobile node when anchor point is operated in the first communication beams ₁With the relation of mobile node to the radial distance r of anchor point, the received signal strength of mobile node and deflecting angle θ when anchor point is operated in the second communication wave beam ₂With the relation of described r, determine described θ ₁, θ ₂With described r value.

The received signal strength of mobile node and deflecting angle θ when wherein, anchor point is operated in the first communication beams ₁With relation such as the equation C+G (θ of mobile node to the radial distance r of anchor point ₁)+L (r)=s ₁The received signal strength of mobile node and deflecting angle θ when anchor point is operated in the second communication wave beam ₂Relation such as equation C+G (θ with described r ₂)+L (r)=s ₁, wherein, θ ₁, θ ₂Relation between the two according to the first communication beams identify, second communication wave beam sign and beamwidth determine; s ₁, s ₂Be respectively the received signal strength of anchor point mobile node when being operated on the first communication beams, second communication wave beam; G (θ ₁) be that the first communication beams is based on deflecting angle θ ₁Antenna gain; G (θ ₂) be that the second communication wave beam is based on deflecting angle θ ₂Antenna gain; L (r) is based on mobile node to the path loss of the radial distance r of anchor point, and C is constant.

Perhaps computing unit 400 comprises: observation vector acquisition of information subelement, received signal strength information when being used for utilizing described smart antenna communication beams communication according to mobile node is obtained average μ and the variance yields σ of the observation vector x corresponding with described smart antenna communication beams ²Obtain subelement with the angle radial distance, be used for reaching average μ and the variance yields σ of observation vector x according to observation vector x and the mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and mobile node to the radially r of anchor point ², determine θ value and r value.Wherein, observation vector x and mobile node can be as EQUATION x=C+G (θ)+L (r) to the relation of the radially r of anchor point to the line of anchor point and deflecting angle θ and the mobile node of corresponding smart antenna communication beams reference line, and wherein G (θ) is that the smart antenna communication beams is based on the antenna gain of angle θ; L (r) is based on the path loss apart from r.

Perhaps, determining unit 100 can comprise: wave beam acquisition of information subelement, for the information of obtaining the smart antenna communication beams; With observation vector acquisition of information subelement, be used for according to average μ and the variance yields σ of the smart antenna communication beams sign that prestores with observation vector x ²Corresponding relation, obtain average μ and the variance yields σ of the corresponding observation vector x of smart antenna communication beams sign in smart antenna communication beams information ²Obtain son with the angle radial distance and get the unit, be used for reaching average μ and the variance yields σ of observation vector x according to observation vector x and the mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and mobile node to the radially r of anchor point ², determine θ value and r value.Wherein, observation vector x and mobile node to the line of anchor point and deflecting angle θ and the mobile node of corresponding smart antenna communication beams reference line can be as EQUATION x=C+G (θ)+L (r) to the relation of the radially r of anchor point, wherein, G (θ) is that the smart antenna communication beams is based on the antenna gain of angle θ; L (r) is based on the path loss apart from r.

When the information of the smart antenna communication beams of obtaining is the information of a smart antenna communication beams, the angle radial distance obtains subelement, be used for determining making θ value and the r value of the probability density function maximum of observation vector x, described θ value and the r value of the probability density function maximum of observation vector x of making is respectively described mobile node with respect to azimuth and the radial distance of anchor point.

The information of the smart antenna communication beams of preferably, obtaining comprises: the information of at least two communication beams of anchor point; The average μ of the observation vector x that obtains and variance yields σ ²Comprise: the observation vector x that each smart antenna communication beams is corresponding _iAverage μ _iWith variance yields σ _i ²Described angle radial distance acquiring unit is used for utilizing each observation vector x _iAverage μ _iWith variance yields σ _i ², and observation vector x _iWith θ _iRelational expression x with r _i=C+G (θ _i)+L (r) determines to make the θ of the joint probability density function maximum of each observation vector _iValue and r value, determined θ _iValue and r value are respectively mobile node with respect to azimuth and the radial distance of described anchor point.

Preferably, the information of the smart antenna communication beams of obtaining comprises: the information of the smart antenna communication beams of N anchor point, and wherein N is greater than or equal to 2; The average μ of the observation vector x that obtains and variance yields σ ²Comprise: the observation vector x that each smart antenna communication beams is corresponding _iAverage μ _iWith variance yields σ _i ²Described angle radial distance acquiring unit is used for utilizing each observation vector x _iAverage μ _iWith variance yields σ _i ², and observation vector x _iWith θ _iAnd r _iRelational expression x _i=C+G (θ _i)+L (r _i), determine to make the corresponding θ value of each observation vector x and the r value of the joint probability density function maximum of each observation vector; The corresponding corresponding θ value of observation vector and the r value of smart antenna communication beams that described mobile node is described anchor point with respect to azimuth and the radial distance of an anchor point.

Preferably, described mobile node positioner is positioned on mobile node, and described acquiring unit 300 comprises: information interaction subelement 3011 is used for the information from anchor point obtaining communication wave beam; Signal energy is measured subelement 3012, the received signal strength when being used for measuring described anchor point and being operated on described communication beams.Specifically referring to Figure 10 A.

Perhaps, described mobile node positioner is positioned on anchor point, and described acquiring unit 300 comprises: beam selection and record subelement 3021 is used for selecting the wave beam of communicating by letter with mobile node and the information of record communication wave beam; Information interaction subelement 3022, the received signal strength when being used for obtaining described anchor point and being operated on described communication beams from mobile node.Specifically referring to Figure 10 B.

The embodiment of the present invention seven is by obtaining mobile node with respect to azimuth and the radial distance of anchor point, determine the position of mobile node in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced cost and the complexity of antenna.

One of ordinary skill in the art will appreciate that all or part of step that realizes in above-described embodiment method is to come the relevant hardware of instruction to complete by program, described program can be stored in a kind of computer-readable recording medium, read-only memory for example, disk or CD etc.

Above mobile node positioning method, device and the network system that the embodiment of the present invention is provided is described in detail, used specific case herein principle of the present invention and execution mode are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.

Claims (23)

1. a mobile node positioning method, is characterized in that, comprising:

Determine that mobile node is with respect to azimuth and the radial distance of anchor point; Described definite mobile node comprises with respect to the azimuth of anchor point and the step of radial distance: obtain the information of smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams; Information according to described smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determine mobile node with respect to azimuth and the radial distance of the anchor point at smart antenna place, described mobile node is mobile node and the deflecting angle of the relative optimal communication wave beam of the line reference line of described anchor point with respect to the azimuth of the anchor point at smart antenna place;

According to azimuth and the radial distance of described mobile node with respect to described anchor point, reach the smart antenna reference direction of anchor point and the positional information of anchor point, determine the position of described mobile node.

2. method according to claim 1, is characterized in that, the information of the smart antenna communication beams of obtaining comprises: the first communication beams sign, second communication wave beam sign and the beamwidth of anchor point;

According to the information of described smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determine that mobile node comprises with respect to the azimuth of the anchor point at smart antenna place and the step of radial distance:

Utilize the deflecting angle θ of mobile node and the relative first communication beams reference line of line of described anchor point ₁, mobile node and the relative second communication wave beam of the line reference line of described anchor point deflecting angle θ ₂Relation between the two, received signal strength and the deflecting angle θ of mobile node when anchor point is operated in the first communication beams ₁With the relation of mobile node to the radial distance r of anchor point, the received signal strength of mobile node and deflecting angle θ when anchor point is operated in the second communication wave beam ₂With the relation of described r, determine described θ ₁Value, θ ₂Value and described r value, wherein, θ ₁, θ ₂Relation between the two according to the first communication beams identify, second communication wave beam sign and beamwidth determine.

3. method according to claim 2, is characterized in that,

Described the first communication beams, second communication wave beam are respectively the optimal communication wave beam of anchor point use and any two communication beams in the adjacent communication wave beam, and wherein, the adjacent communication wave beam is the communication beams adjacent with described optimal communication wave beam.

4. method according to claim 1, is characterized in that,

According to the information of described smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determine that mobile node comprises with respect to the azimuth of the anchor point at smart antenna place and the step of radial distance:

Received signal strength information when utilizing the communication of described smart antenna communication beams according to mobile node is obtained average and the variance yields of the observation vector x corresponding with described smart antenna communication beams;

According to observation vector x and the mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and mobile node to the radial distance r of anchor point, and utilize the probability density function of the average of observation vector x and the observation vector x that variance yields obtains, determine θ value and r value.

5. method according to claim 4, is characterized in that,

The step of described definite θ value and r value comprises:

Determine to make θ value and the r value of the probability density function maximum of observation vector x, described θ value and the r value of the probability density function maximum of observation vector x of making is respectively described mobile node with respect to azimuth and the radial distance of anchor point.

6. method according to claim 4, is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of at least two communication beams of anchor point;

Average and the variance yields of the observation vector x that obtains comprise: the observation vector x that each smart antenna communication beams is corresponding _iAverage and variance yields;

The step of described definite θ value and r value comprises:

Utilize each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iWith the relation of r, determine to make the θ of the joint probability density function maximum of each observation vector _iValue and r value, determined θ _iValue and r value are respectively mobile node with respect to azimuth and the radial distance of described anchor point;

Described θ _iThe line of expression mobile node and anchor point is with respect to the deflecting angle of i communication beams of the smart antenna of anchor point.

7. method according to claim 4, is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of the smart antenna communication beams of N anchor point, and wherein N is greater than or equal to 2;

The average μ of the observation vector x that obtains and variance yields σ ²Comprise: the observation vector x that each smart antenna communication beams is corresponding _iAverage and variance yields;

The step of described definite θ value and r value comprises:

Utilize each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iAnd r _iRelation, determine to make the corresponding θ value of each observation vector x and the r value of the joint probability density function maximum of each observation vector; The corresponding corresponding θ value of observation vector and the r value of smart antenna communication beams that described mobile node is described anchor point with respect to azimuth and the radial distance of an anchor point;

Described r _iThe expression mobile node is to the radial distance of the anchor point of i communication beams.

8. a mobile node positioning method, is characterized in that, comprising:

Determine that mobile node is with respect to azimuth and the radial distance of anchor point; Described definite mobile node comprises with respect to azimuth and the radial distance of anchor point: the information of obtaining the smart antenna communication beams; According to average μ and the variance yields σ of the smart antenna communication beams sign that prestores with observation vector x ²Corresponding relation, obtain average and the variance yields of the corresponding observation vector x of smart antenna communication beams sign in smart antenna communication beams information; According to observation vector x and the mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and mobile node to the radial distance r of anchor point, and utilize the probability density function of the average of observation vector x and the observation vector x that variance yields obtains, determine θ value and r value; Described mobile node is mobile node and the deflecting angle of the relative optimal communication wave beam of the line reference line of anchor point with respect to the azimuth of anchor point;

According to azimuth and the radial distance of described mobile node with respect to described anchor point, reach the smart antenna reference direction of anchor point and the positional information of anchor point, determine the position of described mobile node.

9. method according to claim 8, is characterized in that,

The step of described definite θ value and r value comprises:

Determine to make θ value and the r value of the probability density function maximum of observation vector x, described θ value and the r value of the probability density function maximum of observation vector x of making is respectively described mobile node with respect to azimuth and the radial distance of anchor point.

10. method according to claim 8, is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of at least two communication beams of anchor point;

Average and the variance yields of the observation vector x that obtains comprise: the observation vector x that each smart antenna communication beams is corresponding _iAverage and variance yields;

The step of described definite θ value and r value comprises:

Utilize each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iWith the relation of r, determine to make the θ of the joint probability density function maximum of each observation vector _iValue and r value, determined θ _iValue and r value are respectively mobile node with respect to azimuth and the radial distance of described anchor point;

Described θ _iThe line of expression mobile node and anchor point is with respect to the deflecting angle of i communication beams of the smart antenna of anchor point.

11. method according to claim 8 is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of the smart antenna communication beams of N anchor point, and wherein N is greater than or equal to 2;

The average μ of the observation vector x that obtains and variance yields σ ²Comprise: the observation vector x that each smart antenna communication beams is corresponding _iAverage and variance yields;

The step of described definite θ value and r value comprises:

Utilize each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iAnd r _iRelation, determine to make the corresponding θ value of each observation vector x and the r value of the joint probability density function maximum of each observation vector; The corresponding corresponding θ value of observation vector and the r value of smart antenna communication beams that described mobile node is described anchor point with respect to azimuth and the radial distance of an anchor point;

Described r _iThe expression mobile node is to the radial distance of the anchor point of i communication beams.

12. a mobile node positioner is characterized in that, comprising:

Determining unit be used for to be determined mobile node with respect to azimuth and the radial distance of anchor point, and described mobile node is mobile node and the deflecting angle of the relative optimal communication wave beam of the line reference line of anchor point with respect to the azimuth of anchor point;

Described determining unit comprises:

Acquiring unit is used for obtaining the information of smart antenna communication beams, and the received signal strength information of mobile node when utilizing described smart antenna communication beams communication;

Computing unit is used for the information according to described smart antenna communication beams, and the received signal strength information of mobile node when utilizing described smart antenna communication beams communication, determines that mobile node is with respect to azimuth and the radial distance of the anchor point at smart antenna place;

The position converting unit is used for according to azimuth and the radial distance of described mobile node with respect to described anchor point, and the smart antenna reference direction of anchor point and the positional information of anchor point, determines the position of described mobile node.

13. device according to claim 12 is characterized in that,

The information of the smart antenna communication beams that described acquiring unit obtains comprises: the first communication beams sign, second communication wave beam sign and the beamwidth of anchor point;

Described computing unit is for the deflecting angle θ that utilizes mobile node with the relative first communication beams reference line of line of described anchor point ₁, mobile node and the relative second communication wave beam of the line reference line of described anchor point deflecting angle θ ₂Relation between the two, received signal strength and the deflecting angle θ of mobile node when anchor point is operated in the first communication beams ₁With the relation of mobile node to the radial distance r of anchor point, the received signal strength of mobile node and deflecting angle θ when anchor point is operated in the second communication wave beam ₂With the relation of described r, determine described θ ₁, θ ₂With described r value;

Wherein, θ ₁, θ ₂Relation between the two according to the first communication beams identify, second communication wave beam sign and beamwidth determine.

14. device according to claim 12 is characterized in that,

Described computing unit comprises:

Observation vector acquisition of information subelement, the received signal strength information when being used for utilizing described smart antenna communication beams communication according to mobile node is obtained average and the variance yields of the observation vector x corresponding with described smart antenna communication beams;

The angle radial distance obtains subelement, be used for according to observation vector x and the mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and mobile node to the radial distance r of anchor point, and utilize the probability density function of the average of observation vector x and the observation vector x that variance yields obtains, determine θ value and r value.

15. device according to claim 14 is characterized in that,

Described angle radial distance obtains subelement, be used for determining making θ value and the r value of the probability density function maximum of observation vector x, described θ value and the r value of the probability density function maximum of observation vector x of making is respectively described mobile node with respect to azimuth and the radial distance of anchor point.

16. device according to claim 14 is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of at least two communication beams of anchor point;

Average and the variance yields of the observation vector x that obtains comprise: the observation vector x that each smart antenna communication beams is corresponding _iAverage and variance yields;

Described angle radial distance obtains subelement, is used for utilizing each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iWith the relation of r, determine to make the θ of the joint probability density function maximum of each observation vector _iValue and r value, determined θ _iValue and r value are respectively mobile node with respect to azimuth and the radial distance of described anchor point;

Described θ _iThe line of expression mobile node and anchor point is with respect to the deflecting angle of i communication beams of the smart antenna of anchor point.

17. device according to claim 14 is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of the smart antenna communication beams of N anchor point, and wherein N is greater than or equal to 2;

The average μ of the observation vector x that obtains and variance yields σ ²Comprise: the observation vector x that each smart antenna communication beams is corresponding _iAverage and variance yields;

Described angle radial distance obtains subelement, is used for utilizing each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iAnd r _iRelation, determine to make the corresponding θ value of each observation vector x and the r value of the joint probability density function maximum of each observation vector; The corresponding corresponding θ value of observation vector and the r value of smart antenna communication beams that described mobile node is described anchor point with respect to azimuth and the radial distance of an anchor point;

Described r _iThe expression mobile node is to the radial distance of the anchor point of i communication beams.

18. device according to claim 12 is characterized in that,

Described mobile node positioner is positioned on mobile node,

Described acquiring unit comprises:

The information interaction subelement is used for the information from anchor point obtaining communication wave beam;

Signal energy is measured subelement, the received signal strength of this locality when being used for measuring described anchor point and being operated on described communication beams.

19. device according to claim 12 is characterized in that,

Described mobile node positioner is positioned on anchor point,

Described acquiring unit comprises:

Beam selection and record subelement is used for selecting the wave beam of communicating by letter with mobile node and the information of record communication wave beam;

The information interaction subelement, the received signal strength when being used for obtaining described anchor point and being operated on described communication beams from mobile node.

20. a mobile node positioner is characterized in that, comprising:

Determining unit be used for to be determined mobile node with respect to azimuth and the radial distance of anchor point, and described mobile node is mobile node and the deflecting angle of the relative optimal communication wave beam of the line reference line of anchor point with respect to the azimuth of anchor point;

Described determining unit comprises:

Wave beam acquisition of information subelement is for the information of obtaining the smart antenna communication beams;

Observation vector acquisition of information subelement is used for according to average μ and the variance yields σ of the smart antenna communication beams sign that prestores with observation vector x ²Corresponding relation, obtain average and the variance yields of the corresponding observation vector x of smart antenna communication beams sign in smart antenna communication beams information;

The angle radial distance obtains subelement, be used for according to observation vector x and the mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and distance moving node to the radially r of anchor point, and utilize the probability density function of the average of observation vector x and the observation vector x that variance yields obtains, determine θ value and r value;

The position converting unit is used for according to azimuth and the radial distance of described mobile node with respect to described anchor point, and the smart antenna reference direction of anchor point and the positional information of anchor point, determines the position of described mobile node.

21. device according to claim 20 is characterized in that,

Described angle radial distance obtains subelement, be used for determining making θ value and the r value of the probability density function maximum of observation vector x, described θ value and the r value of the probability density function maximum of observation vector x of making is respectively described mobile node with respect to azimuth and the radial distance of anchor point.

22. device according to claim 20 is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of at least two communication beams of anchor point;

Average and the variance yields of the observation vector x that obtains comprise: the observation vector x that each smart antenna communication beams is corresponding _iAverage and variance yields;

Described angle radial distance obtains subelement, is used for utilizing each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iWith the relation of r, determine to make the θ of the joint probability density function maximum of each observation vector _iValue and r value, determined θ _iValue and r value are respectively mobile node with respect to azimuth and the radial distance of described anchor point;

Described θ _iThe line of expression mobile node and anchor point is with respect to the deflecting angle of i communication beams of the smart antenna of anchor point.

23. device according to claim 20 is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of the smart antenna communication beams of N anchor point, and wherein N is greater than or equal to 2;

The average μ of the observation vector x that obtains and variance yields σ ²Comprise: the observation vector x that each smart antenna communication beams is corresponding _iAverage and variance yields;

Described angle radial distance obtains subelement, is used for utilizing each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iAnd r _iRelation, determine to make the corresponding θ value of each observation vector x and the r value of the joint probability density function maximum of each observation vector; The corresponding corresponding θ value of observation vector and the r value of smart antenna communication beams that described mobile node is described anchor point with respect to azimuth and the radial distance of an anchor point;

Described r _iThe expression mobile node is to the radial distance of the anchor point of i communication beams.

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