CN102695269A

CN102695269A - Positioning correction method, relevant device and relevant system

Info

Publication number: CN102695269A
Application number: CN201110067804XA
Authority: CN
Inventors: 刘永俊; 杨晖; 徐勇
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2011-03-21
Filing date: 2011-03-21
Publication date: 2012-09-26
Anticipated expiration: 2031-03-21
Also published as: CN102695269B

Abstract

Embodiments of the invention disclose a positioning correction method, a relevant device and a relevant system. The invention assists in improving positioning precision of user terminals in a positioning calculation process by correcting relevant variables of a user terminal position. According to the embodiment of the invention, the method comprises the steps that: m position parameters are a variable relevant to a coordinate position of the user terminals in a positioning algorithm are acquired, and m is an integer greater than 1; a positioning error expression of the user terminals is determined based on the positioning algorithm and the position parameters; channel characteristics of the user terminals are acquired; first corresponding weights of the m position parameters are respectively determined based on the channel characteristics; and statistical summation of positioning errors of the user terminals is carried out by using the first weights and the expression based on preset criteria, and correction values of the position parameters are calculated by using statistical sum functions, wherein the preset criteria are set based on the demand of the user terminals for positioning errors.

Description

A kind of location modification method, relevant apparatus and system

Technical field

The present invention relates to wireless positioning field, relate in particular to a kind of location modification method, relevant apparatus and system.

Background technology

Wireless location is to confirm the technology of people or object space through wireless signal; Be widely used at present; Typical example is the application of global positioning system (GPS, Global Positioning System), confirms the place, position through receiving satellite signal; And in the middle of the positioning service that telecom operators provide, also have to position based on the mobile communication base station signal.

The principle of wireless location technology is the characteristic of wireless signal, such as signal strength signal intensity, phase place, transmitting time etc., with the position corresponding relation is arranged, and can obtain location dependent information through the measuring-signal characteristic, comes the estimated position according to concrete location algorithm again.In the middle of a navigation system, the node of location aware is called " anchor node ", is used for outwards sending wireless signal; The unknown node in position is called " blind node " (promptly needing the located subscriber terminal), through receiving the signal of anchor node, estimates the position of self according to location algorithm.But the estimation of position is not necessarily to be accomplished by user terminal; The calculating that user terminal possibly position by locating terminal (normally be used to locate server), locating terminal can directly send to user terminal to positional information when needing positioning result.

Location algorithm is divided into based on range finding with not based on two types of range findings; Algorithm based on range finding needs the estimating user terminal with the distance between each anchor node; Combine anchor node position and location algorithm to carry out location estimation again; And needn't not follow the distance between the anchor node in the estimating user terminal based on the algorithm of range finding; Directly coming the estimated position according to anchor node position and the characteristic information that receives signal, is exactly as the position of estimating the barycenter that receives the pairing anchor node coordinate of stronger signal such as centroid algorithm.Typical location algorithm based on range finding has polygon range finding, polygon barycenter scheduling algorithm, based on the typical location algorithm of non-range finding billboard, barycenter scheduling algorithm is arranged.Some location algorithms are arranged; Though directly service range does not carry out location estimation; If but related to the calculating of distance in the computational process, like the weighted mass center algorithm, the calculating of weights might be used the expression formula of distance; Or heel distance also can be regarded as the location algorithm based on range finding from the expression formula of relevant variable.

Need to prove that for ease wireless signal is an example with the electromagnetic wave only here, in fact various wireless waves can be applicable to the description of this paper like ultrasonic wave etc.

In location algorithm based on range finding; Distance or have much with the method for estimation of relevant other variable of distance; Estimate that such as waiting the most frequently used is to estimate according to signal sending time or signal attenuation intensity according to the time difference of signal sending time, phase difference, intensity and transmitting-receiving.Coming estimation principles according to signal sending time is that the aerial propagation rate of electromagnetic wave is known, is approximately 300,000 thousand meter per seconds, if time synchronized has been set up in the sending and receiving end; Can estimate the distance of sending and receiving end so through the time difference that measuring-signal sends and receives; That is the time difference multiply by electromagnetic wave propagation speed and equal distance, perhaps receiving node returns a response after receiving signal, sending node is according to the time difference of sending and receiving response; Deduct the processing time of receiving node; Multiply by electromagnetic wave propagation speed, just equal the distance that comes and goes, i.e. the twice of sending and receiving end distance.If come estimated distance according to signal strength signal intensity, generally be to set up channel model, promptly distance is come computed range with the relation of signal intensity attenuation according to the receiving and transmitting signal intensity difference.Such as logarithm channel model commonly used, PL=P0+10n*lgd, wherein PL is the signal intensity attenuation value, and promptly received energy is with the difference of sending energy, and P0 is the pad value of known reference distance, and n is a damped expoential, d is a distance.After receiving the anchor node signal, just can draw pad value PL, substitution formula such as PL and the channel model parameter P0 that measures in advance, n, just can obtain estimation apart from d=10 ^(PL-P0)/10n

Because receive the various factors influence of surrounding environment, wireless channel changes along with the variation of factors such as time, frequency, space, the channel model of location institute basis is just resulting according to measuring; Itself have certain error, and actually can only represent an average situation, even such as for identical transmission and receiving node; In same position, signal strength signal intensity also can be inequality in different time to receive signal, perhaps at the same time; Sending node is identical; Receiving node equates with the sending node distance, but the position is different, and it receives signal also can be variant.Because surrounding environment change is difficult for measuring and being difficult to prevision, is difficult to provide the channel model to special time and position.Can be expressed as PL=P0+10n*lgd+X at this moment such as logarithm channel model formula.Here X is a stochastic variable, general Gaussian distributed, and the decay PL that therefore receives signal also is a stochastic variable, possibly all there is different values different time, different positions, and are difficult to prediction, can only know the statistical nature of its variation.For time-based distance-finding method, also similar situation might appear, because electromagnetic wave can arrive receiving node from sending node along the shortest direct projection footpath under the desirable situation; But wireless propagation environment is often very complicated, because barrier is to electromagnetic reflection, the electromagnetic wave that has can directly arrive receiving node along longer reflection; Because the path is longer; The time of experience can be longer, can receive different electromagnetic wave component in different time at receiving node like this, and receiving node tends to adjudicate the time of position for receiving at the strongest component place; Therefore under the stronger situation of reflection footpath energy, the time in the actual direct projection of the time ratio of judgement footpath is longer.Because it is change at random that the variation of environment causes receiving the delay character of signal, therefore also is similar to stochastic variable noted earlier and exists, such as the distance R=R0+Z that measures, R0 is an average distance, and Z is a stochastic variable.

The above-mentioned channel model of mentioning is that the channel of localizing environment is described in fact, and above-mentioned channel model formula is a model tormulation formula commonly used, in fact also has much other model tormulation formulas, such as multinomial model: PL=A0+A1*d+...+Am*d ^mThese models are to measure through the channel to localizing environment, no matter are the simultaneously real-time measurements of measurement or location in advance, all come out according to the measurement data computation induction.Based on signal strength signal intensity or based on the method for signal propagation time the channel model of correspondence is arranged all, but no matter be which kind of channel model, because the probabilistic ubiquity of wireless channel, the stochastic variable composition all can exist in each position fixing process always.

In the prior art, various localization methods are not all considered the influence of stochastic variable composition in the process of computing, just after positioning result comes out, revise again, and locating effect is very undesirable.Because being used to locate the location parameter of computing mixes the stochastic variable composition is arranged; And stochastic variable becomes branch to be amplified by computings such as index or logarithms in the process of location computing; Resulting positioning result is too big with actual position deviation, even positioning result is revised, improves also little; And if run into the violent situation of channel variation, the influence that receives is more serious, and the locating accuracy performance is poorer.

With the polygon location algorithm is the example explanation, supposes to have three anchor nodes, and coordinate is respectively: (x1, y1), (x2, y2), (x3, y3); And the coordinate of user terminal is: (x y), is respectively d1 through the distance of measuring user terminal to three anchor node that receives the signal strength signal intensity estimation, d2, and d3 is so there be (x-xi) ²+ (y-yi) ²=di ², i=1 wherein, 2 or 3.Under the ideal situation, it is the center of circle that user terminal is positioned at each anchor node, and radius is on the circumference of estimated distance di, and the circumference of three anchor nodes should meet at a point, and this point is exactly the position at user terminal place.But because the existence of stochastic variable; Distance estimations di has bigger deviation; Cause the circumference of each circle not intersect at a bit, the way of prior art is that (x y) gets minimum value with the distance estimations di composition federal expression of three circumference with the set coordinate of user terminal; Intersect in twos like three circles, three circles will be got in the position of estimating so, and certain in the intersecting area is a bit in twos.And owing to error in the process of location computing is exaggerated, the actual coordinate point of user terminal maybe be in the zone that these three circles intersect in twos, so the mean error and the worst error of location are bigger, locating effect is not good.

Summary of the invention

The embodiment of the invention provides a kind of location modification method, relevant apparatus and system, is used for locating calculating process through revising the positioning accuracy that the variable relevant with user terminal location improves user terminal.

Location provided by the invention modification method comprises: obtain m location parameter, said location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and said m is the integer greater than 1; Confirm the expression formula of the position error of said user terminal according to said location algorithm and said location parameter; Obtain the channel characteristics of said user terminal, confirm first weight that said m location parameter is corresponding respectively according to said channel characteristics; Use said first weight and said expression formula that the position error of said user terminal is added up summation according to presetting criterion; And utilize the correction value of the said location parameter of function calculation of said statistics summation, the said criterion of criterion that preset for the demand of position error being set according to said user terminal; To locating terminal said correction value is provided, makes locating terminal use said correction value to adjust corresponding location parameter, and said user terminal is positioned according to adjusted location parameter and said location algorithm.

Location provided by the invention modification method comprises: the location algorithm according to presetting obtains location parameter, and said location parameter is relevant with the coordinate position of user terminal in a said location algorithm variable; Obtain the corresponding correction value of said location parameter; The correction function that uses said correction value and preset is adjusted said location parameter, obtains the correction position parameter; Use said correction position parameter and said location algorithm that said user terminal is positioned.

Correction value calculation element provided by the invention comprises: parameter acquiring unit, be used to obtain m location parameter, and said location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, said m is the integer greater than 1; Confirm the unit, be used for confirming the expression formula of the position error of said user terminal according to said location algorithm and said location parameter; First weight is confirmed the unit, is used to obtain the channel characteristics of said user terminal, confirms first weight that said m location parameter is corresponding respectively according to said channel characteristics; Computing unit; Be used for using said first weight and said expression formula that the position error of said user terminal is added up summation according to presetting criterion; And utilize the correction value of the said location parameter of function calculation of said statistics summation, the said criterion of criterion that preset for the demand of position error being set according to said user terminal; The unit is provided, is used for said correction value being provided, make locating terminal use said correction value to adjust corresponding location parameter, and said user terminal is positioned according to adjusted location parameter and said location algorithm to locating terminal.

Locating terminal provided by the invention comprises: first acquiring unit, be used for obtaining location parameter according to the location algorithm that presets, and said location parameter is relevant with the coordinate position of user terminal in a said location algorithm variable; Second acquisition unit is used to obtain the corresponding correction value of said location parameter; Amending unit is used to use said correction value and the correction function that presets is adjusted said location parameter, obtains the correction position parameter; Positioning unit is used to use said correction position parameter and said location algorithm that said user terminal coordinate is positioned.

Location provided by the invention update the system comprises: correction value calculation element, locating terminal and anchor node; Said correction value calculation element is used to obtain m location parameter, and said location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and said m is the integer greater than 1; Confirm the expression formula of the position error of said user terminal according to said location algorithm and said location parameter; Obtain the channel characteristics of said user terminal, confirm first weight that said m location parameter is corresponding respectively according to said channel characteristics; Use said first weight and said expression formula that the position error of said user terminal is added up summation according to presetting criterion; And utilize the correction value of the said location parameter of function calculation of said statistics summation, the said criterion of criterion that preset for the demand of position error being set according to said user terminal; To locating terminal said correction value is provided, makes locating terminal use said correction value to adjust corresponding location parameter, and user terminal is positioned according to adjusted location parameter and said location algorithm; Said locating terminal is used for obtaining location parameter according to the location algorithm that presets, and said location parameter is relevant with the coordinate position of user terminal in a said location algorithm variable; Send query messages to the correction value calculation element, said query messages is used to inquire about the corresponding correction value of said location parameter; Receive the corresponding correction value of said location parameter that the correction value calculation element sends; The correction function that uses said correction value and preset is adjusted said location parameter, obtains the correction position parameter; Use said correction position parameter and said location algorithm that said user terminal is positioned; Said anchor node is used for to said locating terminal and correction value calculation element location parameter being provided.

Location provided by the invention update the system comprises: locating terminal and anchor node; Said locating terminal is used to obtain m location parameter, and said location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and said m is the integer greater than 1; Confirm the expression formula of the position error of said user terminal according to said location algorithm and said location parameter; Obtain the channel characteristics of said user terminal, confirm first weight that said m location parameter is corresponding respectively according to said channel characteristics; Use said first weight and said expression formula that the position error of said user terminal is added up summation according to presetting criterion, and utilize the correction value of the said location parameter of function calculation of said statistics summation; From anchor node, obtain location parameter according to the location algorithm that presets; The correction function that uses said correction value and preset is adjusted said location parameter, obtains the correction position parameter; Use said correction position parameter and said location algorithm that said user terminal is positioned; Said anchor node is used for to said locating terminal said location parameter being provided.

Can find out from above technical scheme; The embodiment of the invention has the following advantages: the present invention carries out statistical measurement through the channel characteristics to user terminal; Result according to statistical measurement carries out weighted sum to the pairing position error of each location parameter, obtains the summing function relevant with correction value; Try to achieve the corresponding correction value of location parameter through this function again, and use this correction value that corresponding location parameter is adjusted; Owing in the process of statistical measurement, considered the channel characteristics of different periods, diverse location; The characteristic of channel variation has also been considered in the calculating of this correction value as much as to say; Location parameter according to this correction value adjustment more approaches standard value, thereby makes that the location computing of using revised location parameter to carry out is more accurate.

Description of drawings

Fig. 1 is a schematic flow sheet of location modification method in the embodiment of the invention;

Fig. 2 is another schematic flow sheet of location modification method in the embodiment of the invention;

Fig. 3 is another schematic flow sheet of location modification method in the embodiment of the invention;

Fig. 4 is the logical construction sketch map of correction value calculation element in the embodiment of the invention;

Fig. 5 is the logical construction sketch map of locating terminal in the embodiment of the invention;

Fig. 6 is a logical construction sketch map of location update the system in the embodiment of the invention;

Fig. 7 is another logical construction sketch map of location update the system in the embodiment of the invention.

Embodiment

See also Fig. 1, locate one embodiment comprises of modification method in the embodiment of the invention:

101, obtain location parameter;

The correction value calculation element obtains m location parameter, and this location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and m is the integer greater than 1.

Location parameter is to determine according to the location algorithm that locating terminal presets, and in this location parameter corresponding algorithm, if the coordinate position of user terminal changes, then this location parameter also changes accordingly.This location algorithm can comprise: polygon location algorithm, polygon centroid algorithm, billboard algorithm, centroid algorithm and pattern matching algorithm etc.; Possibly use different location parameters for different location algorithms; Calculate distance like the polygon location algorithm according to the weak intensity of signal; The location parameter that then the polygon location algorithm is corresponding is the weak intensity of signal just, and what the correction value calculation element obtained is exactly m the weak intensity of signal; If a certain algorithm is to calculate distance through the time difference of receiving and transmitting signal, then the location parameter of this algorithm is the time difference just.

Location parameter generally obtains by carrying out signal mutual back measuring and calculating between anchor node and the user terminal; This m location parameter can carry out m the mutual measuring and calculating of signal respectively by same anchor node and user terminal and obtain; Also can carry out m the mutual measuring and calculating of signal respectively by different anchor nodes and user terminal obtains; This m time signal specifically is the same anchor node of sampling alternately; Still the different anchor node of sampling need be decided according to the environment and the location algorithm of actual channel, does not specifically limit here.

102, confirm position error;

The correction value calculation element confirms that according to location algorithm and location parameter the expression formula of the position error of user terminal, this position error can represent the difference of actual coordinate with the measuring and calculating coordinate of user terminal.

Since the correction value calculation element can through the location algorithm that presets with and corresponding location parameter (before revising) carry out the first location of user terminal; So the correction value calculation element can obtain the coordinate expression formula that user terminal is located for the first time through calculation; The actual coordinate of establishing user terminal then is a unknown number; Obtain the expression formula of position error in conjunction with the actual coordinate of the coordinate expression formula of this first location and this user terminal, the expression formula of this position error is the difference expression formula of actual coordinate with the measuring and calculating coordinate of user terminal.

103, confirm first weight;

The correction value calculation element obtains the channel characteristics of user terminal, confirms first weight that said m location parameter is corresponding respectively according to this channel characteristics, and the channel characteristics of this user terminal is the channel characteristics in the locating area of positioner of the present invention.

Because receive the various factors influence of surrounding environment, the environment of wireless channel changes along with the variation of channel characteristics such as time, frequency, space, and computing needed location parameter in various location all can receive above-mentioned various channel characteristics and influences; And the channel model that the location computing is used also obtains through the measured channel characteristic; Channel model itself just have certain error, even for identical transmission and receiving node, in same position; Signal strength signal intensity also can be inequality in different time to receive signal; Perhaps at the same time, sending node is identical, and receiving node equates with the sending node distance; But the position is different, and received signal also can be variant; So above-mentioned location parameter is a kind of stochastic variable, directly uses this stochastic variable to position the computing meeting and produce very big error.But; Location parameter this stochastic variable can obtain its variation characteristic through statistics; Therefore, the present invention is through the channel characteristics of repeated detection user terminal place environment, and statistics obtained in the same period; The distribution characteristics under the situation of different anchor nodes, different time or different spaces of same location parameter is confirmed pairing first weight of this m location parameter according to global position parameter distributions characteristic again.The concrete process that detects channel characteristics can be accomplished by the correction value calculation element, also can be accomplished by other servers, does not specifically limit here.

104, the correction value of calculating location parameter;

The correction value calculation element uses the expression formula of first weight and position error that the position error of user terminal is added up summation according to presetting criterion, and utilizes the correction value of the function calculation location parameter of this statistics summation.

Preset the criterion of criterion for the demand of position error being set according to user terminal; User terminal can be for making that position error is the minimum value of average position error to the demand of position error; Also can be for making the maximum of position error be no more than a certain threshold value; In practical application, user terminal can also have other demand to position error, does not specifically limit here.

If user terminal is to make the minimum value of position error near average position error to the demand of position error; Then presetting criterion is that average position error is minimum; Therefore; The statistics that corresponding correction value calculation element will use the expression formula of first weight and position error to average position error is sued for peace, and under the condition of average position error minimum, asks the correction value of location parameter then.

The correction value of this location parameter can have only one, and promptly all location parameters use same correction value; Also can have L, L is less than or equal to the number of anchor node, i.e. the corresponding correction value of location parameter use that anchor node is calculated out.In the process of calcuating correction value, because the overall situation has been considered the channel characteristic between each anchor node and the user terminal, so can use same correction value to each location parameter; But for each anchor node, channel circumstance is difference to some extent still; Therefore, if want the correction effect that reaches more excellent, can calculate a correction value for each anchor node; But calculating a plurality of correction values is processes of asking local derviation, and amount of calculation is bigger; So specifically calculate a correction value still is that L correction value depends on and the actual accuracy requirement and the condition of hardware device, does not limit here.

105, to locating terminal correction value is provided.

The correction value calculation element provides above-mentioned correction value of trying to achieve to locating terminal, makes locating terminal use this correction value to adjust corresponding location parameter, and according to adjusted location parameter and this location algorithm user terminal is positioned.

Need to prove, in practical application, because the amount of calculation of correction value is bigger, so the correction value calculation element can be a physical equipment (as: server) independently; If consider that the layout of the network equipment is convenient, the correction value calculation element also can be integrated in the same physical equipment with locating terminal; Can also accomplish the function of correction value calculation element by some anchor nodes, near the anchor node being broadcast to the correction value that calculates then, each anchor node sends to locating terminal to revised location parameter again and carries out computing.And locating terminal can be a physical equipment (as: server) independently, or the function of the integrated locating terminal of user terminal, receives the location parameter that each anchor node sends by user terminal and positions calculating.The function at concrete each terminal is distributed and can be decided according to the network topology of reality, does not limit here.

The present invention carries out statistical measurement through the channel characteristics to user terminal, according to the result of statistical measurement the pairing position error of each location parameter is carried out weighted sum, obtains the summing function relevant with correction value; Try to achieve the corresponding correction value of location parameter through this function again, and use this correction value that corresponding location parameter is adjusted; Owing in the process of statistical measurement, considered the channel characteristics of different periods, diverse location; The characteristic of channel variation has also been considered in the calculating of this correction value as much as to say; Location parameter according to this correction value adjustment more approaches standard value, thereby makes that the location computing of using revised location parameter to carry out is more accurate.

In the application of reality; The spatial of user terminal is furnished with has certain characteristic; If in corrected Calculation, add the spatial distribution characteristic of user terminal, the effect of then revising can be more effective, and another embodiment that sees also location modification method in Fig. 2 embodiment of the invention comprises:

201, obtain location parameter;

101 content is identical among the content of 201 in the present embodiment and the aforementioned embodiment shown in Figure 1, repeats no more here.

202, confirm the expression formula of position error;

The correction value calculation element is confirmed the expression formula of the position error of user terminal according to location algorithm and location parameter, and this position error can be the difference of actual coordinate with the measuring and calculating coordinate of user terminal.

Since the correction value calculation element can through the location algorithm that presets with and corresponding location parameter (before revising) carry out the first location of user terminal; So the correction value calculation element can obtain the coordinate expression formula that user terminal is located for the first time through calculation; Preset the actual coordinate of user terminal then; In conjunction with the coordinate expression formula of this first location and the expression formula that should preset actual coordinate obtains position error, the expression formula of this position error is the difference expression formula of actual coordinate with the measuring and calculating coordinate of user terminal.

For example presetting criterion is the minimum plane coordinates location of average position error: establishing Xi is location parameter; If x and y are respectively the actual coordinate value of user terminal; G (Xi) is the coordinate expression formula of the x axle obtained through location parameter and location algorithm; H (Xi) is the coordinate expression formula of the y axle obtained through location parameter and location algorithm, and then the expression formula of position error is:

203, confirm first weight;

Because location parameter is a stochastic variable based on channel circumstance, and the stochastic variable composition of this location parameter normally average be zero stochastic variable, promptly independently estimated value is sometimes bigger than normal at every turn; Sometimes less than normal, under situation about having, the average of stochastic variable composition is non-vanishing; In fact there is a definite deviation this moment; Such as owing to the shielding of receiving node (like user terminal) itself, cause the bigger of attenuation ratio estimation, for this deviation to signal; Perhaps, perhaps eliminate its influence through other method through measuring in advance and can learning.Removing under the situation of confirming effects, remaining part is exactly the stochastic variable of zero-mean, and the present invention is that zero environment carries out the weights distribution with regard to the average that is based on such stochastic variable.Concrete, can a probability density function be arranged in m the first weight unification of the Changing Pattern of representing this location parameter, the probability density function of first weight generally is a Normal Distribution.

204, confirm second weight;

The correction value calculation element obtains the frequency of occurrences of user terminal each coordinate position in locating area, and confirms second weight that each coordinate position is corresponding according to the frequency of occurrences of this each coordinate position.

Under ideal scenario, it is equally distributed that position coordinates can be regarded as in locating area, and promptly user terminal planar any one position occurs with identical probability; And in the middle of the scene of reality; If there is barrier in some place; These local position coordinates probability density may be lower so; Just do not belong to equally distributed situation this moment, and the distribution of above-mentioned as much as to say position error scene also has certain rules, we can through in a period of time to the detection and localization of user terminal; Obtain the frequency of occurrences of user terminal each coordinate position in locating area, confirm second weight that each coordinate position is corresponding according to this frequency then.Concrete, can a corresponding probability density function be arranged in the second weight unification that expression user terminal coordinate distributes.The testing process of particular user coordinate position can be accomplished by the correction value calculation element, also can be accomplished by other servers, does not specifically limit here.

205, the correction value of calculating location parameter;

If it is minimum that the criterion that preset the calculating of correction value correction value calculation element this locality is average position error, then the correction value calculation element averages the statistics summation of position error according to the expression formula of first weight, second weight and position error.

The computational process of concrete correction value can for: use the expression formula of above-mentioned position error, the probability density function of first weight and function of asking average position error of probability density function structure of second weight, this function is a weighted average to position error; After obtaining the function of average position error, use this equation to carry out the calculating of correction value according to predetermined criterion, be specially: this function is carried out differentiate, and derivative being zero, is that zero equation solution goes out corresponding correction value according to this derivative.

If this location algorithm is applied to plane positioning, the function that then constructs is as follows:

Wherein Y is a correction value, and Q (Y) is the computing function of mean error, and X1～Xm is respectively m location parameter; X and y are respectively the actual coordinate value of user terminal on x axle and y axle, g (X1, X2...Xm; Y) and h (X1, X2...Xm Y) are respectively user terminal and on x axle and y axle, use m the coordinate figure that location parameter positions; Pi (Xi) is the probability density of first weight, and (x y) is the probability density of second weight on the plane coordinates to K.

If this location algorithm is applied to the location of N dimensional plane, and unify to use a correction value that all location parameters are revised, the function that then constructs is shown in formula one:

The space, location is further promoted, for N dimension space η location (the concrete physical meaning of N dimension space η determines by actual conditions, and such as can be room number as one of them dimension, the time be also as one of them dimension).Y is a correction value, and Q (Y) is the computing function of mean error, and X1～Xm is respectively m location parameter, and x and y are respectively the actual coordinate value of user terminal on x axle and y axle; The coordinate of N dimension space be (x1, x2 ..., xN); Xi for this user terminal at the take up an official post actual coordinate value of a dimension of N dimension space, K (x1, x2; ..., xN) being the probability density (being the probability density that user terminal distributes at this N dimension space) of second weight on the N dimension space, Pi (Xi) is the probability density of first weight; (X1, X2...Xm Y) use m the coordinate figure that location parameter positions for this user terminal to gi on the N dimension space.

If this location algorithm is applied to the location of N dimensional plane, and use L correction value respectively each location parameter to be revised, the function that then constructs is shown in formula two:

Y1～YL is respectively L correction value.

When location parameter is revised, according to the anchor node or the anchor node group of correspondence, take different correction values, even each correction value adopts different correction functions accordingly; Promptly make location parameter X be modified to X '=fi (X, Yj), i=1 wherein, 2; ..., M, j=1,2; ..., L, a total M correction function and a L correct value parameter.The selection of correction function is little in fact to the influence of final result, so can choose according to computation complexity, selects the simplest correction function; Certainly can get identical function usually, and whether two anchor nodes get identical correct value parameter and can decide according to computation complexity and the residing environment of anchor node, if such as thinking that the alternate position spike of two anchor nodes is few; Can think that environment is basic identical; Get identical correct value parameter,, also can get different correction values if uncertain; But also to consider computation complexity, because amount of calculation possibly increase rapidly with number of parameters.

Owing to different preset the corresponding different user's request of criterion, the computational methods of corresponding correction value also can be different; If position application is in the tracking (user's request) of user terminal, then the calculating of correction value need reduce the saltus step of estimated position.Therefore, need the error of location minimum, the statistics summing function of structure is the variance for calculation of position errors, is satisfying calcuating correction value under the minimum situation of this variance then, and function expression is as follows:

206, to locating terminal correction value is provided.

105 content is identical among the content of 206 in the present embodiment and the aforementioned embodiment shown in Figure 1, repeats no more here.

For the ease of understanding, the application scenarios with plane positioning is described in detail the location modification method in the above embodiments more below, is specially:

One, the unified correction of using a correction value;

The location of supposing user terminal is based on the polygon location algorithm.For concise explanation, suppose that it is from each anchor node, to obtain a location parameter that this correction value is calculated, the coordinate of establishing anchor node for (xi, yi), i=1 wherein, 2 ..., m, i.e. a total m anchor node; The calculation element of correction value can obtain the coordinate figure of each anchor node from each anchor node, so the coordinate figure of each anchor node is known.

If the coordinate of user terminal is that (x, y), the coordinate of user terminal is unknown at the beginning.The range finding of polygon location algorithm is based on signal strength signal intensity, and then definite location parameter of this time locating computing is the weak intensity of signal, and logarithm channel model, the i.e. weak intensity PL=P0+10nlgd of signal are taked in range finding; Wherein P0 and n are respectively the pad value and the damped expoential of known reference distance, and these two all is the channel model parameter; D is the estimation distance between the two signal transmitting and receiving nodes.In practical application, each anchor node can be periodically to information such as near the coordinate of anchor node broadcasting self, transmitting powers, when an anchor node is received the information of other anchor node broadcasting; Can go out two distances between the node according to the coordinate of this locality and the coordinate Calculation of transmission anchor node; And calculate the difference between transmitting power and the received power, promptly the weak intensity of signal perhaps calculates the transmitting-receiving time difference; Send to server to the information of these simple computation then; Also can directly send to server, accomplish the channel model CALCULATION OF PARAMETERS, and set up the channel model of this locating area by server without calculating.This server can be locating terminal or correction value calculation element, in embodiments of the present invention, supposes that this server is a locating terminal, and this locating terminal integrated the function of correction value calculation element.

Locating terminal is after having set up channel model, and the channel model parameter that obtains measuring and calculating sends to each anchor node.Wherein, Each anchor node can have an own corresponding channel model parameter; Or the identical channel model parameter of all anchor nodes use, specifically do not limit, in embodiments of the present invention here; If each anchor node all has corresponding channel model parameter, the channel model parameter that the i anchor node is corresponding is P0i, ni.

When locating terminal positions; Locating terminal is received from each anchor node and is sent and next localization message; And the signal strength signal intensity during respectively according to the transmitting-receiving of this localization message calculates the corresponding weak intensity of signal of each anchor node; If the weak intensity of signal of sending from i anchor node is PLi, have according to the channel model formula so: PLi=P0i+10ni*lgdi.

If the introducing correction value then need be confirmed correction function.The selection of correction function can be considered factors such as convenience of calculation or correction accuracy, and in embodiments of the present invention, location parameter is the weak intensity of signal; Calculate for ease; The correction function of selecting is: f (PLi)=PLi+Y, wherein, Y is the correction value of correction function.After introducing correction value Y and stochastic variable composition Zi, following formula changes into so: PLi=P0i+10ni*lgdi+Y+Zi, the estimation of user terminal and anchor node distance is equation one: di=10 so ^{(PLi-P0i-Y-Zi)/10ni}Simultaneously, according to the distance between 2 o'clock equation two is arranged: (x-xi) ²+ (y-yi) ²=di ²Because the polygon location algorithm is coordinate and the anchor node through a plurality of anchor nodes carries out the user terminal coordinate to the distance of user terminal location; So can obtain the coordinate figure expression formula of user terminal through the coordinate substitution equation two that will organize anchor node more, specific as follows shown in:

In order to express easily, establish Ai=2 (xj-xi), Bi=2 (yj-yi), Ci=xi2-xj2+yi2-yj2-di2+dj2, D=∑ Ai ², E=∑ Ai*Bi, F=∑ Ai*Ci, H=∑ Bi ², J=∑ Bi*Ci, wherein, j=i+1; I=1,2 ..., m; Di is the estimation distance of i anchor node to user terminal, and above-mentioned parameter A i, Bi, Ci, D, E, F, H and J be mathematic(al) representation sheerly, does not have the actual physical implication, and it is burdensome to be merely the expression of avoiding formula.

According to minimum mean square error criterion, the coordinate figure expression formula of using equation two and polygon location algorithm can calculate user terminal is: x=((FH-EJ)/(E ²-DH), y=(DJ-EF)/(E ²-DH)); Can find out from the expression formula of above-mentioned x and y; The position coordinates that user terminal is estimated is the function expression that comprises the stochastic variable composition Zi of correction value Y and m PLi; Wherein the stochastic variable composition Zi of PLi can obtain its Changing Pattern through the detection of channel characteristics; This Changing Pattern is followed the Gaussian distribution of zero-mean usually; The probability density function that is PLi is: the probability density function of normal distribution, and the meansquaredeviation of this probability density function can be added up each channel measurement data by server and draw; And the coordinate figure of user terminal (x, (x, y), (x, probability density y) generally meets equally distributed K y) also can to obtain the probability density function K of second weight through the detection to user characteristics.

Suppose that the predetermined criterion that correction value is calculated is that average position error is minimum, (x y) calculates in the following formula of substitution with the expression formula of equation one, x and y and probability density function Pi (X) and K

Wherein, X1 is PLi, function g (X1, X2 ..., Xm, Y)=(FH-EJ)/(E ²-DH), h (X1, X2 ..., Xm, Y)=(DJ-EF)/(E ²-DH), and the probability density function of PLi is: the probability density function of normal distribution.Then the formula after each expression formula substitution is carried out differentiate, and make that the derivative of function Q (Y) is zero, solve to satisfy this average error locator equation Q ' correction value Y (Y)=0.

Originally in the location estimation formula between anchor node and the user terminal as the measuring distance di=10 of intermediate object program ^{(PLi-P0i)/10ni}, become di=10 after revising ^{(PLi-P0i-Y)/10ni}In embodiments of the present invention; Can revise the measuring distance to user terminal of each anchor node; In the process of revising; The range error that some anchor node is calculated may be exaggerated, and but, owing to can obtain through the measuring and calculating to actual scene: range error is still dwindled under most of situation; So the location Calculation of using the results of measuring of a plurality of anchor nodes of the overall situation to carry out, the error of its positioning result still can be dwindled under average situation.

Two, use the correction of a plurality of correction values;

The location of supposing user terminal also is based on the polygon location algorithm.It is from each anchor node, to obtain a location parameter that this correction value is calculated, the coordinate of establishing anchor node for (xi, yi), i=1 wherein, 2 ..., m, i.e. a total m anchor node; The calculation element of correction value can obtain the coordinate figure of each anchor node from each anchor node, so the coordinate figure of anchor node is known.

If the coordinate of user terminal is that (x, y), the coordinate of user terminal is unknown at the beginning.The polygon location algorithm location parameter be the weak intensity of signal, logarithm channel model, the i.e. weak intensity PL=P0+10nlgd of signal are taked in range finding; Wherein P0 and n are respectively the pad value and the damped expoential of known reference distance, and these two all is the channel model parameter; D is the estimation distance between the two signal transmitting and receiving nodes.

Suppose to use m correction value to revise respectively to m anchor node, the correct value parameter of anchor node i is Yi.According to channel model, the signal fadeout that receives from anchor node i is PLi=P0i+10ni*lgdi+Yi+Zi, and the estimation of user terminal and anchor node distance is equation three: di=10 so ^{(PLi-P0i-Yi-Zi)/10ni}, the coordinate figure expression formula that calculates user terminal is: x=((FH-EJ)/(E ²-DH), y=(DJ-EF)/(E ²-DH)); After the expression formula with equation three generations people x and y, can see that the position coordinates that user terminal is estimated is m stochastic variable composition Zi and m correction value Yi that comprises PLi, the function expression of 2m variable altogether.

Suppose that the predetermined criterion that correction value is calculated is that average position error is minimum, with the expression formula of equation three, x and y and probability density function Pi (X) and K (x, y) the following formula of substitution:

Just can draw correction value with average position error concern Q (Y1, Y2 ..., Ym), wherein, L=m, function g (X1, X2 ..., Xm, Y1, Y2 ..., Ym)=(FH-EJ)/(E ²-DH), h (X1, X2 ..., Xm, Y1, Y2 ..., Ym)=(DJ-EF)/(E ²-DH).

Then, and make function Q (Y1, Y2 ..., partial derivative Ym) is zero, calculates m correction value through asking local derviation, obtain making average position error minimum the correction value sequence Y1, Y2 ..., Ym}.Originally in the location estimation formula between anchor node and the user terminal as the measuring distance di=10 of intermediate object program ^{(PLi-P0i)/10ni}, become di=10 after revising ^{(PLi-P0i-Yi-Zi)/10ni}This method is because different anchor node maybe corresponding different correction values, so when locating terminal sends correction value, add several location algorithms indication and corresponding correction values after the information that possibly carry anchor node, each anchor node information.

In the above-described embodiments, if the number of correction value less than the number of anchor node, then can be judged the channel characteristics of each anchor node, the similar anchor node of channel characteristics uses identical correction value that the location parameter of this anchor node measuring and calculating is revised; If the number of the correction value that sets is not enough to distinguish the channel characteristics of anchor node; Also can use L correction value that the corresponding location parameter of m anchor node is revised (L is less than m) at random, its correction result also can be superior to the unified situation that correction value is revised of using.

In the middle of the explanation of above-mentioned object lesson; Correction function is based on f (PLi)=PLi+Y; But in fact correction function also can be got other function, and such as f (PLi)=PLi/Y, the method for its calcuating correction value is followed foregoing method equally; But the correction value of calculating size maybe be different, can come to select flexibly correction function according to computation complexity in the middle of the reality.

Only the application scenarios in the embodiment of the invention is illustrated above, it is understandable that, in practical application, the more applications scene can also be arranged, specifically do not limit here with some examples.

Above-mentioned is the description of the location modification method the embodiment of the invention being carried out from the angle of correction value calculation element; From the angle of locating terminal the location modification method the embodiment of the invention is described below; See also Fig. 3, another embodiment of location modification method in the embodiment of the invention comprises:

301, obtain the location parameter of location algorithm;

Positioner obtains location parameter according to the location algorithm that presets; This location parameter is relevant with the coordinate position of user terminal in this a location algorithm variable; This location parameter generally obtains by carrying out signal mutual back measuring and calculating between anchor node and the user terminal, all only corresponding anchor node of each location parameter.

Location parameter is to determine according to the location algorithm that locating terminal presets, and in this location parameter corresponding algorithm, if the coordinate position of user terminal changes, then this location parameter also changes accordingly.This location algorithm can comprise: polygon location algorithm, polygon centroid algorithm, billboard algorithm, centroid algorithm and pattern matching algorithm etc.; Possibly use different location parameters for different location algorithms; Calculate distance like the polygon location algorithm according to the weak intensity of signal; The location parameter that then the polygon location algorithm is corresponding is the weak intensity of signal just, and what locating terminal obtained is exactly the weak intensity of signal of signal transmission between user terminal and the anchor node; If a certain algorithm is to calculate distance through the time difference of receiving and transmitting signal, then the location parameter of this algorithm is the time difference just.

302, obtain correction value;

Positioner obtains the corresponding correction value of above-mentioned location parameter.Optional, above-mentioned positioner obtains correction value can comprise two kinds of situation:

One, if positioner integrated the function calculated of correction value, the concrete steps of then obtaining correction value are the calculating of carrying out correction value, concrete computational process can for: obtain m location parameter, m is the integer greater than 1; Confirm the expression formula of the position error of user terminal according to location algorithm and location parameter, this position error can be the difference of actual coordinate with the measuring and calculating coordinate of user terminal; Obtain the channel characteristics of user terminal, confirm first weight that said m location parameter is corresponding respectively according to this channel characteristics, the channel characteristics of this user terminal is the channel characteristics in the locating area of positioner of the present invention; Use the expression formula of first weight and position error that the position error of user terminal is added up summation according to presetting criterion, and utilize the correction value of the function calculation location parameter of this statistics summation.

Two, if positioner and correction value calculation element are respectively two separate servers; Then positioner can send query messages to the correction value calculation element; This query messages is used to inquire about the corresponding correction value of this location parameter, receives the correction value of the relevant position parameter that the correction value calculation element returns again; Also can directly calculate dress initiatively sends correction value from the relevant position parameter to positioner by correction value.

Because in embodiments of the present invention; Positioner can use an identical correction value to the location parameter unification that all anchor node measuring and calculating obtain; And the location parameter that different anchor node measuring and calculating obtain also can use different correction values; So the present invention can obtain a correction value, also can obtain a correction value sequence, comprises a plurality of correction values that preset criterion that meet in this correction value sequence.

303, adjustment location parameter;

Locating terminal use above-mentioned correction value and the correction function that presets adjustment location algorithm in the required location parameter of using, obtain the correction position parameter.

This correction function that presets can also can be f (Xi)=Xi/Y for f (Xi)=Xi+Y (Xi is a location parameter, and Y is a correction value), can also be that (Xi Y), does not specifically limit here for other form function Xi '=f.This correction function need to calculate employed correction function consistent with correction value.Concrete, if the correction value of obtaining has only one, correction value of then unified use is revised each location parameter; If it is a plurality of that the correction value of obtaining has, then use a plurality of correction values that each location parameter is revised at random.

304, carry out the location of user terminal.

Locating terminal uses correction position parameter and location algorithm that user terminal is positioned.

The location algorithm that locating terminal presets above-mentioned correction position parameter substitution this locality that obtains positions calculating, finally confirms the coordinate position of this user terminal.

Location modification method difference with the prior art in the embodiment of the invention is: the present invention has just considered that in positioning calculation process location parameter is a stochastic variable; Promptly comprise the stochastic variable composition in this location parameter; Therefore; Before this location parameter of use positions calculating; Just this location parameter is revised, avoided in location Calculation, the stochastic variable composition in this location parameter being amplified, thereby also avoided final positioning result to produce situation than mistake according to the variation characteristic of this location parameter.

Down in the face of the correction value calculation element of the present invention that is used to carry out above-mentioned location modification method describes, its logical construction please refer to Fig. 4, one embodiment comprises of correction value calculation element in the embodiment of the invention:

Parameter acquiring unit 401 is used to obtain m location parameter, and this location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and m is the integer greater than 1;

Confirm unit 402, be used for confirming the position error of this user terminal according to this location algorithm and this location parameter;

First weight is confirmed unit 403, is used to obtain the channel characteristics of this user terminal, confirms first weight that m location parameter is corresponding respectively according to this channel characteristics;

Computing unit 404; Be used for using the expression formula of first weight and position error that the position error of user terminal is added up summation according to presetting criterion; And utilizing the correction value of the function calculation location parameter of this statistics summation, this presets the criterion of criterion for according to this user terminal the demand of position error being set;

Unit 405 is provided, is used for correction value being provided, make locating terminal use this correction value to adjust corresponding location parameter, and user terminal is positioned according to adjusted location parameter and location algorithm to locating terminal.

Correction value calculation element in the embodiment of the invention can further include:

Second weight is confirmed unit 406, is used to obtain the frequency of occurrences of user terminal each coordinate position in locating area, and confirms second weight that each coordinate position is corresponding according to the frequency of occurrences of each coordinate position.

The concrete reciprocal process in each unit is following in the embodiment of the invention correction value calculation element:

When triggering the calculating of correction value, parameter acquiring unit 401 is obtained m location parameter, and this location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and m is the integer greater than 1.Location parameter generally is to obtain by carrying out signal mutual back measuring and calculating between anchor node and the user terminal, and in this location parameter corresponding algorithm, if the coordinate position of user terminal changes, then this location parameter also changes accordingly.This location algorithm can comprise: polygon location algorithm, polygon centroid algorithm, billboard algorithm, centroid algorithm and pattern matching algorithm etc.; Possibly use different location parameters for different location algorithms, according to the weak intensity measuring and calculating of signal distance, the location parameter that then the polygon location algorithm is corresponding is the weak intensity of signal just like the polygon location algorithm.

After getting access to location parameter; Confirm unit 401 at first according to the location algorithm that presets with and corresponding location parameter (before revising) carry out the first location of user terminal; Obtain the coordinate expression formula that user terminal is located for the first time through calculation; Preset the actual coordinate of user terminal then; In conjunction with the coordinate expression formula of this first location and the expression formula that should preset actual coordinate obtains position error, the expression formula of this position error is the difference expression formula of actual coordinate with the measuring and calculating coordinate of user terminal.

Owing to can correspondingly calculate m position error through m location parameter; And each position error all occurred in some periods of certain channel circumstance; First weight confirms that unit 403 can be through obtaining the channel characteristics of user terminal; Obtain the Changing Pattern of the channel circumstance in the locating area; Confirm first weight that said m location parameter is corresponding according to the Changing Pattern of this channel circumstance then, this first weight can change according to its rule is arranged to a corresponding probability density function, and the probability density function of first weight generally is a Normal Distribution.

Under ideal scenario, it is equally distributed that position coordinates can be regarded as in locating area, and promptly user terminal planar any one position occurs with identical probability; And in the middle of the scene of reality; If there is barrier in some place; These local position coordinates probability density may be lower so; Just do not belong to equally distributed situation this moment; The distribution of above-mentioned as much as to say position error scene also has certain rules, second weight confirm unit 406 through in a period of time to the detection and localization of user terminal (process of detection and localization can be accomplished by other server), obtain the frequency of occurrences of user terminal each coordinate position in locating area; Confirm second weight of each coordinate position then according to this frequency, second weight that this same coordinate distributes also can be arranged to a corresponding probability density function.

After having obtained the first corresponding weight of second weight and each location parameter; Computing unit 404 uses the expression formula of first weight, second weight and position error that the position error of user terminal is added up summation according to presetting criterion, and utilizes the correction value of the function calculation location parameter of this statistics summation.Preset the criterion of criterion for the demand of position error being set according to user terminal; User terminal can be for making the minimum value of position error near average position error to the demand of position error; Also can be for making the maximum of position error be no more than a certain threshold value; In practical application, user terminal can also have other demand to position error, does not specifically limit here.If user terminal is to make the minimum value of position error near average position error to the demand of position error; Then presetting criterion is that average position error is minimum; Therefore; Corresponding correction value calculation element will average the statistics summation of position error according to the expression formula of first weight, second weight and position error, under the condition of average position error minimum, asks the correction value of location parameter then.

The correction value of this location parameter can have only one, and promptly all location parameters use same correction value; Also can have L, L is less than or equal to the number of anchor node, i.e. the corresponding correction value of location parameter use that anchor node is calculated out.In the process of calcuating correction value, because the overall situation has been considered the channel characteristic of each anchor node and user terminal, so can use same correction value to each location parameter; But for each anchor node, channel circumstance is difference to some extent still; Therefore, if want the correction effect that reaches more excellent, can calculate a correction value for each anchor node; But calculating a plurality of correction values is processes of asking local derviation, and amount of calculation is bigger; So specifically calculate a correction value still is that L correction value depends on and the actual accuracy requirement and the condition of hardware device, does not limit here.

After obtaining the correction value of location parameter; Provide unit 405 above-mentioned correction value of trying to achieve to be provided to locating terminal; Make locating terminal use this correction value to adjust corresponding location parameter, and user terminal is positioned according to adjusted location parameter and above-mentioned location algorithm.

Down in the face of the locating terminal of the present invention that is used to carry out above-mentioned location modification method describes, its logical construction please refer to Fig. 5, one embodiment comprises of locating terminal in the embodiment of the invention:

First acquiring unit 501 is used for obtaining location parameter according to the location algorithm that presets, and this location parameter is relevant with the coordinate position of user terminal in this a location algorithm variable;

Second acquisition unit 502 is used to obtain the corresponding correction value of this location parameter;

Amending unit 503, the correction function adjustment location parameter that is used to use this correction value and presets obtains the correction position parameter;

Positioning unit 504 is used to use this correction position parameter and this location algorithm that the coordinate of user terminal is positioned.

Second acquisition unit 502 in the embodiment of the invention can comprise:

Sending module 5021 is used for sending query messages to the correction value calculation element, and this query messages is used for the corresponding correction value of inquiring position parameter;

Receiver module 5022 is used to receive the corresponding correction value of location parameter that the correction value calculation element sends.

First acquiring unit 501 obtains location parameter according to the location algorithm that presets; This location parameter is relevant with the coordinate position of user terminal in this a location algorithm variable; This location parameter generally obtains by carrying out signal mutual back measuring and calculating between anchor node and the user terminal, all only corresponding anchor node of each location parameter.Location parameter is to determine according to the location algorithm that locating terminal presets, and in this location parameter corresponding algorithm, if the coordinate position of user terminal changes, then this location parameter also changes accordingly.This location algorithm can comprise: polygon location algorithm, polygon centroid algorithm, billboard algorithm, centroid algorithm and pattern matching algorithm etc.; Possibly use different location parameters for different location algorithms; Calculate distance like the polygon location algorithm according to the weak intensity of signal; The location parameter that then the polygon location algorithm is corresponding is the weak intensity of signal just, and what locating terminal obtained is exactly the weak intensity of signal of signal transmission between user terminal and the anchor node; If a certain algorithm is to calculate distance through the time difference of receiving and transmitting signal, then the location parameter of this algorithm is the time difference just.

After getting access to location parameter, second acquisition unit 502 obtains the corresponding correction value of above-mentioned location parameter.Optional, above-mentioned positioner obtains correction value can comprise two kinds of situation:

Two, if positioner and correction value calculation element are respectively two separate servers; Then the sending module 5021 of second acquisition unit 502 sends query messages to the correction value calculation element earlier, and this query messages is used to inquire about the corresponding correction value of this location parameter; Receive the correction value of the relevant position parameter of correction value calculation element transmission again by receiver module 5022.

Get access to location parameter with and correction value after, amending unit 503 use above-mentioned correction values and the correction function adjustment location algorithm that presets in the required location parameter of using, obtain the correction position parameter.This correction function that presets can also can be f (Xi)=Xi/Y for f (Xi)=Xi+Y (Xi is a location parameter, and Y is a correction value), can also be that (Xi Y), does not specifically limit here for other form function Xi '=f.This correction function need to calculate employed correction function consistent with correction value.Concrete, if the correction value of obtaining has only one, correction value of then unified use is revised each location parameter; If it is a plurality of that the correction value of obtaining has, then use a plurality of correction values that each location parameter is revised at random.

At last, the location algorithm that positioning unit 504 presets above-mentioned correction position parameter substitution this locality that obtains positions calculating, finally confirms the coordinate position of this user terminal.

, the present invention who is used to carry out above-mentioned location modification method describes down in the face of locating update the system; Its logical construction please refer to Fig. 6, locatees one embodiment comprises of update the system in the embodiment of the invention: correction value calculation element 601, locating terminal 602 and anchor node 603;

Correction value calculation element 601 is used to obtain m location parameter, and this location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and m is the integer greater than 1; Confirm the position error of user terminal according to this location algorithm and this location parameter; Obtain the channel characteristics of user terminal, confirm first weight that said m location parameter is corresponding respectively according to this channel characteristics; Use the expression formula of first weight and position error that the position error of user terminal is added up summation according to presetting criterion; And utilizing the correction value of the function calculation location parameter of this statistics summation, this presets the criterion of criterion for according to user terminal the demand of position error being set; To locating terminal 602 this correction value is provided, makes locating terminal 602 use this correction value to adjust corresponding location parameter, and user terminal is positioned according to adjusted location parameter and location algorithm;

Locating terminal 602 is used for obtaining location parameter according to the location algorithm that presets, and this location parameter is relevant with the coordinate position of user terminal in this a location algorithm variable; Send query messages to correction value calculation element 601, this query messages is used for the corresponding correction value of inquiring position parameter; Receive the corresponding correction value of location parameter that correction value calculation element 601 sends; The correction function adjustment location parameter that uses this correction value and preset obtains the correction position parameter; Use this correction position parameter and location algorithm that user terminal is positioned;

Anchor node 603 is used for calculating to locating terminal 602 and correction value and adorns 601 and put location parameter is provided.

Down in the face of another location update the system of the present invention that is used to carry out above-mentioned location modification method describes, its logical construction please refer to Fig. 7, and another embodiment of location update the system comprises in the embodiment of the invention: locating terminal 701 and anchor node 702;

Locating terminal 701 is used to obtain m location parameter, and this location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and m is the integer greater than 1; Confirm the expression formula of the position error of user terminal according to this location algorithm and location parameter; Obtain the channel characteristics of user terminal, confirm first weight that said m location parameter is corresponding respectively according to this channel characteristics; According to presetting criterion the expression formula of using first weight and position error is added up summation to the position error of user terminal, and utilize the correction value of the function calculation location parameter of this statistics summation; From anchor node, obtain location parameter according to the location algorithm that presets; The correction function adjustment location parameter that uses this correction value and preset obtains the correction position parameter; Use this correction position parameter and this location algorithm that user terminal is positioned;

Anchor node 702 is used for to locating terminal 701 location parameter being provided.

The those skilled in the art can be well understood to, for the convenience described with succinct, the system of foregoing description, the concrete course of work of device and unit can repeat no more at this with reference to the corresponding process among the preceding method embodiment.

In several embodiment that the application provided, should be understood that, the system that is disclosed, apparatus and method can realize through other mode.For example, device embodiment described above only is schematically, for example; The division of said unit; Only be that a kind of logic function is divided, during actual the realization other dividing mode can be arranged, for example a plurality of unit or assembly can combine or can be integrated into another system; Or some characteristics can ignore, or do not carry out.Another point, the coupling each other that shows or discuss or directly coupling or communication to connect can be through some interfaces, the INDIRECT COUPLING of device or unit or communication connect, and can be electrically, machinery or other form.

Said unit as separating component explanation can or can not be physically to separate also, and the parts that show as the unit can be or can not be physical locations also, promptly can be positioned at a place, perhaps also can be distributed on a plurality of NEs.Can realize the purpose of present embodiment scheme according to the needs selection some or all of unit wherein of reality.

In addition, each functional unit in each embodiment of the present invention can be integrated in the processing unit, also can be that the independent physics in each unit exists, and also can be integrated in the unit two or more unit.Above-mentioned integrated unit both can adopt the form of hardware to realize, also can adopt the form of SFU software functional unit to realize.

If said integrated unit is realized with the form of SFU software functional unit and during as independently production marketing or use, can be stored in the computer read/write memory medium.Based on such understanding; Part or all or part of of this technical scheme that technical scheme of the present invention contributes to prior art in essence in other words can come out with the embodied of software product; This computer software product is stored in the storage medium; Comprise some instructions with so that computer equipment (can be personal computer, server, the perhaps network equipment etc.) carry out all or part of step of the said method of each embodiment of the present invention.And aforesaid storage medium comprises: and USB flash disk, portable hard drive, read-only memory (ROM, Read-OnlyMemory), various media that can be program code stored such as random access memory (RAM, Random Access Memory), magnetic disc or CD.

The above; Be merely embodiment of the present invention, but protection scope of the present invention is not limited thereto, any technical staff who is familiar with the present technique field is in the technical scope that the present invention discloses; Can expect easily changing or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion by said protection range with claim.

Claims

1. a location modification method is characterized in that, comprising:

Obtain m location parameter, said location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and said m is the integer greater than 1;

Confirm the expression formula of the position error of said user terminal according to said location algorithm and said location parameter;

Obtain the channel characteristics of said user terminal, confirm first weight that said m location parameter is corresponding respectively according to said channel characteristics;

Use said first weight and said expression formula that the position error of said user terminal is added up summation according to presetting criterion; And utilize the correction value of the said location parameter of function calculation of said statistics summation, the said criterion of criterion that preset for the demand of position error being set according to said user terminal;

To locating terminal said correction value is provided, makes locating terminal use said correction value to adjust corresponding location parameter, and said user terminal is positioned according to adjusted location parameter and said location algorithm.

2. method according to claim 1 is characterized in that, said basis presets criterion and uses said first weight and said expression formula to comprise before the position error of said user terminal is added up summation:

Obtain the frequency of occurrences of said user terminal each coordinate position in locating area, and confirm the second corresponding weight of said each coordinate position according to the frequency of occurrences of said each coordinate position;

Said basis presets criterion and uses said first weight and said expression formula that the position error of said user terminal is added up summation to comprise:

Use said first weight, second weight and said expression formula that the position error of said user terminal is added up summation according to presetting criterion.

3. method according to claim 2; It is characterized in that; If the said criterion that presets is that average position error is minimum, then said basis presets criterion and uses said first weight, second weight and said expression formula that the position error of said user terminal is added up summation to comprise:

Use said first weight, second weight and said expression formula to average the statistics summation of position error.

4. method according to claim 3; It is characterized in that; If correction value of unified use is revised all location parameters; Then use said first weight, second weight and said expression formula to average the statistics summation of position error, and utilize the correction value of the said location parameter of function calculation of said statistics summation to be specially:

Carry out the calculating of the correction value of said location parameter according to said second weight, said location algorithm and formula one, said location algorithm is that N is the location algorithm in space, and said N is the integer greater than 1;

Said formula one is:

Said Y is a correction value, and said Q (Y) is the computing function of mean error, and said X1～Xm is respectively m location parameter, and said x and y are respectively the actual coordinate value of said user terminal on x axle and y axle; The coordinate of said N dimension space be (x1, x2 ..., xN); Said xi is said user terminal at the take up an official post actual coordinate value of a dimension of N dimension space, said K (x1, x2; ..., xN) being the probability density of second weight on the N dimension space, said Pi (Xi) is the probability density of first weight; Said gi (X1, X2...Xm, the coordinate figure that Y) on the N dimension space, uses a said m location parameter to position for said user terminal.

5. method according to claim 3; It is characterized in that; If use L correction value respectively each location parameter to be revised at random; Then use said first weight, second weight and said expression formula to average the statistics summation of position error, and utilize the correction value of the said location parameter of function calculation of said statistics summation to be specially:

Carry out the calculating of the correction value of said location parameter according to said second weight, said location algorithm and formula two, said location algorithm is that N is the location algorithm in space, and said N is the integer greater than 1; Said L is greater than 1, and is less than or equal to m;

Said formula two is:

Said Y1～YL is respectively a said L correction value.

6. a location modification method is characterized in that, comprising:

Location algorithm according to presetting obtains location parameter, and said location parameter is relevant with the coordinate position of user terminal in a said location algorithm variable;

Obtain the corresponding correction value of said location parameter;

The correction function that uses said correction value and preset is adjusted said location parameter, obtains the correction position parameter;

Use said correction position parameter and said location algorithm that said user terminal is positioned.

7. method according to claim 6 is characterized in that, the said corresponding correction value of location parameter of obtaining comprises:

Send query messages to the correction value calculation element, said query messages is used to inquire about the corresponding correction value of said location parameter;

Receive the corresponding correction value of said location parameter that the correction value calculation element sends.

8. a correction value calculation element is characterized in that, comprising:

Parameter acquiring unit is used to obtain m location parameter, and said location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and said m is the integer greater than 1;

Confirm the unit, be used for confirming the expression formula of the position error of said user terminal according to said location algorithm and said location parameter;

First weight is confirmed the unit, is used to obtain the channel characteristics of said user terminal, confirms first weight that said m location parameter is corresponding respectively according to said channel characteristics;

Computing unit; Be used for using said first weight and said expression formula that the position error of said user terminal is added up summation according to presetting criterion; And utilize the correction value of the said location parameter of function calculation of said statistics summation, the said criterion of criterion that preset for the demand of position error being set according to said user terminal;

The unit is provided, is used for said correction value being provided, make locating terminal use said correction value to adjust corresponding location parameter, and said user terminal is positioned according to adjusted location parameter and said location algorithm to locating terminal.

9. device according to claim 8 is characterized in that, said device also comprises:

Second weight is confirmed the unit, is used to obtain the frequency of occurrences of user terminal each coordinate position in locating area, and confirms second weight of said each coordinate position according to the frequency of occurrences of said each coordinate position;

Said computing unit also is used for using said first weight, second weight and said expression formula that the position error of said user terminal is added up summation according to presetting criterion.

10. a locating terminal is characterized in that, comprising:

First acquiring unit is used for obtaining location parameter according to the location algorithm that presets, and said location parameter is relevant with the coordinate position of user terminal in a said location algorithm variable;

Second acquisition unit is used to obtain the corresponding correction value of said location parameter;

Amending unit is used to use said correction value and the correction function that presets is adjusted said location parameter, obtains the correction position parameter;

Positioning unit is used to use said correction position parameter and said location algorithm that said user terminal coordinate is positioned.

11. terminal according to claim 10 is characterized in that, said second acquisition unit comprises:

Sending module is used for sending query messages to the correction value calculation element, and said query messages is used to inquire about the corresponding correction value of said location parameter;

Receiver module is used to receive the corresponding correction value of said location parameter that the correction value calculation element sends.

12. a location update the system is characterized in that, comprising: correction value calculation element, locating terminal and anchor node;

Said correction value calculation element is used to obtain m location parameter, and said location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and said m is the integer greater than 1; Confirm the expression formula of the position error of said user terminal according to said location algorithm and said location parameter; Obtain the channel characteristics of said user terminal, confirm first weight that said m location parameter is corresponding respectively according to said channel characteristics; Use said first weight and said expression formula that the position error of said user terminal is added up summation according to presetting criterion; And utilize the correction value of the said location parameter of function calculation of said statistics summation, the said criterion of criterion that preset for the demand of position error being set according to said user terminal; To locating terminal said correction value is provided, makes locating terminal use said correction value to adjust corresponding location parameter, and user terminal is positioned according to adjusted location parameter and said location algorithm;

Said locating terminal is used for obtaining location parameter according to the location algorithm that presets, and said location parameter is relevant with the coordinate position of user terminal in a said location algorithm variable; Send query messages to the correction value calculation element, said query messages is used to inquire about the corresponding correction value of said location parameter; Receive the corresponding correction value of said location parameter that the correction value calculation element sends; The correction function that uses said correction value and preset is adjusted said location parameter, obtains the correction position parameter; Use said correction position parameter and said location algorithm that said user terminal is positioned;

Said anchor node is used for to said locating terminal and correction value calculation element location parameter being provided.

13. a location update the system is characterized in that, comprising: locating terminal and anchor node;

Said locating terminal is used to obtain m location parameter, and said location parameter is relevant with the coordinate position of user terminal in a location algorithm variable, and said m is the integer greater than 1; Confirm the expression formula of the position error of said user terminal according to said location algorithm and said location parameter; Obtain the channel characteristics of said user terminal, confirm first weight that said m location parameter is corresponding respectively according to said channel characteristics; Use said first weight and said expression formula that the position error of said user terminal is added up summation according to presetting criterion, and utilize the correction value of the said location parameter of function calculation of said statistics summation; From anchor node, obtain location parameter according to the location algorithm that presets; The correction function that uses said correction value and preset is adjusted said location parameter, obtains the correction position parameter; Use said correction position parameter and said location algorithm that said user terminal is positioned;

Said anchor node is used for to said locating terminal said location parameter being provided.