CN102752852A - Mobile communication positioning method based on code division multiple access (CDMA) base station - Google Patents
Mobile communication positioning method based on code division multiple access (CDMA) base station Download PDFInfo
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Abstract
The invention relates to a mobile communication positioning method based on a code division multiple access (CDMA) base station and belongs to the technical field of communication positioning. The method comprises the following steps that in a communication system which comprises mobile communication equipment and a server side, the server side receives position information which is sent by the mobile communication equipment; the server side sequences the position information according to a time sequence to obtain a time series and performs two-time first-order difference to form a noise filtration series; the server side filters abnormal points outside an area frame to obtain a compensation series and a companion series; the server side sequentially judges whether the quantity of companions at position points is smaller than the minimum tolerance of companion indexes or not, filters the position points and then performs interpolation compensation if the quantity of the companions at the position points is smaller than the minimum tolerance of the companion indexes; the server side determines the degree of an included angle of a vertex in each continuous three position points and smoothes points of which the included angles are smaller than a threshold value to obtain a final series; and according to the final series, the server side draws a target historical trajectory. The mobile communication positioning method based on the CDMA base station has the advantages that data can be simply and effectively processed, and the drawing accuracy of the historical trajectory in complicated environment can be remarkably improved under the conditions of low coverage, unstable wireless network signal and the like.
Description
Technical field
The present invention relates to a kind of localization method of communication terminal, especially a kind of mobile communication localization method based on cdma base station belongs to the communication field of locating technology.
Background technology
The location of mobile phone and so on mobile communication equipment is meant the positional information (latitude and longitude coordinates) of obtaining cell phone or terminal use through specific localization method, on electronic chart, marks the technology or the service of the object's position that is positioned.Localization method mainly contains two kinds, a kind of location that is based on GPS, a kind of location of moving the operation network base station that is based on.Location based on GPS need utilize the GPS locating module on the mobile phone that its position signalling is sent to realization location, backstage, location.The location, base station then is to utilize the base station that its position is confirmed in the measuring and calculating of mobile phone distance.The latter does not need mobile phone to have the GPS stationkeeping ability, and is simple and direct relatively, but precision largely depends on the distribution of base station and the size of coverage, has the time error can be above one kilometer.The mode of utilizing Wifi among a small circle, to locate is arranged in addition.
Mobile Phone Locating can be divided into whole local network, cover part local network and provide roaming network three kinds of positioning services according to the scope of coverage rate.During the location, base station; Mobile phone is measured the down-bound pilot frequency signal of different base station, obtains the TOA (Time of Arrival, due in) of different base station descending pilot frequency; According to this measurement result; And the coordinate of combination base station, generally adopt the triangle formula algorithm for estimating, just can calculate the position of mobile phone.Because the actual position estimation calculation needs to consider many base stations (more than 3 or 3), so algorithm is very complicated.Generally speaking, the number of base stations of moving table measuring is many more, and certainty of measurement is high more, and positioning performance improves obvious more.Therefore, the location, base station requires the scope of covering enough big on the one hand, and the scope that requires on the other hand to cover comprises indoor.Because the user is in this function of indoor use the most of the time, therefore requires the base station from the skyscraper to the underground installation, must cover the every nook and cranny, otherwise can't realize accurate reliable localization.Except considering coverage rate, the environmental factor of network configuration and dynamic change also possibly make telecom operators can't guarantee the service in local network or roaming network.
Summary of the invention
The objective of the invention is to:, propose a kind of mobile communication localization method based on cdma base station that under low coverage condition, also can significantly improve positioning function to the problem that above-mentioned prior art exists.
In order to reach above purpose, the mobile communication localization method that the present invention is based on cdma base station is in the communication system that comprises mobile communication equipment and service end, and service end is moved according to the following steps
The first step, reception have one group of reporting position information of being expressed by each location point warp, latitude and time and type that GPS module mobile communication equipment is sent on schedule at interval;
Second step, in chronological order the ordering of above-mentioned positional information is obtained time series; And computing time ordered series of numbers first-order difference (promptly calculating the adjacent forward and backward time difference at 2); Thereby obtain the time difference ordered series of numbers; Because predetermined time interval is fixed, so the time difference ordered series of numbers under the normal condition is made up of invariable constant; To the time difference ordered series of numbers first-order difference that tries again; And judge whether each difference result corresponding position information is normal, difference result is that 0 positional information is normal, non-0 positional information abnormity; Filter the corresponding location point interpolation compensation of out-of-the way position information, form and filter the ordered series of numbers of making an uproar;
The 3rd step, first location point of making an uproar in the ordered series of numbers with filter are central point, and the regional frame of preset range is set, and filter out to drop on the outer abnormity point of regional frame, and the row interpolation of going forward side by side compensation is compensated ordered series of numbers;
The 4th step, be that central point is provided with said regional frame with compensation each location point in the ordered series of numbers respectively, scan the partner's point in each location point corresponding region frame respectively, generate the partner's ordered series of numbers that has partner's index;
The 5th the step, judge according to the type in the mobile communication equipment reporting position information whether partner's ordered series of numbers is the GPS location point, then get into next step in this way; Otherwise whether partner's number of judging each location point successively less than the minimum tolerance of partner's index, as otherwise carry out next step, then filter out this location point and interpolation compensation in partner's ordered series of numbers in this way;
The 6th step, traversal partner ordered series of numbers; Get 9 location points of continuous 3-at every turn, obtain the angle angle on summit in each continuous three location point, the point less than the angle threshold value is carried out smoothing processing; Replace the corresponding points of original partner's ordered series of numbers with the reposition point that generates after the smoothing processing, obtain final ordered series of numbers;
The longitude and latitude numerical value track drafting of each location point obtains required target historical track in the 7th step, the final ordered series of numbers of basis.
Above process has been considered issuable information distortion factor under the various low coverage conditions, and through reasonably filtration, compensation, thereby obtain approaching real mobile communication equipment historical track.Compared with prior art, the present invention has following remarkable advantage: the data processing brief introduction is effective, even under situation such as low covering, wireless network signal unsteadiness, also can significantly improve the accuracy of under the complex environment historical track being drawn.
Description of drawings
Below in conjunction with accompanying drawing the present invention is further described.
Fig. 1 is the flow chart of one embodiment of the invention.
Fig. 2 is the track sketch map of directly drawing according to reported data.
Fig. 3 filters the abnormity point sketch map for the border circular areas frame is set.
The final goal historical track sketch map of Fig. 4 for obtaining.
Embodiment
Embodiment one
In the mobile communication localization method of present embodiment based on cdma base station, the mobile phone with GPS module is through the Internet and service end communication contact, and specifically operating procedure is referring to Fig. 1:
It is following that the mobile phone that step 1) has a GPS module sends one group of reporting position information of being expressed through, latitude and time and type by corresponding each location point through the Internet to service end at interval by regular time:
| Latitude and longitude information | Temporal information | Reporting types |
| 31.99895, 118.74303 | 2011-11-06 15:48:10 | Cell |
| 31.99894, 118.74283 | 2011-11-06 15:48:20 | Gps |
| 31.99807, 118.74220 | 2011-11-06 15:48:30 | Gps |
| 31.99750, 118.74172 | 2011-11-06 15:48:40 | Gps |
| 31.99713, 118.74144 | 2011-11-06 15:48:50 | Gps |
| 31.99713, 118.74144 | 2011-11-06 15:49:00 | Gps |
| 31.99719, 118.74127 | 2011-11-06 15:49:10 | Gps |
| 31.99759, 118.74145 | 2011-11-06 15:49:20 | Gps |
| 31.99817, 118.74191 | 2011-11-06 15:49:30 | Gps |
| 31.99893, 118.74251 | 2011-11-06 15:49:40 | Gps |
| 31.99953, 118.74297 | 2011-11-06 15:49:50 | Gps |
| 31.99911, 118.74337 | 2011-11-06 15:50:00 | Cell |
| 32.00019, 118.74343 | 2011-11-06 15:50:10 | Gps |
| 31.99936, 118.74369 | 2011-11-06 15:50:20 | Cell |
| 32.00111, 118.74419 | 2011-11-06 15:50:30 | Gps |
| 32.00438, 118.73283 | 2011-11-06 15:50:40 | Cell |
| 32.00438, 118.73283 | 2011-11-06 15:50:50 | Cell |
| 32.00173, 118.74369 | 2011-11-06 15:51:00 | Cell |
| 32.00133, 118.74516 | 2011-11-06 15:51:10 | Cell |
| 32.00210, 118.74400 | 2011-11-06 15:51:20 | Cell |
| 32.00185, 118.74537 | 2011-11-06 15:51:30 | Cell |
| 32.00283, 118.74541 | 2011-11-06 15:51:40 | Cell |
| 32.00422, 118.74302 | 2011-11-06 15:51:50 | Cell |
| 32.00475, 118.74088 | 2011-11-06 15:52:00 | Cell |
| 32.00616, 118.74201 | 2011-11-06 15:52:10 | Cell |
| 32.00746, 118.74295 | 2011-11-06 15:52:20 | Cell |
It is as shown in Figure 2 directly to draw the trajectory diagram that has error that obtains according to above-mentioned data.
Step 2) service end obtains time series { N} with above-mentioned positional information ordering in chronological order; And computing time the ordered series of numbers { first-order difference of N} (being the time difference of former and later two points); Thereby obtain N-1 numerical value time difference ordered series of numbers { time_delay}; Because the time interval fixes, thus under the normal condition { time_delay} is invariable constant, is the sampling period of point; To time difference ordered series of numbers { the time_delay} first-order difference that tries again; And judge whether each difference result corresponding position information is normal; Difference result is that 0 positional information is normal, and non-0 positional information abnormity needs to filter the back and (can adopt other interpolation algorithm through " Newton interpolating method "; Golden interpolation method or the like in Lagrange's interpolation, the gram for example) carries out the interpolation compensation; Accomplish in view of the above that { time packet of N} obtains filter and makes an uproar that { M1}..{Mn} notes by abridging to { comprising longitude and latitude object and reporting types among the M}M ordered series of numbers to ordered series of numbers.
Present embodiment to the reported data of gathering obtain time series 2011-11-06 15:48:10,2011-11-06 15:48:20,2011-11-06 15:48:30 ... Can get the difference ordered series of numbers for 10,10,10 ..., obtain 0 after the first-order difference.Can obtain in view of the above ordered series of numbers M} for 31.99895,118.74303}, 31.99894,118.74283}, 31.99807,118.74220} ....
Step 3) is as shown in Figure 3; The regional frame of preset range is set---present embodiment is for defining circular frame (regional frame also can be rectangle frame or regular hexagon frame etc.) through the speed time; { first point is the center of circle among the M} with ordered series of numbers; Counting x by the configuration speed x time interval is that radius is drawn circle blanking time---this embodiment is that 33m/s (120Km/h), ordered series of numbers { have 25 points (so the correspondence position time interval number of counting is 25), confirm that circular frame radius is 33x25x10m, drop on outside the circular frame greater than moving naming a person for a particular job of speed the soonest among the M} according to the predetermined speed that moves the soonest; Can be judged to abnormity point, filter out and drop on the outer abnormity point of circular frame; Carry out interpolation through " Newton interpolating method " (can adopt other interpolation algorithm), the point that compensation filters out obtains the compensation ordered series of numbers of counting complete, still is designated as { M}.
Step 4) is that central point is provided with the regional frame that reports the time interval and radius to confirm according to data with each location point in the compensation ordered series of numbers respectively; Difference scan compensation ordered series of numbers { the partner's point in each location point corresponding region frame of M}; Generation have partner's index partner's ordered series of numbers M'}, and concrete scan method for the traversal ordered series of numbers M}, being assumed to be with the current point that traverses a little is Mi; With a Mi is the center of circle; With maximal rate (configurable) the x time interval is that radius is drawn circle, and { all drop on partner's point of some Mi in the circle M} to the traversal ordered series of numbers, and the partner of a Mi is put the partner index of number as Mi; So back and forth obtain having the ordered series of numbers { M'} of partner's index; In the present embodiment to { each point among the M} is that radius scans and generates the partner's ordered series of numbers that has partner's index { M'} is { { 31.99895,118.74303,9 (partner's index) }, { 31.99894 with 330m; 118.74283,9}, { 31.99807; 118.74220,9}, { 31.99750; 118.74172,10} ...
The TYPE field that step 5) reports according to mobile telephone terminal (sign is location, a base station CELL type, or satellite fix GPS type) is judged.If be the GPS point entirely; Then skip this step, directly get into next step, otherwise { point that the partner's index among the M'} is the highest carries out the filtration of forward and backward as datum mark with ordered series of numbers; Filtercondition is the minimum tolerance of partner's index; The principle of minimum tolerance is to remove starting point to be at least with outer other partner's index of end point and to be no less than 2 (this minimum tolerance can be provided with as one sees fit), filters out a some interpolation and compensates one, and backoff algorithm can adopt " Newton interpolation " algorithm or other algorithms.
The reported data of present embodiment compensation ordered series of numbers be not the GPS point entirely among the M'}, therefore need according to minimum tolerance filter out the 16th and the 17 two some partner index be 1 acnode, and through following Newton interpolation algorithm
The result who draws, compensate these two points for 32.00135,118.74366}, 32.00152,118.74443}.
{ M'} gets five continuous location points to step 6) traversal partner ordered series of numbers at every turn, is datum mark with the maximum point of the partner's index in five points; Calculating is the angle angle on summit with non-datum mark; Angle is carried out smoothing processing less than 30 ° point---present embodiment adopts and directly angle is removed less than 30 ° summit; Using angle is that 90 ° point substitutes and carries out smoothing processing, promptly uses the some substituting with front and back adjacent position point formation isosceles right triangle.Present embodiment travel through successively ordered series of numbers M'} and get before and after during continuous five points; Find some M11, the M13 angle is too small, to generating new some M11'{32.00072 after these two some smoothing processing; 118.74386}; M13'{32.00011,118.74386} write that { M'} substitutes original corresponding points, obtains final ordered series of numbers { M'}.
{ the longitude and latitude numerical value track drafting of each location point is required target historical track to step 7) among the M'}, and is as shown in Figure 4 according to final ordered series of numbers.
Service end repeats said process after receiving next group positional information of mobile phone, and so circulation can obtain continuous historical track.
Facts have proved, after the method for employing present embodiment, effectively improved the accuracy of existing location technology under complex environment.In the low coverage rate of signal, report under the bigger situation of a disappearance and base station deviations, also can provide near real positioning track.And use this method to remove the complicated work that artificial filter is made an uproar from.
Claims (6)
1. mobile communication localization method based on cdma base station, in the communication system that comprises mobile communication equipment and service end, it is characterized in that: said service end is moved according to the following steps:
The first step, reception have one group of reporting position information of being expressed by each location point warp, latitude and time and type that GPS module mobile communication equipment is sent on schedule at interval;
Second step, in chronological order the ordering of above-mentioned positional information is obtained time series, and computing time ordered series of numbers first-order difference, obtain the time difference ordered series of numbers; To the time difference ordered series of numbers first-order difference that tries again, and judge that each difference result is that 0 positional information is normal, non-0 positional information abnormity filters the corresponding location point interpolation compensation of out-of-the way position information, forms the filter ordered series of numbers of making an uproar;
The 3rd step, first location point of making an uproar in the ordered series of numbers with filter are central point, and the regional frame of preset range is set, and filter out to drop on the outer abnormity point of regional frame, and the row interpolation of going forward side by side compensation is compensated ordered series of numbers;
The 4th step, be that central point is provided with said regional frame with compensation each location point in the ordered series of numbers respectively, scan the partner's point in each location point corresponding region frame respectively, generate the partner's ordered series of numbers that has partner's index;
The 5th the step, judge according to the type in the mobile communication equipment reporting position information whether partner's ordered series of numbers is the GPS location point, then get into next step in this way; Otherwise whether partner's number of judging each location point successively less than the minimum tolerance of partner's index, as otherwise carry out next step, then filter out this location point and interpolation compensation in partner's ordered series of numbers in this way;
The 6th step, traversal partner ordered series of numbers; Get 9 location points of continuous 3-at every turn, obtain the angle angle on summit in each continuous three location point, the point less than the angle threshold value is carried out smoothing processing; Replace the corresponding points of original partner's ordered series of numbers with the reposition point that generates after the smoothing processing, obtain final ordered series of numbers;
The longitude and latitude numerical value track drafting of each location point obtains required target historical track in the 7th step, the final ordered series of numbers of basis.
2. according to the said mobile communication localization method based on cdma base station of claim 1, it is characterized in that: said interpolation method is Newton interpolating method or Lagrange's interpolation.
3. according to the said mobile communication localization method based on cdma base station of claim 2, it is characterized in that: said regional frame is circular frame, and the radius of said circular frame is definite with amassing of the time interval number that moves speed and correspondence position the soonest and count and blanking time.
4. according to the said mobile communication localization method based on cdma base station of claim 3, it is characterized in that: in said the 5th step, the point the highest with partner's index carries out the filtration of forward and backward as datum mark, and the minimum tolerance of said partner's index is 2.
5. according to the said mobile communication localization method based on cdma base station of claim 4, it is characterized in that: the angle threshold value in said the 6th step is 30 °.
6. according to the said mobile communication localization method of claim 5 based on cdma base station; It is characterized in that: the smoothing processing in said the 6th step is removed angle less than the summit of angle threshold value, use the location point substituting that constitutes isosceles right triangle with front and back adjacent position point.
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| CN106842258A (en) * | 2017-04-26 | 2017-06-13 | 易微行（北京）科技有限公司 | A kind of GPS positioning system and automobile |
| CN106932789A (en) * | 2017-04-26 | 2017-07-07 | 易微行（北京）科技有限公司 | The determination methods and automobile of a kind of mobile device mobile status |
| CN107121687A (en) * | 2017-04-26 | 2017-09-01 | 易微行（北京）科技有限公司 | The judgement system and automobile of a kind of mobile device mobile status |
| CN106842258B (en) * | 2017-04-26 | 2020-05-01 | 易微行（北京）科技有限公司 | GPS positioning system and automobile |
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| CN115291262A (en) * | 2022-10-09 | 2022-11-04 | 北京索云科技股份有限公司 | Satellite positioning data correction method and device, electronic equipment and storage medium |
| CN115291262B (en) * | 2022-10-09 | 2023-01-31 | 北京索云科技股份有限公司 | Satellite positioning data correction method and device, electronic equipment and storage medium |
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