CN103728646A - Hybrid location method based on A-GPS technology and TDOA technology - Google Patents
Hybrid location method based on A-GPS technology and TDOA technology Download PDFInfo
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- CN103728646A CN103728646A CN201310728901.8A CN201310728901A CN103728646A CN 103728646 A CN103728646 A CN 103728646A CN 201310728901 A CN201310728901 A CN 201310728901A CN 103728646 A CN103728646 A CN 103728646A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The invention provides a hybrid location method based on the A-GPS technology and the TDOA technology. The hybrid location method comprises the following steps of initializing equipment, selecting a location mode, namely an A-GPS location mode or a TDOA location mode, obtaining the longitude and latitude coordinates of an object to be located, conducting map matching and outputting a location result. Compared with the prior art, the hybrid location method based on the A-GPS technology and the TDOA technology makes the most of both the advantages of a wide coverage range and short measuring time of the TDOA location method and the advantage of high measuring accuracy of the A-GPS location method, meets the requirement for accurate location in various complex environments through complementation of the advantages of the two location methods, and is high in practicability, wide in application range and easy to popularize.
Description
Technical field
The present invention relates to intelligent transport technology field, specifically a kind of hybrid locating method based on A-GPS and TDOA technology.
Background technology
Along with improving constantly of scientific and technical development and people's living standard, automobile is being brought into play more and more important effect as a kind of main vehicles in daily life, but simultaneously along with the continuous increase of the mankind to the undue dependence of automobile and automobile quantity, cause existing road great distance not satisfy the demand, road load is serious, and the problems such as traffic congestion, obstruction, traffic hazard, environmental pollution are also increasing.The loss that the deterioration of traffic brings to various countries is very heavy.
Location-based service (LBS, Location Based Service), also can be called shift position service (LCS, Location Service), and it is the product that Internet technology and the communication technology merge.It obtains the positional information of mobile phone users by mobile communications network, latitude and longitude coordinates normally, then under the support of generalized information system for user provides corresponding value-added service.Use location service, terminal user just can be known own or other people current residing position easily, and by other relevant information of terminal inquiry, as: I where, you where, the inquiry of asking the way, Public Transport Transfer, Emergency Assistance, old man's tracking, taxi dispatching management etc.The huge glamour of position-based business is can be in correct time, correct place, information is accurately sent to information requirement side.
Location technology is to realize basis and the precondition of intelligent transportation and LBS.In China, have a large population, density is large, city mobile phone popularity rate is high, Mobile Location Technology have mobile communications network in city near distance between base station, cover wide, invest relatively advantages of higher of little, positioning precision, be just moved several years ago communication common carrier and release.But due to reasons such as technical conditions are immature, universal is not very extensive.And GPS is as traditional locator meams, to strike fire into the people's hearts, but by trees, skyscraper, mountain peak, bridge etc., blocked or do not receive 4 and above satellite-signal once gps signal, GPS receiver just cannot be exported effective information.For fixing road network circuit, need not consider complicated road network intersection situation, the combination application of map match can reduce erroneous matching, and obviously improve the more single location of positioning precision.If three is effectively combined, enriched undoubtedly the mode when prelocalization, make the further Improvement and perfection of foundation of positioning system, the positioning performance of positioning system is more superior.
Summary of the invention
Technical assignment of the present invention is to solve the deficiencies in the prior art, and a kind of hybrid locating method based on A-GPS and TDOA technology is provided.
Technical scheme of the present invention realizes in the following manner, and this kind of hybrid locating method based on A-GPS and TDOA technology, comprises the following steps:
1) initialization apparatus;
2) regioselective mode: A-GPS locator meams or TDOA locator meams;
3) obtain the latitude and longitude coordinates of positioning object;
4) carry out map match;
5) output positioning result.
First described locator meams selects A-GPS locator meams, in the time of A-GPS locate failure, the number of satellite receiving is less than at 4 o'clock, and locator meams is switched to TDOA, once the number of satellite receiving be detected, be more than or equal to 4, switch back A-GPS locator meams.
In the sub-positioning system of A-GPS, the whole position fixing process of A-GPS is as follows:
First terminal receiver sends to location server the positional information of itself;
The supplementary that the GPS information that location server handle is relevant with this position, sensitivity supplementary, work state information, mobile terminal calculate, correction data, GPS ephemeris send to network;
Terminal receiver receives the information of location server transmission, captures satellite, receives GPS original signal restituted signal, calculates receiver to the pseudo-distance of satellite;
By network or terminal, calculate the particular location of terminal.
In the sub-positioning system of TDOA, TDOA location algorithm is as follows:
By cell phone network, obtain the measured value of a plurality of TDOA, obtain the range difference numerical value between one group of transfer table and a plurality of base station, and form one group of Hyperbolic Equation group about location of mobile station, solve the location estimation that result that it obtains can obtain transfer table.
The map match of described step 4) comprises the following steps:
4.1) receiving locating information is the latitude and longitude coordinates of positioning object;
4.2) determine error band;
4.3) extract candidate road section;
4.4) determine current driving route;
4.5) determine the position of positioning object on road;
4.6) upgrade locating information.
Described step 4) is according to step 2) locator meams selected, select suitable map-matching algorithm to mate: the positive map-matching algorithm of the sub-positioning system using cavetto of A-GPS, TDOA positioning subsystem adopts the oval map-matching algorithm of revising.
The positive map-matching algorithm of described cavetto comprises the following steps: find the road of the current enforcement of positioning object, or find from positioning object and put a line segment object in nearest highway linear graph layer; Current A-GPS anchor point is projected on the road of positioning object enforcement, with a vertical point algorithm to straight line, calculate the point being positioned on this line segment, i.e. required check point.
The described oval map-matching algorithm of revising comprises the following steps:
Known mobile phone anchor point P(X, Y), obtain the error ellipse of this position, the section in this error ellipse is exactly candidate road section;
Calculating has several sections and this error ellipse to intersect, if do not have section and it to intersect, with certain proportion, increases the major and minor axis length of error ellipse, until have a section and it is crossing;
If have section and it to intersect, turn to the section of Fuzzy Pattern Recognition to select map-matching algorithm, then carry out the identification of particular location.
The beneficial effect that the present invention compared with prior art produced is:
A kind of hybrid locating method based on A-GPS and TDOA technology of the present invention overcomes TDOA location technology, and the not high and A-GPS of positioning precision cannot pinpoint shortcoming at the enclosure space such as indoor in some cases, take full advantage of TDOA localization method wide coverage, the advantage that Measuring Time is short, utilized again the high advantage of A-GPS measuring accuracy, mutual supplement with each other's advantages by two kinds of localization methods realizes the accurate location requirement under various complex environments, practical, applied widely, be easy to promote.
Accompanying drawing explanation
Accompanying drawing 1 is applied to the schematic flow sheet of vehicle location for the present invention.
Accompanying drawing 2 is A-GPS positioning subsystem composition structural drawing.
Accompanying drawing 3 is TDOA positioning subsystem composition structural drawing.
Accompanying drawing 4 is hybrid location system composition frame diagram.
Accompanying drawing 5 is map match process flow diagram.
Embodiment
Below in conjunction with accompanying drawing, take vehicle location is described in detail below a kind of hybrid locating method based on A-GPS and TDOA technology of the present invention as example.
The present invention is transferred to adjacent base station by the signal of the cell phone transmitting from vehicle-mounted mobile end by mobile communications network, the time of arrival of base station detection signal, and will be sent to the centre of location time of arrival.The centre of location receives the detected time of arrival (toa) in each base station, estimates the mistiming TDOA that signal arrives adjacent base station, calculates the information such as longitude, latitude of vehicle location point.Then, the real-time vehicle position data by obtaining, is sent to map-matching module.This coordinate information and electronic map match, can realize position display, tracking, the inquiry of vehicle.The invention provides a kind of hybrid locating method based on A-GPS and TDOA technology, comprise the following steps:
(1) initialization apparatus
(2) regioselective mode
(3) obtain the latitude and longitude coordinates of positioning object
(4) carry out map match
(5) output positioning result
As shown in Figure 1, the treatment scheme of hybrid location system is as follows: initialization all devices first, first-selected A-GPS localization method.When GPS receives 4 and above satellite and can correctly navigate, adopt the sub-positioning system of A-GPS to navigate, otherwise adopt the sub-positioning system navigator fix of TDOA, obtain using map-matching algorithm correction after locator data.The signal of launching from the cell phone of vehicle-mounted mobile end is transferred to adjacent base station by mobile communications network, the time of arrival of base station detection signal, and will be sent to the centre of location time of arrival.The centre of location receives the detected time of arrival (toa) in each base station, estimates the mistiming TDOA that signal arrives adjacent base station, calculates the information such as longitude, latitude of vehicle location point.Then, the real-time vehicle position data by obtaining, is sent to map-matching module.This coordinate information and electronic map match, can realize position display, tracking, the inquiry of vehicle.
A-GPS positioning subsystem as shown in Figure 2, its structure comprises the GPS receiver by Power supply, and this GPS receiver connects navigation mobile phone by serial communication and the positive matching algorithm of cavetto, and this GPS receiver is also connected with GPS receiving antenna.
In the sub-positioning system of this A-GPS, the whole position fixing process of A-GPS is as follows: 1. first terminal receiver sends to location server the positional information of itself.2. the GPS information that location server handle is relevant with this position, as GPS positioning auxiliary information, sensitivity supplementary, work state information; The supplementary that mobile terminal calculates, as GPS almanac, revises data, and GPS ephemeris etc. sends to network.3. terminal receiver receives the information of location server transmission, can be very fast capture satellite, and can receive GPS original signal restituted signal.Calculate receiver to the pseudo-distance of satellite.4. the particular location of finally finally calculating terminal by network or terminal.It should be noted that A-GPS to depend on GPS and exist, the same with GPS, all need in terminal receiver, increase GPS chip receiver module, and be equipped with corresponding GPS antenna and can normally work.
TDOA positioning subsystem as shown in Figure 3, its structure comprise cell phone, with the running fix hair of cell phone two-way communication, the ellipse correction map match showing by man-machine interaction.In the sub-positioning system of this TDOA, TDOA location algorithm obtains the measured value of a plurality of TDOA by cell phone network, be equivalent to obtain the range difference numerical value between one group of transfer table and a plurality of base station, and can form one group about the Hyperbolic Equation group of location of mobile station, solve the result that it obtains and just can obtain the location estimation of transfer table.
Hybrid location system framework as shown in Figure 4, it is according to step 2) locator meams selected, select suitable map-matching algorithm to mate: the positive map-matching algorithm of the sub-positioning system using cavetto of A-GPS, TDOA positioning subsystem adopts the oval map-matching algorithm of revising.
As shown in Figure 5, map-matching algorithm comprises following step:
(4.1) receiving locating information is the latitude and longitude coordinates of vehicle
(4.2) determine error band
(4.3) extract candidate road section
(4.4) determine current driving route
(4.5) determine the position of vehicle on road
(4.6) upgrade locating information
The map-matching algorithm of two placing of seed systems is implemented as follows:
A-GPS map-matching algorithm can be interpreted as two independently processes: the road that finds the current enforcement of vehicle; Current A-GPS anchor point is projected on the road of vehicle enforcement.Concrete mechanism is: find from vehicle and put a line segment object in nearest highway linear graph layer, then with a vertical point algorithm of putting straight line, calculate the point being positioned on this line segment, namely our required check point.Algorithm flow is as follows:
Step1, take vehicle point as the center of circle, choose suitable value and draw implicit circle as radius, judge whether the object in this circle and highway map layer intersects, if intersected, calculate in highway map layer and have several objects and this circle to intersect, if find more than one object, suitably reduce radius of circle, if the highway map layer object not satisfying condition suitably strengthens radius of circle, until find a unique object satisfying condition, obtain the motorway names field of this object.If radius of a circle is greater than a certain thresholding, as 15 meters, just think that now vehicle has entered a certain region, as compared great square etc., now using the center of circle as check point, directly turn step4.
loop1：
If { circle } ∩ { object in highway map layer }=Φ then
The a certain thresholding THEN of if radius of a circle >
Using the longitude and latitude of reading as this corrected value
go?to?step4
else
Increase radius of a circle
go?to?loop1
end?if
Else if { circle } ∩ { object in highway map layer } >1 then
Reduce radius of a circle
go?to?loop1
else
go?to?step2
end?if
Step2, judge in this circulation that in the title of highway object and circulation last time, whether the title of highway object is identical, identically represent that two points are on same highway, forward step3 to, if different, vehicle is probably to have turned so, but we turn left or turn right by bad judgement vehicle, so we take, to this way of not processing of point, to skip this point, but still record and vehicle are put the title of nearest highway object and are prepared against next recycle ratio and use.Get next point, return to step1.
In this circulation of if, the title of highway object is identical with the title of highway object in circulation last time
then
go?to?step3
else
Remember the title of highway object in this circulation
go?to?step1
end?if
Step3, reads all flex points on this highway object, calculates vehicle and puts the intersection point of adjacent 2 line segments that are linked to be and the distance d between vehicle point and intersection point, if intersection point is between these adjacent 2 and apart from d minimum, gets this intersection point as check point.
loop2：
Read all flex points on this highway object
Calculate vehicle and put the intersection point of adjacent 2 line segments that are linked to be and the distance d between vehicle point and intersection point
If intersection point is then between adjacent 2
if?m?in{d}?then
Using intersection point as check point
go?to?step4
else
go?to?loop2
end?if
end?if
Step4 draws a sign on the check point of trying to achieve.Get next vehicle point, return and go to loop1.
loop3：
On the check point of trying to achieve, draw a sign
go?to?loop1
The map-matching algorithm flow process of the sub-positioning system of TDOA is as follows: known mobile phone anchor point P(X, Y), obtain the error ellipse of this position.Section in this error ellipse is exactly candidate road section.Calculating has several sections and this error ellipse to intersect.If do not have section and it to intersect, with certain proportion, increase the major and minor axis length of error ellipse, until have a section and it crossing; If have section and it to intersect, turn to the section of Fuzzy Pattern Recognition to select map-matching algorithm, then carry out the identification of particular location.
The foregoing is only embodiments of the invention, within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. the hybrid locating method based on A-GPS and TDOA technology, is characterized in that comprising the following steps:
1) initialization apparatus;
2) regioselective mode: A-GPS locator meams or TDOA locator meams;
3) obtain the latitude and longitude coordinates of positioning object;
4) carry out map match;
5) output positioning result.
2. a kind of hybrid locating method based on A-GPS and TDOA technology according to claim 1, it is characterized in that: first described locator meams selects A-GPS locator meams, in the time of A-GPS locate failure, the number of satellite receiving is less than at 4 o'clock, locator meams is switched to TDOA, once the number of satellite receiving be detected, be more than or equal to 4, switch back A-GPS locator meams.
3. a kind of hybrid locating method based on A-GPS and TDOA technology according to claim 2, is characterized in that: in the sub-positioning system of A-GPS, the whole position fixing process of A-GPS is as follows:
First terminal receiver sends to location server the positional information of itself;
The supplementary that the GPS information that location server handle is relevant with this position, sensitivity supplementary, work state information, mobile terminal calculate, correction data, GPS ephemeris send to network;
Terminal receiver receives the information of location server transmission, captures satellite, receives GPS original signal restituted signal, calculates receiver to the pseudo-distance of satellite;
By network or terminal, calculate the particular location of terminal.
4. a kind of hybrid locating method based on A-GPS and TDOA technology according to claim 2, is characterized in that: in the sub-positioning system of TDOA, TDOA location algorithm is as follows:
By cell phone network, obtain the measured value of a plurality of TDOA, obtain the range difference numerical value between one group of transfer table and a plurality of base station, and form one group of Hyperbolic Equation group about location of mobile station, solve the location estimation that result that it obtains can obtain transfer table.
5. a kind of hybrid locating method based on A-GPS and TDOA technology according to claim 1, is characterized in that: the map match of described step 4) comprises the following steps:
4.1) receiving locating information is the latitude and longitude coordinates of positioning object;
4.2) determine error band;
4.3) extract candidate road section;
4.4) determine current driving route;
4.5) determine the position of positioning object on road;
4.6) upgrade locating information.
6. a kind of hybrid locating method based on A-GPS and TDOA technology according to claim 5, it is characterized in that: described step 4) is according to step 2) locator meams selected, select suitable map-matching algorithm to mate: the positive map-matching algorithm of the sub-positioning system using cavetto of A-GPS, TDOA positioning subsystem adopts the oval map-matching algorithm of revising.
7. a kind of hybrid locating method based on A-GPS and TDOA technology according to claim 6, it is characterized in that: the positive map-matching algorithm of described cavetto comprises the following steps: find the road of the current enforcement of positioning object, or find from positioning object and put a line segment object in nearest highway linear graph layer; Current A-GPS anchor point is projected on the road of positioning object enforcement, with a vertical point algorithm to straight line, calculate the point being positioned on this line segment, i.e. required check point.
8. a kind of hybrid locating method based on A-GPS and TDOA technology according to claim 6, is characterized in that: the described oval map-matching algorithm of revising comprises the following steps:
Known mobile phone anchor point P(X, Y), obtain the error ellipse of this position, the section in this error ellipse is exactly candidate road section;
Calculating has several sections and this error ellipse to intersect, if do not have section and it to intersect, with certain proportion, increases the major and minor axis length of error ellipse, until have a section and it is crossing;
If have section and it to intersect, turn to the section of Fuzzy Pattern Recognition to select map-matching algorithm, then carry out the identification of particular location.
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| CN106842271A (en) * | 2015-12-03 | 2017-06-13 | 宁波芯路通讯科技有限公司 | Navigation locating method and device |
| CN107765210A (en) * | 2017-10-19 | 2018-03-06 | 中国矿业大学 | A kind of integrated moving target alignment system of software definition |
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| US10145691B2 (en) | 2016-05-18 | 2018-12-04 | Here Global B.V. | Ambiguity map match rating |
| CN107765210A (en) * | 2017-10-19 | 2018-03-06 | 中国矿业大学 | A kind of integrated moving target alignment system of software definition |
| CN111624635A (en) * | 2020-05-21 | 2020-09-04 | 北京红山信息科技研究院有限公司 | Positioning method, system, server and storage medium of mobile terminal |
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