CN103857035A - Three-point stereo base station positioning method and device - Google Patents

Abstract

The embodiment of the invention discloses a three-point stereo base station positioning method and device. The method comprises the following steps that preset space coordinate (a, b, H) information in preset coordinates of three base stations of a mobile terminal transmitting signal to be positioned is acquired and received, the preset space coordinate (a, b, H) information comprises the height H of each base station and plane coordinate (a, b) information corresponding to the situation that the base station is located on a plane of which the height H is zero, a distance difference from the three base stations to the mobile terminal to be positioned is acquired according to the preset space coordinate (a, b, H) information of the three base stations is acquired, and position information of the mobile terminal to be positioned according to the distance difference from the three base stations to the mobile terminal to be positioned and a preset positioning equation set. By means of the three-point stereo base station positioning method and device, the problem that positioning error occurs due to the fact that the base station height information is out of consideration when the mobile terminal is positioned based on TDOA positioning technology in the prior art is solved, and positioning accuracy is improved.

Description

3 three-dimensional base station positioning methods and device

Technical field

The present invention relates to the communication technology, especially a kind of 3 three-dimensional base station positioning methods and device.

Background technology

Geo-location service (Location based service, LBS), claim again positioning service, refer to the mobile communications network of mobile terminal and operator, for example code division multiple access (Code DivisionMultiple Access, CDMA) net, global system for mobile communications (Global System forMobile Communications, GSM) net etc., cooperatively interact, judge the position at mobile terminal place by transmitting the base station of mobile terminal signal, determine the geographical location information of mobile phone users, that is: latitude and longitude coordinates, thereby provide user the needed information on services relevant to position.The process of positioning service only needs several seconds, and the flow taking only has tens bytes.Because consumer has the feature such as region and convenience to the demand of service for life, geo-location service is more and more welcome.

Based on the Mobile Location Technology of step-out time (Time Difference of Arrival, TDOA), do not rely on gps satellite, only rely on the base station in Cellular Networks to realize location.Therefore, TDOA location technology has proposed new development take its exclusive feature as mobile terminal positioning service.TDOA is different from the time of advent (Time of Advent, TOA), and TDOA arrives time difference of two base stations by detecting mobile terminal signal, rather than the absolute time arriving determines the position of travelling carriage, has reduced the time synchronized requirement to base station.TDOA location technology can be applicable to various mobile communication system, is particularly useful for cdma system.One of advantage that TDOA location technology has compared with TOA technology is: when calculate between mobile terminal signal and different base station TDOA value time, the error of calculation be identical to all base stations and itself and be zero, these errors comprise public multidiameter delay and synchronous error.

TDOA location technology has following characteristics:

(1) TDOA location technology does not rely on GPS, but relies on the base station of mobile terminal present position to determine;

(2) do not increase the complexity of mobile terminal device, do not increase the work load of mobile switching centre (Mobile Switching Center, MSC);

(3) can be applicable to all mobile cellular systems.

As shown in Figure 1, be prior art and the basic principle schematic of the mobile terminal positioning technology based on TDOA.

Suppose that in mobile cellular communication system, in the coverage of mobile phone users in multiple base station signals, mobile terminal is as transmitting terminal, and base station is as receiving terminal.In the time that mobile phone users positions, operating mobile terminal is to nearest several base station transmit signals.Because base station is far and near different from the distance of mobile terminal, therefore, it is just not identical that the signal of mobile terminal transmitting arrives the time of different base station.At any one time, any two base stations receive the time that mobile terminal transmits difference we regard instantaneous definite value as.According to hyp definition: the track set that is moving points of certain value to the difference of the distance of two fixed points is double curve.So, now, be to be the instantaneous hyperbola of fixed point take these two base stations by the determined hyperbola of difference of time.And between different base station arbitrarily between two base station can determine many group hyperbolas, and the also i.e. physical location of this mobile phone users of their intersection point mobile terminal.

At base station receiving terminal (also: as the base station of receiving terminal), the signal indication of mobile terminal transmitting terminal (also: as the mobile terminal of the transmitting terminal) transmitting that i base station receives is:

y _i(t)=A _iS(t-τ _i)+n _i(t)

Wherein, i=1,2,3 ... m, S (t-τ _i) be as the mobile terminal of transmitting terminal at moment t the signal to i the base station transmitting as receiving terminal; n _i(t) be interchannel noise, can obtain in advance; A _ifor the signal amplitude of mobile terminal transmitting, m is that receiving terminal is the number of base station, for being not less than 3 integer.In receiving terminal, the coordinate of i base station is (X _i, Y _i) be known, here the coordinate of mobile terminal is (x, y) and be unknown, is the accurate location that we will locate.At any one time, any two base station i, j receive the difference of the determined distance of difference of the time that mobile terminal transmits and are:

L _ij=νΔτ=v(τ _i-τ _j)=L _i-L _j （1）

Wherein, 1<j<i<m, ν is electric wave propagation velocity, the i.e. light velocity.As shown in Figure 1, the coordinate of supposing any two base stations 1,2 is (X _i, Y _i), (X _j, Y _j), respectively corresponding hyp two focal point F ₁, F ₂coordinate (c, 0) and (c, 0).Now Y _i-Y _j=0, X _i=-c, X _j=c, according to hyp definition, can obtain hyp reduced form by above formula (1):

$\frac{x^2}{{\left(\frac{L_{\mathrm{ij}}}{2}\right)}^2}-\frac{y^2}{c^2-{\left(\frac{L_{\mathrm{ij}}}{2}\right)}^2}=1$

Fig. 1 is for ideally, the hyperbola that the different TDOA of same base determine.Can position mobile terminal by the hyp intersection point of difference.

Realizing in process of the present invention, inventor finds, method mobile terminal being positioned based on above-mentioned traditional TDOA location technology at least exists following problem:

In practical application, in mobile terminal environment of living in, the height of each base station may be different, the different time differences that can affect two base stations of mobile terminal signal arrival of height of locating base station, and TDOA location technology based on traditional is while positioning mobile terminal, do not consider the difference in height of each locating base station, thereby when TDOA location technology based on traditional is positioned mobile terminal, can cause certain position error, affect positioning precision.

Summary of the invention

An embodiment of the present invention technical problem to be solved is: a kind of 3 three-dimensional base station positioning methods and device are provided, the position error problem of not considering base station elevation information when mobile terminal being positioned based on TDOA location technology in prior art to solve and cause, improves positioning precision.

3 three-dimensional base station positioning methods of one that the embodiment of the present invention provides, comprising:

Obtain pre-set space coordinate (a, b, the H) information in preset coordinate system that receives three base stations that mobile terminal to be positioned transmits, described pre-set space coordinate (a, b, H) information comprises plane coordinates (a, the b) information in the height H of base station and plane that base station is 0 in height H;

According to pre-set space coordinate (a, b, the H) information of three base stations, obtain described three base stations and arrive the range difference of mobile terminal to be positioned;

Arrive the range difference of mobile terminal to be positioned and preset azimuth equation group according to described three base stations, obtaining the positional information of mobile terminal to be positioned.

In a specific embodiment of said method, also comprise:

Set up preferred coordinates system according to the pre-set space coordinate information of three base stations, make in preferred coordinates system, in three base stations, the plane coordinates of one of them base station is (0,0), ordinate b in the plane coordinates of another base station is that the height H of 0, three base station in preferred coordinates system is identical with the height H in preset coordinate system;

Obtain the plane coordinates of three base stations in preferred coordinates system;

According to pre-set space coordinate (a, b, the H) information of three base stations, obtain the range difference that described three base stations arrive mobile terminal to be positioned and be specially:

Space coordinates information according to three base stations in preferred coordinates systems, the base station that obtains respectively other two base stations and plane coordinates and be (0,0) arrives the range difference of mobile terminal to be positioned;

Described default equation group is specially the default equation group that the space coordinates information based in preferred coordinates system is set up.

In a specific embodiment of said method, the pre-set space coordinate information of three base stations is expressed as (a ₁, b ₁, H ₁), (a ₂, b ₂, H ₂) and (a ₃, b ₃, H ₃);

The described plane coordinates that obtains three base stations in preferred coordinates system comprises:

In preferred coordinates system, three base station midplane coordinate (a ₁, b ₁) be the base station of (0,0) as first base station, ordinate b ₂be that 0 base station is as second base station;

Be the variation of the ordinate of 0 second base station according to variation and the ordinate b of the plane coordinates of first base station in being with preferred coordinates in preset coordinate system, obtain the plane coordinates (X of second base station in preferred coordinates system ₂, 0);

According to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, obtaining pre-set space coordinate information is (a ₃, b ₃, H ₃) the plane coordinates (X of the 3rd base station in preferred coordinates systems ₃, Y ₃).

In a specific embodiment of said method, the positional information of obtaining mobile terminal to be positioned is specially: obtain the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system;

The default equation group that space coordinates information based in preferred coordinates system is set up comprises:

$L_1=\sqrt{{(X_1-x)}^2+{(Y_1-y)}^2+H_1^2}=\sqrt{x^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+H_1^2};$

$-2L_{21}{L}_1=L_{21}^2+H_1^2-{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+2X_{2}x;$ With

$-2L_{31}{L}_1=L_{31}^2+H_1^2-H_3^2-(X_3^2+Y_3^2)+2X_{3}x+2Y_{3}y;$

Wherein, L ₁for first base station arrives the distance of mobile terminal to be positioned, L ₂₁be the range difference that second base station and first base station arrive mobile terminal to be positioned, L ₃₁be the range difference that the 3rd base station and first base station arrive mobile terminal to be positioned, (x, y) is the plane coordinates of mobile terminal to be positioned in preferred coordinates system.

In a specific embodiment of said method, obtain the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system and comprising:

By

y=gx+h obtains the plane coordinates (x, y) of mobile terminal to be positioned in preferred coordinates system, wherein:

g=[(L ₃₁X ₂)/L ₂₁-X ₃]/Y ₃；

$h=[X_3^2+Y_3^2+H_3^2-H_1^2-L_{31}^2+L_{31}{L}_{21}(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)]/2Y_3;$

d=-[(1-(X ₂/L ₂₁) ²)+g ²]；

$e=X_2(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)-2\mathrm{gh};$

$f=(L_{21}^2/4){(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)}^2-h^2-H_1^2;$

L ₂₁=L ₂-L ₁be greater than at 0 o'clock, $x=\frac{-e-\sqrt{e^2-4\mathrm{df}}}{2d};$ L ₂₁when <0,

$x=\frac{-e+\sqrt{e^2-4\mathrm{df}}}{2d};$

According to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, plane coordinates (x by mobile terminal to be positioned in preferred coordinates system, y) (M, N) obtains the plane coordinates of mobile terminal to be positioned in preset coordinate system.

3 three-dimensional architecture devices of one that the embodiment of the present invention provides, comprising:

Memory cell, for pre-set space coordinate (a, the b in preset coordinate system of the each base station of storing communication system, H) information, described pre-set space coordinate (a, b, H) information comprises plane coordinates (a, the b) information in the height H of base station and plane that base station is 0 in height H;

Acquiring unit, for obtaining the pre-set space coordinate (a in preset coordinate system that receives three base stations that mobile terminal to be positioned transmits, b, H) information, described pre-set space coordinate (a, b, H) information comprises plane coordinates (a, the b) information in the height H of base station and plane that base station is 0 in height H;

Computing unit, for according to pre-set space coordinate (a, b, the H) information of three base stations, obtains described three base stations and arrives the range difference of mobile terminal to be positioned;

Positioning unit, for arriving the range difference of mobile terminal to be positioned according to described three base stations and presetting azimuth equation group, obtains the positional information of mobile terminal to be positioned.

In a specific embodiment of said apparatus, also comprise:

Pretreatment unit, for set up preferred coordinates system according to the pre-set space coordinate information of three base stations, make in preferred coordinates system, in three base stations, the plane coordinates of one of them base station is (0,0), ordinate b in the plane coordinates of another base station is that the height H of 0, three base station in preferred coordinates system is identical with the height H in preset coordinate system; And obtain the plane coordinates of three base stations in preferred coordinates systems;

Described computing unit, the specifically space coordinates information in preferred coordinates systems according to three base stations, the base station that obtains respectively other two base stations and plane coordinates and be (0,0) arrives the range difference of mobile terminal to be positioned;

Described default equation group is specially the default equation group that the space coordinates information based in preferred coordinates system is set up.

In a specific embodiment of said apparatus, the pre-set space coordinate information of three base stations is expressed as (a ₁, b ₁, H ₁), (a ₂, b ₂, H ₂) and (a ₃, b ₃, H ₃);

When described pretreatment unit obtains the plane coordinates of three base stations in preferred coordinates system, specifically with in preferred coordinates system, three base station midplane coordinate (a ₁, b ₁) be the base station of (0,0) as first base station, ordinate b ₂be that 0 base station is as second base station; And be the variation of the ordinate of 0 second base station according to variation and the ordinate b of the plane coordinates of first base station in being with preferred coordinates in preset coordinate system, obtain the plane coordinates (X of second base station in preferred coordinates system ₂, 0); And according to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, obtaining pre-set space coordinate information is (a ₃, b ₃, H ₃) the plane coordinates (X of the 3rd base station in preferred coordinates systems ₃, Y ₃).

In a specific embodiment of said apparatus, when described positioning unit obtains the positional information of mobile terminal to be positioned, specifically obtain the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system;

The default equation group that the described space coordinates information based in preferred coordinates system is set up comprises:

$L_1=\sqrt{{(X_1-x)}^2+{(Y_1-y)}^2+H_1^2}=\sqrt{x^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+H_1^2};$

$-2L_{21}{L}_1=L_{21}^2+H_1^2-{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+2X_{2}x;$ With

$-2L_{31}{L}_1=L_{31}^2+H_1^2-H_3^2-(X_3^2+Y_3^2)+2X_{3}x+2Y_{3}y;$

Wherein, L ₁for first base station arrives the distance of mobile terminal to be positioned, L ₂₁be the range difference that second base station and first base station arrive mobile terminal to be positioned, L ₃₁be the range difference that the 3rd base station and first base station arrive mobile terminal to be positioned, (x, y) is the plane coordinates of mobile terminal to be positioned in preferred coordinates system.

In a specific embodiment of said apparatus, when described positioning unit obtains the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system, specifically by

y=gx+h obtains the plane coordinates (x of mobile terminal to be positioned in preferred coordinates system, y), and according to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, plane coordinates (x by mobile terminal to be positioned in preferred coordinates system, y) (M, N) obtains the plane coordinates of mobile terminal to be positioned in preset coordinate system; Wherein:

g=[(L ₃₁X ₂)/L ₂₁-X ₃]/Y ₃；

$h=[X_3^2+Y_3^2+H_3^2-H_1^2-L_{31}^2+L_{31}{L}_{21}(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)]/2Y_3;$

d=-[(1-(X ₂/L ₂₁) ²)+g ²]；

$e=X_2(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)-2\mathrm{gh};$

$f=(L_{21}^2/4){(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)}^2-h^2-H_1^2;$

L ₂₁=L ₂-L ₁be greater than at 0 o'clock, $x=\frac{-e-\sqrt{e^2-4\mathrm{df}}}{2d};$ L ₂₁when <0,

$x=\frac{-e+\sqrt{e^2-4\mathrm{df}}}{2d}.$

3 three-dimensional base station positioning methods that provide based on the above embodiment of the present invention and device, the pre-set space coordinate information of setting up in preset coordinate system has in advance comprised the height H information of each base station, when mobile terminal is located, obtain the pre-set space coordinate (a in preset coordinate system that receives three base stations that mobile terminal to be positioned transmits, b, H) information, according to the pre-set space coordinate (a of these three base stations, b, H) information, obtain the range difference that three base stations arrive mobile terminal to be positioned, then in conjunction with the positional information that presets azimuth equation group and obtain mobile terminal to be positioned.Thus, when being located, mobile terminal incorporates the elevation information that participates in each base station of location, make the location of mobile terminal more accurately with accurate, solve the position error problem of not considering base station elevation information when mobile terminal being positioned based on TDOA location technology in prior art and cause, improved positioning precision.

Below by drawings and Examples, technical scheme of the present invention is described in further detail.

Accompanying drawing explanation

The accompanying drawing that forms a part for specification has been described embodiments of the invention, and is used from explanation principle of the present invention together with describing one.

With reference to accompanying drawing, according to detailed description below, can more be expressly understood the present invention, wherein:

Fig. 1 is the basic principle schematic of prior art and the mobile terminal positioning technology based on TDOA.

Fig. 2 is the flow chart of an embodiment of 3 three-dimensional base station positioning methods of the present invention.

Fig. 3 is the flow chart of 3 three-dimensional another embodiment of base station positioning method of the present invention.

Fig. 4 is three base stations distribution schematic diagram in preferred coordinates system in the embodiment of the present invention.

Fig. 5 is three base stations plane coordinates schematic diagram in preferred coordinates system in the embodiment of the present invention.

Fig. 6 is the structural representation of an embodiment of 3 three-dimensional architecture devices of the present invention.

Embodiment

Describe various exemplary embodiment of the present invention in detail now with reference to accompanying drawing.It should be noted that: unless illustrate in addition, the parts of setting forth in these embodiments and positioned opposite, numeral expression formula and the numerical value of step do not limit the scope of the invention.

, it should be understood that for convenience of description, the size of the various piece shown in accompanying drawing is not to draw according to actual proportionate relationship meanwhile.

Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the present invention and application or use.

May not discuss in detail for the known technology of person of ordinary skill in the relevant, method and apparatus, but in suitable situation, described technology, method and apparatus should be regarded as a part for specification.

In all examples with discussing shown here, it is exemplary that any occurrence should be construed as merely, rather than as restriction.Therefore, other example of exemplary embodiment can have different values.

It should be noted that: in similar label and letter accompanying drawing below, represent similar terms, therefore, once be defined in an a certain Xiang Yi accompanying drawing, in accompanying drawing subsequently, do not need it to be further discussed.

Fig. 2 is the flow chart of an embodiment of 3 three-dimensional base station positioning methods of the present invention.As shown in Figure 2, three of this embodiment three-dimensional base station positioning methods comprise:

210, obtain pre-set space coordinate (a, the b in the preset coordinate system that receive three base stations that mobile terminal to be positioned transmits, H) information, this pre-set space coordinate (a, b, H) information comprises plane coordinates (a, the b) information in the height H of base station and plane that base station is 0 in height H.

220, according to pre-set space coordinate (a, b, the H) information of three base stations, obtain three base stations and arrive the range difference of mobile terminal to be positioned.

230, arrive the range difference of mobile terminal to be positioned and preset azimuth equation group according to three base stations, obtain the positional information of mobile terminal to be positioned.

3 three-dimensional base station positioning methods that the above embodiment of the present invention provides, the pre-set space coordinate information of setting up in preset coordinate system has in advance comprised the height H information of each base station, when mobile terminal is located, obtain the pre-set space coordinate (a in preset coordinate system that receives three base stations that mobile terminal to be positioned transmits, b, H) information, according to the pre-set space coordinate (a of these three base stations, b, H) information, obtain the range difference that three base stations arrive mobile terminal to be positioned, then in conjunction with the positional information that presets azimuth equation group and obtain mobile terminal to be positioned.Thus, when being located, mobile terminal incorporates the elevation information that participates in each base station of location, make the location of mobile terminal more accurately with accurate, solve the position error problem of not considering base station elevation information when mobile terminal being positioned based on TDOA location technology in prior art and cause, improved positioning precision.

3 three-dimensional base station positioning methods specific embodiment according to the present invention, can also comprise:

Set up preferred coordinates system according to the pre-set space coordinate information of three base stations, make in preferred coordinates system, in three base stations, the plane coordinates of one of them base station is (0,0), ordinate b in the plane coordinates of another base station is that the height H of 0, three base station in preferred coordinates system is identical with the height H in preset coordinate system;

Obtain the plane coordinates of three base stations in preferred coordinates system.

Correspondingly, in operation 220, according to pre-set space coordinate (a, b, the H) information of three base stations, obtain the range difference that three base stations arrive mobile terminal to be positioned and specifically can realize in the following way:

Space coordinates information according to three base stations in preferred coordinates systems, the base station that obtains respectively other two base stations and plane coordinates and be (0,0) arrives the range difference of mobile terminal to be positioned;

Default equation group is specially the default equation group that the space coordinates information based in preferred coordinates system is set up.

Another specific embodiment of 3 three-dimensional base station positioning methods according to the present invention, the pre-set space coordinate information of three base stations can be expressed as (a ₁, b ₁, H ₁), (a ₂, b ₂, H ₂) and (a ₃, b ₃, H ₃);

Specifically can obtain in the following way the plane coordinates of three base stations in preferred coordinates system:

In preferred coordinates system, three base station midplane coordinate (a ₁, b ₁) be the base station of (0,0) as first base station, ordinate b ₂be that 0 base station is as second base station;

Be the variation of the ordinate of 0 second base station according to variation and the ordinate b of the plane coordinates of first base station in being with preferred coordinates in preset coordinate system, obtain the plane coordinates (X of second base station in preferred coordinates system ₂, 0);

According to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, obtaining pre-set space coordinate information is (a ₃, b ₃, H ₃) the plane coordinates (X of the 3rd base station in preferred coordinates systems ₃, Y ₃).

Another specific embodiment of 3 three-dimensional base station positioning methods according to the present invention, in operation 230, the positional information of obtaining mobile terminal to be positioned can be specifically: obtain the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system.Correspondingly, the default equation group that the space coordinates information based in preferred coordinates system is set up comprises:

$L_1=\sqrt{{(X_1-x)}^2+{(Y_1-y)}^2+H_1^2}=\sqrt{x^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+H_1^2};$

$-2L_{21}{L}_1=L_{21}^2+H_1^2-{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+2X_{2}x;$ With

$-2L_{31}{L}_1=L_{31}^2+H_1^2-H_3^2-(X_3^2+Y_3^2)+2X_{3}x+2Y_{3}y;$

Wherein, L ₁for first base station arrives the distance of mobile terminal to be positioned, L ₂₁be the range difference that second base station and first base station arrive mobile terminal to be positioned, L ₃₁be the range difference that the 3rd base station and first base station arrive mobile terminal to be positioned, (x, y) is the plane coordinates of mobile terminal to be positioned in preferred coordinates system.

Another specific embodiment of 3 three-dimensional base station positioning methods according to the present invention, obtains the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system and specifically can comprise:

By y=gx+h obtains the plane coordinates (x, y) of mobile terminal to be positioned in preferred coordinates system;

According to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, plane coordinates (x by mobile terminal to be positioned in preferred coordinates system, y) obtain the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system.Wherein:

g=[(L ₃₁X ₂)/L ₂₁-X ₃]/Y ₃；

$h=[X_3^2+Y_3^2+H_3^2-H_1^2-L_{31}^2+L_{31}{L}_{21}(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)]/2Y_3;$

d=-[(1-(X ₂/L ₂₁) ²)+g ²]；

$e=X_2(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)-2\mathrm{gh};$

$f=(L_{21}^2/4){(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)}^2-h^2-H_1^2;$

L ₂₁=L ₂-L ₁be greater than at 0 o'clock, $x=\frac{-e-\sqrt{e^2-4\mathrm{df}}}{2d};$ L ₂₁when <0,

$x=\frac{-e+\sqrt{e^2-4\mathrm{df}}}{2d}.$

Fig. 3 is the flow chart of 3 three-dimensional another embodiment of base station positioning method of the present invention.As shown in Figure 3, three of this embodiment three-dimensional base station positioning methods comprise:

310, obtain the pre-set space coordinate information in preset coordinate system that receives three base stations that mobile terminal to be positioned transmits, for ease of difference, suppose that the pre-set space coordinate information of these three base stations can be expressed as (a ₁, b ₁, H ₁), (a ₂, b ₂, H ₂) and (a ₃, b ₃, H ₃), comprising the elevation information of these three base stations and base station be highly plane coordinates information in 0 plane.

The distance of mobile terminal to be positioned and i antenna for base station is:

$L_i=\sqrt{{(a_i-M)}^2+{(b_i-N)}^2+{H_i}^2}---\left(1\right)$

In above-mentioned (1) formula, i=1,2,3.

Can obtain second, the 3rd base station and first base station to the difference of the distance of terminal to be positioned is by (1) formula:

$L_{i1}=L_i-L_1=L_i=\sqrt{{(a_i-M)}^2+{(b_i-N)}^2+{{\mathrm{<figure-callout\; id="2"\; label="H\; i"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_i}^2}$

$-\sqrt{{(a_1-M)}^2+{(b_1-N)}^2+{H_1}^2}---\left(2\right)$

In above-mentioned formula (2), i=1,2.

Therefore, accurately locate, need simultaneous to go out Hyperbolic Equation group, its intersection point is exactly the physical location of mobile terminal transmitting terminal to be positioned.Because Hyperbolic Equation is the nonlinear equation of a binary quadratic equation, computational process complexity while solving, in order to simplify calculating, in the embodiment of the present invention nonlinear equation linearisation.According to above-mentioned formula (2), by L _i=L _i1+ L ₁after square expansion of both sides, deduct simultaneously

after can obtain:

$L_{i1}^2+2L_{i1}{L}_1={a_{\mathrm{<figure-callout\; id="2"\; label="i"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">i</figure-callout>}}}^2+{b_i}^2-2a_{i1}M-2b_{i1}N-{a_1}^2-{b_1}^2+{H_i}^2-{H_1}^2---\left(3\right)$

In above-mentioned formula (3), a _i1=a _i-a ₁, b _i1=b _i-b ₁.

320, for simplified operation, without loss of generality, set up preferred coordinates system according to the pre-set space coordinate information of three base stations, three base stations are placed in to this preferred coordinates system, make in preferred coordinates system, in three base stations, the plane coordinates of one of them base station is (0,0), the ordinate b in the plane coordinates of another base station is that the height H of 0, three base station in preferred coordinates system is identical with the height H in preset coordinate system.

330, in preferred coordinates system, three base station midplane coordinate (a ₁, b ₁) be that the base station of (0,0) is as first base station (BS1), ordinate b ₂be 0 base station as second base station (BS2), another pre-set space coordinate information is (a ₃, b ₃, H ₃) base station as the 3rd base station (BS3), according to the variation of plane coordinates of first base station and the variation of the ordinate of second base station in preferred coordinates being, obtain the plane coordinates (X of second base station in preferred coordinates system in preset coordinate system ₂, 0).

340, according to the variation of the plane coordinates of first base station in preferred coordinates being and second base station, obtain the plane coordinates (X of the 3rd base station in preferred coordinates system in preset coordinate system ₃, Y ₃).

As shown in Figure 4, the distribution schematic diagrams that are three base stations in preferred coordinates system, the wherein coordinate of three base stations and be highly respectively BS1(X ₁, Y ₁, H ₁), BS2(X ₂, Y ₂, H ₂), BS3(X ₃, Y ₃, H ₃).

As shown in Figure 5, be the plane coordinates schematic diagrames of three base stations in preferred coordinates system.Wherein the plane coordinates of three base stations is respectively: BS1 (0,0), BS2 (X ₂, 0), BS3 (X ₃, Y ₃).

Suppose that the plane coordinates of mobile terminal to be positioned in preferred coordinates systems is expressed as (x, y), in above-mentioned formula, a _i1, b _i1, L ₁can obtain following simplification:

X _i1＝X _i-X ₁＝X _i，Y _i1＝Y _i-Y ₁＝Y _i（4）

$L_1=\sqrt{{(X_1-x)}^2+{(Y_1-y)}^2+H_1^2}=\sqrt{x^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+H_1^2}---\left(5\right)$

350, the space coordinates information according to three base stations in preferred coordinates systems, obtains respectively second, the 3rd each and every one base station and first base station and arrives the range difference of mobile terminal to be positioned.

Can in preferred coordinates system, be reduced to for above-mentioned formula (3):

$-2L_{21}{L}_1=L_{21}^2+H_1^2-{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+2X_{2}x---\left(6\right)$

$-2L_{31}{L}_1=L_{31}^2+H_1^2-H_3^2-(X_3^2+Y_3^2)+2X_{3}x+2Y_{3}y---\left(7\right)$

Above-mentioned (5), (6), (7) formula are the default equation group that the space coordinates information based in preferred coordinates system is set up, and (5), (6), (7) formula simultaneous can be solved to L ₁, x, the ternary quadratic equation group of y.

Formula (6) formula is multiplied by L ₃₁after, and (7) formula is multiplied by L ₂₁the result obtaining is subtracted each other, can cancellation unknown number L ₁, after arrangement, can be simplified result:

y＝gx+h （8）

Wherein, g=[(L ₃₁x ₂)/L ₂₁-X ₃]/Y ₃,

$h=[X_3^2+Y_3^2+H_3^2-H_1^2-L_{31}^2+L_{31}{L}_{21}(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)]/2Y_3$

By (8) formula substitution (5) formula cancellation unknown number y, arrangement can obtain the quadratic equation about x:

dx ²+ex+f=0（9）

Wherein, $d=-[(1-{({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2/L_{21})}^2)+g^2],e=X_2(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)-2\mathrm{gh},$

$f=(L_{21}^2/4){(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)}^2-h^2-H_1^2$

Solve:

$x=\frac{-e\&PlusMinus;\sqrt{e^2-4\mathrm{df}}}{2d}---\left(10\right)$

According to prior information, that is: L ₂₁=L ₂-L ₁sign, work as L ₂₁when >0, get negative sign, that is: $x=\frac{-e-\sqrt{e^2-4\mathrm{df}}}{2d};$ Otherwise, L ₂₁when <0, get positive sign, that is: $x=\frac{-e+\sqrt{e^2-4\mathrm{df}}}{2d}.$

Above-mentioned formula (10) substitution (8) formula can be obtained to y value.

360, arrive the range difference of mobile terminal to be positioned and preset azimuth equation group according to three base stations, by

y=gx+h obtains the plane coordinates (x, y) of mobile terminal to be positioned in preferred coordinates system.

370, according to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, plane coordinates (x by mobile terminal to be positioned in preferred coordinates system, y) obtain the plane coordinates (M of mobile terminal to be positioned in preset coordinate system, N), thus obtain the positional information of mobile terminal to be positioned in preset coordinate system.Can also, further according to the plane coordinates in preset coordinate system and the corresponding relation between latitude and longitude coordinates, be obtained the latitude and longitude coordinates of mobile terminal to be positioned by this plane coordinates (M, N).

Fig. 6 is the structural representation of an embodiment of 3 three-dimensional architecture devices of the present invention.3 three-dimensional architecture devices of this embodiment can be used in the present invention above-mentioned each 3 three-dimensional base station positioning method flow processs.These 3 three-dimensional architecture devices can exemplarily be arranged in locating platform.As shown in Figure 6, it comprises memory cell 610, acquiring unit 620, computing unit 630 and positioning unit 640.

Wherein, memory cell 610, for the pre-set space coordinate (a in preset coordinate system of the each base station of storing communication system, b, H) information, this pre-set space coordinate (a, b, H) information comprises plane coordinates (a, the b) information in the height H of base station and plane that base station is 0 in height H.

Acquiring unit 620, for obtain the pre-set space coordinate (a in preset coordinate system that receives three base stations that mobile terminal to be positioned transmits from memory cell 610, b, H) information, this pre-set space coordinate (a, b, H) information comprises plane coordinates (a, the b) information in the height H of base station and plane that base station is 0 in height H.

Computing unit 630, for pre-set space coordinate (a, b, the H) information of three base stations getting according to acquiring unit 620, obtains three base stations and arrives the range difference of mobile terminal to be positioned.

Positioning unit 640, arrives the range difference of mobile terminal to be positioned and presets azimuth equation group for three base stations that calculate according to computing unit 630, obtains the positional information of mobile terminal to be positioned.

3 three-dimensional architecture devices that the above embodiment of the present invention provides, the pre-set space coordinate information of setting up in preset coordinate system has in advance comprised the height H information of each base station, when mobile terminal is located, obtain the pre-set space coordinate (a in preset coordinate system that receives three base stations that mobile terminal to be positioned transmits, b, H) information, according to the pre-set space coordinate (a of these three base stations, b, H) information, obtain the range difference that three base stations arrive mobile terminal to be positioned, then in conjunction with the positional information that presets azimuth equation group and obtain mobile terminal to be positioned.Thus, when being located, mobile terminal incorporates the elevation information that participates in each base station of location, make the location of mobile terminal more accurately with accurate, solve the position error problem of not considering base station elevation information when mobile terminal being positioned based on TDOA location technology in prior art and cause, improved positioning precision.

Exemplarily, memory cell 610 can be stored each Base Station Identification (ID) of the each base station of unique identification and the base station of correspondence pre-set space coordinate (a, b, the H) information in preset coordinate system.Mobile terminal to be positioned transmit and receive multiple base stations for this response message transmitting after, can from this response message, obtain the base station IDs of the plurality of base station, and therefrom select three base station IDs and report acquiring unit 620, obtain the pre-set space coordinate (a preset coordinate system of this three base stations according to base station IDs from memory cell 610 by acquiring unit 620, b, H) information.After the positional information of positioning unit 640 these mobile terminals to be positioned of acquisition, can feed back to this mobile terminal to be positioned.

Again referring to Fig. 6, in another embodiment of 3 three-dimensional architecture devices of the present invention, can also comprise pretreatment unit 650, the pre-set space coordinate information that is used for three base stations that get according to acquiring unit 620 is set up preferred coordinates system, make in preferred coordinates system, in these three base stations, the plane coordinates of one of them base station is (0,0), ordinate b in the plane coordinates of another base station is that the height H of 0, three base station in preferred coordinates system is identical with the height H in preset coordinate system; And obtain the plane coordinates of three base stations in preferred coordinates systems.Correspondingly, computing unit 630, the specifically space coordinates information in preferred coordinates systems according to these three base stations, the base station that obtains respectively other two base stations and plane coordinates and be (0,0) arrives the range difference of mobile terminal to be positioned.Default equation group in this embodiment is specially the default equation group that the space coordinates information based in preferred coordinates system is set up.

Another embodiment of 3 three-dimensional architecture devices according to the present invention, the pre-set space coordinate information of three base stations can be expressed as (a ₁, b ₁, H ₁), (a ₂, b ₂, H ₂) and (a ₃, b ₃, H ₃).When pretreatment unit 650 obtains the plane coordinates of three base stations in preferred coordinates system, specifically can be with in preferred coordinates system, three base station midplane coordinate (a ₁, b ₁) be the base station of (0,0) as first base station, ordinate b ₂be that 0 base station is as second base station; And be the variation of the ordinate of 0 second base station according to variation and the ordinate b of the plane coordinates of first base station in being with preferred coordinates in preset coordinate system, obtain the plane coordinates (X of second base station in preferred coordinates system ₂, 0); And according to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, obtaining pre-set space coordinate information is (a ₃, b ₃, H ₃) the plane coordinates (X of the 3rd base station in preferred coordinates systems ₃, Y ₃).

Another embodiment of 3 three-dimensional architecture devices according to the present invention, when positioning unit 640 obtains the positional information of mobile terminal to be positioned, specifically can obtain the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system.In this embodiment, the default equation group that the space coordinates information based in preferred coordinates system is set up comprises:

$L_1=\sqrt{{(X_1-x)}^2+{(Y_1-y)}^2+H_1^2}=\sqrt{x^2+{\mathrm{<figure-callout\; id="2"\; label="y"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">y</figure-callout>}}^2+H_1^2};$

$-2L_{21}{L}_1=L_{21}^2+H_1^2-{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+2X_{2}x;$ With

$-2L_{31}{L}_1=L_{31}^2+H_1^2-H_3^2-(X_3^2+Y_3^2)+2X_{3}x+2Y_{3}y;$

Wherein, L ₁for first base station arrives the distance of mobile terminal to be positioned, L ₂₁be the range difference that second base station and first base station arrive mobile terminal to be positioned, L ₃₁be the range difference that the 3rd base station and first base station arrive mobile terminal to be positioned, (x, y) is the plane coordinates of mobile terminal to be positioned in preferred coordinates system.

Another embodiment of 3 three-dimensional architecture devices according to the present invention, when positioning unit 640 obtains the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system, specifically can be by

y=gx+h obtains the plane coordinates (x of mobile terminal to be positioned in preferred coordinates system, y), and according to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, plane coordinates (x by mobile terminal to be positioned in preferred coordinates system, y) (M, N) obtains the plane coordinates of mobile terminal to be positioned in preset coordinate system; Wherein:

g=[(L ₃₁X ₂)/L ₂₁-X ₃]/Y ₃；

$h=[X_3^2+Y_3^2+H_3^2-H_1^2-L_{31}^2+L_{31}{L}_{21}(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)]/2Y_3;$

d=-[(1-(X ₂/L ₂₁) ²)+g ²]；

$e=X_2(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)-2\mathrm{gh};$

$f=(L_{21}^2/4){(1-({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">X</figure-callout>}}_2^2+{\mathrm{<figure-callout\; id="2"\; label="H"\; filenames="HDA00002533360100011.png"\; state="\{\{state\}\}">H</figure-callout>}}_2^2-H_1^2)/L_{21}^2)}^2-h^2-H_1^2;$

L ₂₁=L ₂-L ₁be greater than at 0 o'clock, $x=\frac{-e-\sqrt{e^2-4\mathrm{df}}}{2d};$ L ₂₁when <0,

$x=\frac{-e+\sqrt{e^2-4\mathrm{df}}}{2d}.$

In this specification, each embodiment all adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment, same or analogous part cross-references between each embodiment.For device embodiment, because it is substantially similar to embodiment of the method, so description is fairly simple, relevant part is referring to the part explanation of embodiment of the method.

May realize in many ways method and apparatus of the present invention.For example, can realize method and apparatus of the present invention by any combination of software, hardware, firmware or software, hardware, firmware.The said sequence that is used for the step of described method is only in order to describe, and the step of method of the present invention is not limited to above specifically described order, unless otherwise specified.In addition, in certain embodiments, can be also the program being recorded in recording medium by the invention process, these programs comprise the machine readable instructions for realizing the method according to this invention.Thereby the present invention also covers the recording medium of storing the program for carrying out the method according to this invention.

One of ordinary skill in the art will appreciate that: all or part of step that realizes said method embodiment can complete by the relevant hardware of program command, aforesaid program can be stored in a computer read/write memory medium, this program, in the time carrying out, is carried out the step that comprises said method embodiment; And aforesaid storage medium comprises: various media that can be program code stored such as ROM, RAM, magnetic disc or CDs.

The embodiment of the present invention obtains on the algorithm of position of mobile terminal adopting in conventional TDOA method, and the elevation information of each base station is incorporated to algorithm, does not consider base station elevation information and the position error problem that causes while solving thus TDOA location in prior art.

Description of the invention provides for example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is for better explanation principle of the present invention and practical application, thereby and makes those of ordinary skill in the art can understand the present invention's design to be suitable for the various embodiment with various modifications of special-purpose.

Claims (10)

1. 3 three-dimensional base station positioning methods, is characterized in that, comprising:

Obtain pre-set space coordinate (a, b, the H) information in preset coordinate system that receives three base stations that mobile terminal to be positioned transmits, described pre-set space coordinate (a, b, H) information comprises plane coordinates (a, the b) information in the height H of base station and plane that base station is 0 in height H;

According to pre-set space coordinate (a, b, the H) information of three base stations, obtain described three base stations and arrive the range difference of mobile terminal to be positioned;

Arrive the range difference of mobile terminal to be positioned and preset azimuth equation group according to described three base stations, obtaining the positional information of mobile terminal to be positioned.

2. method according to claim 1, is characterized in that, also comprises:

Set up preferred coordinates system according to the pre-set space coordinate information of three base stations, make in preferred coordinates system, in three base stations, the plane coordinates of one of them base station is (0,0), ordinate b in the plane coordinates of another base station is that the height H of 0, three base station in preferred coordinates system is identical with the height H in preset coordinate system;

Obtain the plane coordinates of three base stations in preferred coordinates system;

According to pre-set space coordinate (a, b, the H) information of three base stations, obtain the range difference that described three base stations arrive mobile terminal to be positioned and be specially:

Space coordinates information according to three base stations in preferred coordinates systems, the base station that obtains respectively other two base stations and plane coordinates and be (0,0) arrives the range difference of mobile terminal to be positioned;

Described default equation group is specially the default equation group that the space coordinates information based in preferred coordinates system is set up.

3. method according to claim 2, is characterized in that, the pre-set space coordinate information of three base stations is expressed as (a ₁, b ₁, H ₁), (a ₂, b ₂, H ₂) and (a ₃, b ₃, H ₃);

The described plane coordinates that obtains three base stations in preferred coordinates system comprises:

In preferred coordinates system, three base station midplane coordinate (a ₁, b ₁) be the base station of (0,0) as first base station, ordinate b ₂be that 0 base station is as second base station;

Be the variation of the ordinate of 0 second base station according to variation and the ordinate b of the plane coordinates of first base station in being with preferred coordinates in preset coordinate system, obtain the plane coordinates (X of second base station in preferred coordinates system ₂, 0);

According to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, obtaining pre-set space coordinate information is (a ₃, b ₃, H ₃) the plane coordinates (X of the 3rd base station in preferred coordinates systems ₃, Y ₃).

4. method according to claim 3, is characterized in that, the positional information of obtaining mobile terminal to be positioned is specially: obtain the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system;

The default equation group that space coordinates information based in preferred coordinates system is set up comprises:

$L_1=\sqrt{{(X_1-x)}^2+{(Y_1-y)}^2+H_1^2}=\sqrt{x^2+y^2+H_1^2};$

$-2L_{21}{L}_1=L_{21}^2+H_1^2-H_2^2-X_2^2+2X_{2}x;$ With

$-2L_{31}{L}_1=L_{31}^2+H_1^2-H_3^2-(X_3^2+Y_3^2)+2X_{3}x+2Y_{3}y;$

Wherein, L ₁for first base station arrives the distance of mobile terminal to be positioned, L ₂₁be the range difference that second base station and first base station arrive mobile terminal to be positioned, L ₃₁be the range difference that the 3rd base station and first base station arrive mobile terminal to be positioned, (x, y) is the plane coordinates of mobile terminal to be positioned in preferred coordinates system.

5. method according to claim 4, is characterized in that, obtains the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system and comprising:

By

y=gx+h obtains the plane coordinates (x, y) of mobile terminal to be positioned in preferred coordinates system, wherein:

g=[(L ₃₁X ₂)/L ₂₁-X ₃]/Y ₃；

$h=[X_3^2+Y_3^2+H_3^2-H_1^2-L_{31}^2+L_{31}{L}_{21}(1-(X_2^2+H_2^2-H_1^2)/L_{21}^2)]/2Y_3;$

d=-[(1-(X ₂/L ₂₁) ²)+g ²]；

$e=X_2(1-(X_2^2+H_2^2-H_1^2)/L_{21}^2)-2\mathrm{gh};$

$f=(L_{21}^2/4){(1-(X_2^2+H_2^2-H_1^2)/L_{21}^2)}^2-h^2-H_1^2;$

L ₂₁=L ₂-L ₁be greater than at 0 o'clock, $x=\frac{-e-\sqrt{e^2-4\mathrm{df}}}{2d};$ L ₂₁when <0,

$x=\frac{-e+\sqrt{e^2-4\mathrm{df}}}{2d};$

According to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, plane coordinates (x by mobile terminal to be positioned in preferred coordinates system, y) (M, N) obtains the plane coordinates of mobile terminal to be positioned in preset coordinate system.

6. 3 three-dimensional architecture devices, is characterized in that, comprising:

Memory cell, for pre-set space coordinate (a, the b in preset coordinate system of the each base station of storing communication system, H) information, described pre-set space coordinate (a, b, H) information comprises plane coordinates (a, the b) information in the height H of base station and plane that base station is 0 in height H;

Acquiring unit, for obtaining the pre-set space coordinate (a in preset coordinate system that receives three base stations that mobile terminal to be positioned transmits, b, H) information, described pre-set space coordinate (a, b, H) information comprises plane coordinates (a, the b) information in the height H of base station and plane that base station is 0 in height H;

Computing unit, for according to pre-set space coordinate (a, b, the H) information of three base stations, obtains described three base stations and arrives the range difference of mobile terminal to be positioned;

Positioning unit, for arriving the range difference of mobile terminal to be positioned according to described three base stations and presetting azimuth equation group, obtains the positional information of mobile terminal to be positioned.

7. device according to claim 6, is characterized in that, also comprises:

Pretreatment unit, for set up preferred coordinates system according to the pre-set space coordinate information of three base stations, make in preferred coordinates system, in three base stations, the plane coordinates of one of them base station is (0,0), ordinate b in the plane coordinates of another base station is that the height H of 0, three base station in preferred coordinates system is identical with the height H in preset coordinate system; And obtain the plane coordinates of three base stations in preferred coordinates systems;

Described computing unit, the specifically space coordinates information in preferred coordinates systems according to three base stations, the base station that obtains respectively other two base stations and plane coordinates and be (0,0) arrives the range difference of mobile terminal to be positioned;

Described default equation group is specially the default equation group that the space coordinates information based in preferred coordinates system is set up.

8. device according to claim 7, is characterized in that, the pre-set space coordinate information of three base stations is expressed as (a ₁, b ₁, H ₁), (a ₂, b ₂, H ₂) and (a ₃, b ₃, H ₃);

When described pretreatment unit obtains the plane coordinates of three base stations in preferred coordinates system, specifically with in preferred coordinates system, three base station midplane coordinate (a ₁, b ₁) be the base station of (0,0) as first base station, ordinate b ₂be that 0 base station is as second base station; And be the variation of the ordinate of 0 second base station according to variation and the ordinate b of the plane coordinates of first base station in being with preferred coordinates in preset coordinate system, obtain the plane coordinates (X of second base station in preferred coordinates system ₂, 0); And according to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, obtaining pre-set space coordinate information is (a ₃, b ₃, H ₃) the plane coordinates (X of the 3rd base station in preferred coordinates systems ₃, Y ₃).

9. device according to claim 8, is characterized in that, when described positioning unit obtains the positional information of mobile terminal to be positioned, specifically obtains the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system;

The default equation group that the described space coordinates information based in preferred coordinates system is set up comprises:

$L_1=\sqrt{{(X_1-x)}^2+{(Y_1-y)}^2+H_1^2}=\sqrt{x^2+y^2+H_1^2};$

$-2L_{21}{L}_1=L_{21}^2+H_1^2-H_2^2-X_2^2+2X_{2}x;$ With

$-2L_{31}{L}_1=L_{31}^2+H_1^2-H_3^2-(X_3^2+Y_3^2)+2X_{3}x+2Y_{3}y;$

Wherein, L ₁for first base station arrives the distance of mobile terminal to be positioned, L ₂₁be the range difference that second base station and first base station arrive mobile terminal to be positioned, L ₃₁be the range difference that the 3rd base station and first base station arrive mobile terminal to be positioned, (x, y) is the plane coordinates of mobile terminal to be positioned in preferred coordinates system.

10. device according to claim 9, is characterized in that, when described positioning unit obtains the plane coordinates (M, N) of mobile terminal to be positioned in preset coordinate system, specifically by

y=gx+h obtains the plane coordinates (x of mobile terminal to be positioned in preferred coordinates system, y), and according to the variation of the plane coordinates of first base station in preset coordinate system with preferred coordinates being and second base station, plane coordinates (x by mobile terminal to be positioned in preferred coordinates system, y) (M, N) obtains the plane coordinates of mobile terminal to be positioned in preset coordinate system; Wherein:

g=[(L ₃₁X ₂)/L ₂₁-X ₃]/Y ₃；

$h=[X_3^2+Y_3^2+H_3^2-H_1^2-L_{31}^2+L_{31}{L}_{21}(1-(X_2^2+H_2^2-H_1^2)/L_{21}^2)]/2Y_3;$

d=-[(1-(X ₂/L ₂₁) ²)+g ²]；

$e=X_2(1-(X_2^2+H_2^2-H_1^2)/L_{21}^2)-2\mathrm{gh};$

$f=(L_{21}^2/4){(1-(X_2^2+H_2^2-H_1^2)/L_{21}^2)}^2-h^2-H_1^2;$

L ₂₁=L ₂-L ₁be greater than at 0 o'clock, $x=\frac{-e-\sqrt{e^2-4\mathrm{df}}}{2d};$ L ₂₁when <0,

$x=\frac{-e+\sqrt{e^2-4\mathrm{df}}}{2d}.$

Images