CN103987117A - Signal transmitting station locating method based on mobile terminal monitoring - Google Patents
Signal transmitting station locating method based on mobile terminal monitoring Download PDFInfo
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Abstract
The invention discloses a signal transmitting station locating method based on mobile terminal monitoring. The method comprises the following steps that signals of a target station are received at different geographic positions, and geographic position information and time information are obtained; reference points are selected in multiple monitoring points according to signals at different geographic positions, a TDOA equation is established through the geographic position information and the time information; the TDOA equation is simplified and the coordinates of the target platform are estimated. According to the signal transmitting station locating method based on the mobile terminal monitoring, a single movable mobile terminal is utilized to complete location of the target station and obtain accurate location results.
Description
Technical field
The present invention relates to a kind of signal transmitting station method for position of standing firm, particularly a kind of signal transmitting station based on mobile terminal monitoring method for position of standing firm, belongs to wireless communication technology field.
Background technology
At present, along with the explosive increase of present stage radio traffic, it is complicated all the more that aerial spectrum environment becomes, and for the supervision of radio-frequency spectrum, becomes and have challenge.Under spectrum environment complicated and changeable, no matter for government or civilian, the supervision with radio-frequency spectrum environment is become to particularly important.Not only to store to the received signal and analyze and also need the estimation to signal transmitting station station location simultaneously.And applied location technology can be referred to as Passive Positioning technology in radio-frequency spectrum supervision.
Traditional location technology is generally divided into two steps, first needs to obtain the relevant parameter of localizing objects, needs afterwards according to the parameter obtaining, the position of target to be estimated.Different according to the parameter that obtains target, there is the ripple of being divided into reach time difference estimation (Time Difference of Arrival, be called for short TDOA), ripple reaches time Estimate (TOA), and weighting vector is estimated (AOA) and received signal strength estimation (RSS).In traditional location technology, TDOA technology is the most often used by people, and this method can effectively reduce the impact of the error producing while obtaining time stamp, and can obtain estimated result very accurately.
Traditional TDOA key problem in technology problem is the time difference that obtains time delay between different monitoring locations.By time difference information, in conjunction with the constant such as the light velocity, build Hyperbolic Equation, to equation solution to reach the object to transmitting station location estimation.Because least square method is that very classical method solves for maximal possibility estimation, therefore general, in the technical scheme of TDOA, conventionally adopt least square method to come the position of estimating target.First by equation of higher degree abbreviation, be linear equation, apply again afterwards young waiter in a wineshop or an inn's method, adopt the mode of matrix to equation solution.
In the Chinese patent that is 00805796.6 in the patent No., disclosing the method and apparatus of mobile position estimation in a kind of Synchronization Network, is also Passive Positioning technology.Wherein at distant station, utilize the reference pilot signal difference time of advent to position as time reference.Wherein according to these, measure the position that determines distant station, this invention is classified as to TDOA problem.This technology main innovate point is to build TDOA equation by the difference time of advent of pilot signal, thereby reaches the object to Target Station location estimation.From this patent, can find out, the time difference how obtaining between Target Station and receiving platform is the emphasis of TDOA technology.In addition, in the Chinese invention patent that is 201010598701.1 in the patent No., disclose a kind of based on monitoring node be circle distribution TDOA algorithm.In this patent, mainly solve, when utilizing least square method to solve linear equation, if monitoring node is circle distribution and destination node can cause the problem that position error is larger in the radius of 0.2 times, the center of circle.From this piece of patent, can find out, when can obtaining time difference information, need to solve by the innovative point of some technology the problem that may run in solving equation.
To sum up, for existing TDOA technology, analyze, find that present stage all TDOA location technologies are all aimed at a plurality of monitoring stations and receive signal simultaneously, thereby reach the object of the localizing objects station.That is to say, traditional a plurality of monitoring stations of TDOA specification requirement, synchronous mutually, the signal simultaneously receiving is processed, thereby obtains the information that signal arrives each monitoring point delay inequality.After obtaining time difference information, build equation solution, the position of the estimating target station.Yet sometimes, need to carry out location estimation to the illegal station, set up a plurality of monitoring points signal is monitored to consumes resources.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention is: adopt single movably mobile terminal to complete the location to the target station, obtain positioning result accurately.
(2) technical scheme
For solving the problems of the technologies described above, the invention provides a kind of signal transmitting station based on mobile terminal monitoring method for position of standing firm, comprise the steps:
At the signal of the diverse geographic location receiving target station, obtain geographical location information and temporal information;
According to the signal of diverse geographic location, in a plurality of monitoring points, choose reference point;
By geographical location information and temporal information, build TDOA equation;
Abbreviation TDOA equation estimating target platform coordinate.
Wherein more preferably, described reference point is the monitoring point that signal strength signal intensity is the strongest.
Wherein more preferably, the described step by geographical location information and temporal information structure TDOA equation further comprises:
Calculate the delay inequality information between other monitoring points and reference point;
Obtain the poor of the distance of each monitoring point to the distance of the target station and reference point to the target station;
In conjunction with TDOA technique construction Hyperbolic Equation abbreviation.
Wherein more preferably, described delay inequality information exchange is crossed following formula calculating:
Δτ
i.1＝d
i-d
1
Wherein, Δ τ
i.1represent the delay inequality between monitoring point and reference point, d
irepresent that the target station is to the transmission delay of monitoring point time signal, d
1represent that the target station is to the transmission delay of reference point time signal.
Wherein more preferably, the difference of described monitoring point to the distance of the target station and reference point to the distance of the target station is calculated as follows:
r
i,1＝r
i-r
1＝Δτ
i,1c＝(d
i-d
1)c
Wherein, r
i, 1the range difference that represents current i monitoring point and reference point, r
1represent that the target station is to the distance of reference point, Δ τ
i.1represent current monitoring point and the delay inequality between reference point, c represents electromagnetic wave propagation velocity constant, d
irepresent that the target station is to the transmission delay of monitoring point time signal, d
1represent that the target station is to the transmission delay of reference point time signal.
Wherein more preferably, the step of described structure Hyperbolic Equation abbreviation further comprises:
(1) distance, according to monitoring point to the distance of the target station and reference point to the target station poor, as follows in conjunction with TDOA technique construction Hyperbolic Equation:
(x
i-x)
2+(y
i-y)
2+(z
i-z)
2＝r
i,1 2+2r
i,1r
1+(x
1-x)
2+(y
1-y)
2+(z
1-z)
2
Wherein, wherein (x, y, z) represents the true coordinate of the target station, (x
1, y
1, z
1) represent the true coordinate of reference point, (x
i, y
i, z
i) represent the true coordinate of i monitoring point, r
i, 1the range difference that represents current i monitoring point and reference point, r
1represent that the target station is to the distance of reference point;
(2), adopt CHAN algorithm abbreviation Hyperbolic Equation as follows:
Wherein (x, y, z) represents the true coordinate of the target station, (x
i, y
i, z
i) represent the true coordinate of i monitoring point, K
irepresent i monitoring point from origin of coordinates distance square, K
1represent reference point point from origin of coordinates distance square, r
i, 1the range difference that represents current i monitoring point and reference point, r
1represent that the target station is to the distance of reference point time signal, x
i, 1the abscissa range difference that represents i monitoring point and reference point, y
i, 1the ordinate range difference that represents i monitoring point and reference point, z
i,
1the ordinate range difference that represents i monitoring point and reference point;
(3), conversion Hyperbolic Equation is as follows:
G·Ψ＝h
Wherein, h represents constant vector, and Ψ represents Target Station station coordinates information vector, and G represents coefficient matrix;
(4), according to least square method, the estimated value of trying to achieve maximum likelihood is as follows:
Ψ＝(G
T·G)
-1·G·h
Wherein, Ψ represents Target Station station coordinates information vector, G
tthe transposed matrix of representing matrix G.
Wherein more preferably, the step of described abbreviation TDOA equation comprises:
Remove the geographical position ordinate of monitoring point.
Wherein more preferably,, target platform coordinate is calculated as follows:
r
i,1 2+2r
i,1r
1＝-2x
i,1x-2y
i,1y+K
i-K
1
Wherein, (x, y) represents the coordinate of the target station, r
i, 1the range difference that represents current i monitoring point and reference point, K
irepresent that i monitoring point is from the distance of the origin of coordinates, K
1represent that reference point point is from the distance of the origin of coordinates.
Wherein more preferably, the step of described abbreviation TDOA equation estimating target platform coordinate also further comprises the step of the data screening that monitoring point is gathered, and specifically comprises:
Calculate the ultimate range between monitoring point and target platform;
The data that gather to the relation screening monitoring point between the ultimate range between the distance between reference point and monitoring point and target platform according to monitoring point.
Wherein more preferably, the ultimate range between described monitoring point and target platform is calculated as follows:
r
max＝T
frame·c
Wherein, r
maxrepresent the ultimate range between monitoring point and target platform, T
framerepresent the known signal cycle, c represents electromagnetic wave propagation velocity constant.
(3) beneficial effect
The signal transmitting station based on mobile terminal monitoring the providing of the present invention method for position of standing firm, by a mobile terminal, obtain self position and correct time information, with the time difference information obtaining, build TDOA equation, and by least square method, solve after abbreviation TDOA equation.By a kind of mode of reduced equation, exempt the impact of the larger error of ordinate on result, the position of the broadband wireless digital signal transmitting station is accurately estimated.
Accompanying drawing explanation
Fig. 1 is the elimination error location method flow schematic diagram that the present invention is based on mobile terminal monitoring;
Fig. 2 is vehicle mobile terminals system function module schematic diagram of the present invention;
Fig. 3 is that monitoring point of the present invention and Target Station station location are related to schematic diagram;
Fig. 4 the present invention is based on sequential schematic diagram between the elimination error location of mobile terminal monitoring.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
The invention provides a kind of elimination error location method based on mobile terminal monitoring, as shown in Figure 1, specifically comprise the steps: the signal in the diverse geographic location receiving target station, obtain geographical location information and temporal information; By the signal electing reference point of diverse geographic location; By geographical location information and temporal information, build TDOA equation; Abbreviation TDOA equation estimating target platform coordinate.The present invention is launched to detailed explanation below.
First, introduce the signal in the diverse geographic location receiving target station, obtain the step of geographical location information and temporal information.
As shown in Figure 2, for fear of a plurality of monitoring points, signal is detected to consumes resources, the present invention utilizes single vehicle mobile terminals (each mobile terminal is a signal receiver), in different geographical position, the signal of the wireless universal wideband digital signal transmitting station (hereinafter to be referred as the target station) transmitting is received.This vehicle mobile terminals mainly comprises Receiver Module, time-obtaining module, synchronization module, position acquisition module, information recording module.The positional information that wherein position acquisition module is obtained current monitoring point can adopt carries GPS and realizes.As shown in Figure 3, detailed process is as follows:
1, utilize position acquisition module to obtain the geographical location information that each receives place.The geographical location information of each acceptance point is recorded by logging modle, afterwards the signal receiving is analyzed.The present invention is defined as (x by the position of each acceptance point
i, y
i, z
i).Wherein subscript i represents that i receives place.The general information that only needs 5 to 6 acceptance points that location distribution is relatively disperseed, can the localizing objects station.
2, data utilize synchronization module synchronous to the received signal.Due to target station transmitting be China Digital TV broadcast singal, by existing technology, by synchronization module, can carry out to the received signal synchronously.Utilize the local pseudo random sequence generating to synchronize with reception burst, obtain and receive each frame head which bit, i.e. time stab information of this frame head in whole reception burst in burst.
3, the time stab information by each monitoring point obtains the concrete time stab information that each monitoring point is synchronized to each frame head.Concrete time stab information during reception that the present invention obtains in conjunction with the time-obtaining module of each monitoring point, utilize receiver to receive the time of first bit of burst, and the position of each frame head in whole reception burst, can obtain the precise time of each frame head when received machine receives.Finally can obtain the concrete time stab information that each monitoring point is synchronized to each frame head.By the timing definition of the concrete frame head receiving on each monitoring point, be t
sync_i, and the time that the hypothetical target station is launched this signal be t
trans_i, the target station is d to the transmission delay of monitoring point time signal
i.Relation between three is suc as formula shown in (1)
t
sync_i＝t
trans_i+d
i (1)
Wherein, t
sync_irepresent the time that concrete frame head receives, t
trans_irepresent the time that the target station is launched this signal, d
irepresent that the target station is to the transmission delay of monitoring point time signal.
Because the signal of wireless universal wideband digital signal transmitting station transmitting has periodically, and the target station to transmit be successively to send.Periodicity and the continuity of signal can be passed through, two delay inequalities between different monitoring points can be obtained, specific as follows.Suppose i monitoring point to do difference and can obtain suc as formula the result shown in (2) with the time stamp of synchronizeing between j monitoring:
t
sync_i-t
sync_j＝t
trans_i-t
trans_j+d
i-d
j (2)
Wherein, t
sync_irepresent the time that i the concrete frame head in monitoring point receives, t
trans_irepresent that the target station launches the time of this signal that i monitoring point receive, d
irepresent that the target station is to the transmission delay of i monitoring point time signal.
The conclusion that transmits and there is continuity and periodically can obtain formula (3) according to the target station, specifically suc as formula shown in (3):
t
trans_i-t
trans_j＝n·T
frame (3)
Wherein, t
trans_irepresent that the target station launches the time of this signal that i monitoring point receive, t
trans_jrepresent that the target station launches the time of this signal that j monitoring point receive, T
framerepresent the known signal cycle, n is an integer.
The conclusion of formula (3) is alternatively said, the time difference one of the transmitting of each signal frame is decided to be the integral multiple of signal period.So, the present invention calculates the delay inequality between different monitoring points and the target station, specifically suc as formula (4), calculates:
d
i-d
j＝(t
sync_i-t
sync_j)modT
frame (4)
Wherein, t
sync_irepresent the time that i the concrete frame head of monitoring receives, t
trans_irepresent that the target station launches the time of this signal that i monitoring point receive, d
irepresent that the target station is to the transmission delay of monitoring point time signal, modT
framerepresent to ask modular arithmetic.Particularly, utilize two monitoring points to receive the frame head time difference, then to signal frame week expecting mould, can obtain the time difference that two monitoring points receive same signal.
Secondly, introduce by the step of the signal electing reference point of diverse geographic location.
Owing to can choosing the information of 5 to 6 monitoring points that geographical position disperses, build TDOA equation, therefore it is larger to show that signal arrives the amplitude fading difference of each monitoring point.Therefore,, for fear of occurring larger error, need to first suppose to choose a monitoring point as a reference point, namely the point of i=1.When building TDOA equation, it is reference point that the present invention needs the nearest point of the selected distance target station.So can choose point that signal strength signal intensity is the strongest as the reference point of TDOA equation by receiving the power of signal amplitude.
Again, introduce the step that builds TDOA equation by geographical location information and temporal information.
After having chosen reference point, can calculate the delay inequality information Δ τ between other monitoring points and reference point
i.1, Δ τ
i.1can calculate by through type (5):
Δτ
i.1＝d
i-d
1 (5)
Wherein, Δ τ
i.1represent current monitoring point and the delay inequality between reference point, d
irepresent that the target station is to the transmission delay of monitoring point time signal, d
1represent that the target station is to the transmission delay of reference point time signal.
Calculating the delay inequality information Δ τ of each monitoring point and reference point
i.1afterwards, the present invention is by electromagnetic wave propagation velocity constant c (light velocity, electromagnetic wave propagation speed is the light velocity), obtains the range difference of each monitoring point to the distance of the target station and reference point to the target station.First, definition i point is r to the distance of base station
i, the range difference definition of i monitoring point and reference point is suc as formula shown in (6):
r
i,1＝r
i-r
1＝Δτ
i,1c＝(d
i-d
1)c (6)
Wherein, r
i, 1the range difference that represents current i monitoring point and reference point, r
1represent that the target station is to the distance of reference point time signal, r
irepresent that the target station is to the distance of i monitoring point, Δ τ
i.1represent current monitoring point and the delay inequality between reference point, c represents electromagnetic wave propagation velocity constant, d
irepresent that the target station is to the transmission delay of monitoring point time signal, d
1represent that the target station is to the transmission delay of reference point time signal.
Through type (6) can illustrate, the present invention is by lock in time accurately, and the periodicity of binding signal and continuity just can obtain each monitoring point and arrive poor to the distance of the target station of the distance of the target station and reference point.So just can be according to distance poor, in conjunction with traditional TDOA technical scheme, build Hyperbolic Equation.The TDOA equation building is specifically suc as formula shown in (7):
(x
i-x)
2+(y
i-y)
2+(z
i-z)
2＝r
i,1 2+2r
i,1r
1+(x
1-x)
2+(y
1-y)
2+(z
1-z)
2 (7)
Wherein, wherein (x, y, z) represents the true coordinate of the target station, (x
1, y
1, z
1) represent the true coordinate of reference point, (x
i, y
i, z
i) represent the true coordinate of i monitoring point, r
i, 1the range difference that represents current i monitoring point and reference point, r
1represent that the target station is to the distance of reference point time signal.
The present invention adopts traditional technical scheme (for example CHAN algorithm) can be by formula (7) abbreviation, and the result after abbreviation is suc as formula shown in (8):
Wherein, (x, y, z) represents the true coordinate of the target station, (x
i, y
i, z
i) represent the true coordinate of i monitoring point, K
irepresent i monitoring point from origin of coordinates distance square, K
1represent reference point point from origin of coordinates distance square, r
i, 1the range difference that represents current i monitoring point and reference point, r
1represent that the target station is to the distance of reference point time signal, x
i, 1the abscissa range difference that represents i monitoring point and reference point, y
i, 1the ordinate range difference that represents i monitoring point and reference point, z
i, 1the ordinate range difference that represents i monitoring point and reference point.
Formula (8) can be expressed as to the form of matrix, specifically suc as formula shown in (9):
G·Ψ＝h (9)
Wherein, h represents constant vector, and Ψ represents Target Station station coordinates information vector, and G represents coefficient matrix.
Wherein, K
mrepresent M monitoring point to origin of coordinates distance square, r
m, 1the range difference that represents current M monitoring point and reference point, r
1represent that the target station is to the distance of reference point time signal.In G matrix and h matrix, all numerical value is all known, thus only need to estimate Ψ matrix, and get and choose the first three items of estimated result as the three-dimensional coordinate of the target station.According to least square method, can try to achieve according to formula (11) estimated value of maximum likelihood, and realize in TDOA computing module.
Ψ＝(G
T·G)
-1·G·h (11)
Wherein, h represents constant vector, and Ψ represents Target Station station coordinates information vector, and G represents coefficient matrix, G
texpression is to G Matrix Calculating transposed matrix;
Finally, introduce the step of abbreviation TDOA equation estimating target platform coordinate.
In the present invention, while calculating three-dimensional coordinate, there is any variation in the ordinate of each monitoring point hardly.Change kind of a mode and say, when the present invention receives the signal of target station transmitting by vehicle mobile terminals, single mobile terminal gathers and synchronously echo signal in the face of constantly mobile on ground.The ordinate of adopting the geographical position that likely can cause in such a way the monitoring point chosen can not produce very large variation.Therefore, also likely just to have caused the 3rd columns value of G matrix be nearly all zero to this situation.Will cause like this matrix G irreversible, thereby cause the solution error of trying to achieve by least square method larger.Therefore, need to by the equation of abbreviation TDOA, solve this and cause the problem that least square solution error is larger.
Because the ordinate in the geographical position of the monitoring point of choosing can not produce very large variation, likely causing the 3rd columns value in matrix G in formula (10) is all almost zero, will cause like this matrix G irreversible, the three-dimensional coordinate of the direct estimation target station, can produce very large error, make the result of estimation inaccurate.By analyzing, inventor finds, at matrix G the 3rd row, almost nil in the situation that, can directly the 3rd row be removed, and (x, y) coordinate of the estimating target station can not produce any impact like this.That is to say to be the form of formula (12) by formula (8) abbreviation, specifically suc as formula shown in (12):
r
i,1 2+2r
i,1r
1＝-2x
i,1x-2y
i,1y+K
i-K
1 (12)
Wherein, (x, y) represents the coordinate of the target station, r
i, 1the range difference that represents current i monitoring point and reference point, K
irepresent i monitoring point from origin of coordinates distance square, K
1represent reference point point from origin of coordinates distance square.
The result of estimating from formula (11) get two, so just obtained the target station
coordinate.
In the present invention, because the present invention adopts single vehicle mobile terminals, at the signal of the different geographical position receiving target stations, the data of likely obtaining and actual Monitoring Data are by larger gap.For fear of positioning result and physical location, occur relatively large deviation, in a plurality of monitoring points, recorded after signal message, geographical location information and temporal information, the data that need to gather each monitoring point are done corresponding screening.Concrete screening process is as follows:
The signal that all likely causes monitoring point to accept due to signal transmission has delay, needs through type (4) to calculate Target Station stop spacing from the delay inequality of monitoring point.If it is excessive to postpone difference, the one-period T of serious offense signal
frame, the cycle that likely can produce is fuzzy, cannot obtain Delay accurately, finally makes the positioning result after calculating have error.For avoiding before this situation need in the end calculate Target Station station coordinates, the data of each monitoring point being done to certain examination and process.When the localizing objects station, transmitting be all general broadband wireless digital signal, known signal cycle T
frame, the ultimate range that can define between monitoring point and target platform is r simultaneously
max, the ultimate range between monitoring point and target platform and known signal cycle T
framerelation suc as formula shown in (13):
r
max＝T
frame·c (13)
Wherein, r
maxrepresent the ultimate range between monitoring point and target platform, T
framerepresent the known signal cycle, c represents electromagnetic wave propagation velocity constant.
China Digital TV terrestrial broadcast system take below as example is to the ultimate range explanation between monitoring point and target platform.The minimum cycle of China Digital TV terrestrial broadcast system is 555.56 μ s, and the ultimate range calculating between corresponding monitoring point and target platform according to formula (13) is 1.6668 * 10
5m.The position relationship of each monitoring point and the target station as shown in Figure 4, can draw the distance l between monitoring point and reference point by triangle inequality
i, 1with i point to the distance of base station, be r
irelation suc as formula shown in (14):
r
i-r
1<l
i,1 (14)
Wherein, r
ithe distance that represents current i monitoring point and the target station, r
1the poor distance that represents reference point and the target station, l
i, 1represent the distance between i monitoring point and reference point.
Can infer thus in order to guarantee not produce phase ambiguity, only need to be when selecting monitoring point, the distance l between each monitoring point and reference point
i, 1all be less than r
max, just can guarantee that the range difference between their distance reference points is less than r
max, so just can not produce fuzzy situation of cycle.If there is situation about being greater than, will cause time difference information mistake so.For example,, according to actual conditions, if the distance l between monitoring point and reference point
i, 1be greater than r
max, the propagation distance of 2 is poor is at least 1.6668 * 10
5m, obviously can not reach for the such distance of the measurement of DTMB signal, so such hypothesis can meet certainly.Therefore need to will likely cause the monitoring node data screening of positioning result to abandon.
In sum, the mode of mobile terminal is carried in the present invention by an automobile, and the universal broadband wireless digital signal transmitting station is positioned.Mobile terminal obtains self position and correct time information in each monitoring point, and according to these information architectures TDOA equation.And by least square method, solve after the TDOA equation of abbreviation.Like this in the situation that the ordinate of all monitoring points almost without any changing, by the mode of abbreviation equation, only the two-dimensional coordinate of the target station is estimated, exempt the impact of the larger error of ordinate on result.Also can obtain positioning result accurately.
Above execution mode is only for illustrating the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (10)
1. the method for position of standing firm of the signal transmitting station based on mobile terminal monitoring, is characterized in that, comprises the steps:
At the signal of the diverse geographic location receiving target station, obtain geographical location information and temporal information;
According to the signal of diverse geographic location, in a plurality of monitoring points, choose reference point;
By geographical location information and temporal information, build TDOA equation;
Abbreviation TDOA equation estimating target platform coordinate.
2. the signal transmitting station as claimed in claim 1 method for position of standing firm, is characterized in that, described reference point is the monitoring point that signal strength signal intensity is the strongest.
3. the signal transmitting station as claimed in claim 1 method for position of standing firm, is characterized in that, the described step that builds TDOA equation by geographical location information and temporal information further comprises:
Calculate the delay inequality information between other monitoring points and reference point;
Obtain the poor of the distance of each monitoring point to the distance of the target station and reference point to the target station;
In conjunction with TDOA technique construction Hyperbolic Equation abbreviation.
4. the signal transmitting station as claimed in claim 3 method for position of standing firm, is characterized in that, described delay inequality information exchange is crossed following formula and calculated:
Δτ
i.1＝d
i-d
1
Wherein, Δ τ
i.1represent the delay inequality between monitoring point and reference point, d
irepresent that the target station is to the transmission delay of monitoring point time signal, d
1represent that the target station is to the transmission delay of reference point time signal.
5. the signal transmitting station as claimed in claim 3 method for position of standing firm, is characterized in that, the difference of described monitoring point to the distance of the target station and reference point to the distance of the target station is calculated as follows:
r
i,1＝r
i-r
1＝Δτ
i,1c＝(d
i-d
1)c
Wherein, r
i, 1the range difference that represents current i monitoring point and reference point, r
1represent that the target station is to the distance of reference point, Δ τ
i.1represent current monitoring point and the delay inequality between reference point, c represents electromagnetic wave propagation velocity constant, d
irepresent that the target station is to the transmission delay of monitoring point time signal, d
1represent that the target station is to the transmission delay of reference point time signal.
6. the signal transmitting station as claimed in claim 3 method for position of standing firm, is characterized in that, the step of described structure Hyperbolic Equation abbreviation further comprises:
(1) distance, according to monitoring point to the distance of the target station and reference point to the target station poor, as follows in conjunction with TDOA technique construction Hyperbolic Equation:
(x
i-x)
2+(y
i-y)
2+(z
i-z)
2＝r
i,1 2+2r
i,1r
1+(x
1-x)
2+(y
1-y)
2+(z
1-z)
2
Wherein, (x, y, z) represents the true coordinate of the target station, (x
1, y
1, z
1) represent the true coordinate of reference point, (x
i, y
i, z
i) represent the true coordinate of i monitoring point, r
i, 1the range difference that represents current i monitoring point and reference point, r
1represent that the target station is to the distance of reference point;
(2), adopt CHAN algorithm abbreviation Hyperbolic Equation as follows:
Wherein, (x, y, z) represents the true coordinate of the target station, (x
i, y
i, z
i) represent the true coordinate of i monitoring point, K
irepresent i monitoring point from origin of coordinates distance square, K
1represent reference point point from origin of coordinates distance square, r
i, 1the range difference that represents current i monitoring point and reference point, r
1represent that the target station is to the distance of reference point time signal, x
i, 1the abscissa range difference that represents i monitoring point and reference point, y
i, 1the ordinate range difference that represents i monitoring point and reference point, z
i, 1the ordinate range difference that represents i monitoring point and reference point;
(3), conversion Hyperbolic Equation is as follows:
G·Ψ＝h
Wherein, h represents constant vector, and Ψ represents Target Station station coordinates information vector, and G represents coefficient matrix;
(4), according to least square method, the estimated value of trying to achieve maximum likelihood is as follows:
Ψ＝(G
T·G)
-1·G·h
Wherein, Ψ represents Target Station station coordinates information vector, G
tthe transposed matrix of representing matrix G.
7. the signal transmitting station as claimed in claim 1 method for position of standing firm, is characterized in that, the step of described abbreviation TDOA equation comprises:
Remove the geographical position ordinate of monitoring point.
8. the method for position of standing firm of the signal transmitting station as described in claim 1 or 6, is characterized in that, target platform coordinate is calculated as follows:
r
i,1 2+2r
i,1r
1＝-2x
i,1x-2y
i,1y+K
i-K
1
Wherein, (x, y) represents the coordinate of the target station, r
i, 1the range difference that represents current i monitoring point and reference point, K
irepresent that i monitoring point is from the distance of the origin of coordinates, K
1represent that reference point point is from the distance of the origin of coordinates.
9. the signal transmitting station as claimed in claim 1 method for position of standing firm, is characterized in that, the step of described abbreviation TDOA equation estimating target platform coordinate also further comprises the step of the data screening that monitoring point is gathered, and specifically comprises:
Calculate the ultimate range between monitoring point and target platform;
The data that gather to the relation screening monitoring point between the ultimate range between the distance between reference point and monitoring point and target platform according to monitoring point.
10. the signal transmitting station as claimed in claim 9 method for position of standing firm, is characterized in that, the ultimate range between described monitoring point and target platform is calculated as follows:
r
max＝T
frame·c
Wherein, r
maxrepresent the ultimate range between monitoring point and target platform, T
framerepresent the known signal cycle, c represents electromagnetic wave propagation velocity constant.
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| CN106793083A (en) * | 2017-02-22 | 2017-05-31 | 都邑科技（北京）有限公司 | A kind of mobile terminal locating method and device |
| CN106793083B (en) * | 2017-02-22 | 2018-06-05 | 都邑科技（北京）有限公司 | A kind of mobile terminal locating method and device |
| CN108663658A (en) * | 2017-03-30 | 2018-10-16 | 北京京东尚科信息技术有限公司 | Indoor orientation method and device for terminal |
| CN108663658B (en) * | 2017-03-30 | 2020-11-03 | 北京京东尚科信息技术有限公司 | Indoor positioning method and device for terminal |
| CN108732423A (en) * | 2018-03-06 | 2018-11-02 | 西安大衡天成信息科技有限公司 | A kind of spectrum monitoring data processing system and method |
| WO2019170000A1 (en) * | 2018-03-06 | 2019-09-12 | 西安大衡天成信息科技有限公司 | Spectrum monitoring data processing system and method |
| CN110972259A (en) * | 2019-03-29 | 2020-04-07 | 国家无线电监测中心检测中心 | Station positioning device |
| CN110996385A (en) * | 2019-03-29 | 2020-04-10 | 国家无线电监测中心检测中心 | Station positioning method |
| CN110972259B (en) * | 2019-03-29 | 2021-05-25 | 国家无线电监测中心检测中心 | Station positioning device |
| CN110996385B (en) * | 2019-03-29 | 2022-01-25 | 国家无线电监测中心检测中心 | Station positioning method |
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