CN104333907A - Relative time positioning method and system - Google Patents

Abstract

The invention relates to a relative time positioning method and system. The relative time positioning method comprises the following steps: firstly, placing a plurality of fixed sites in fixed positions, and measuring and recording position coordinates of all of the fixed sites; then regularly sending data packets to all of the fixed sites; then receiving the data packets by all of the fixed sites, and calculating timing error between one site and other sites; subsequently, regularly sending a data packet which contains a terminal address of a mobile terminal and numbered information of the data packet by the mobile terminal; and finally, determining the position of the mobile terminal according to the positions of the fixed sites, the receiving time of the data packet of the same mobile terminal and the mutual timing error when the same data packet sent by the mobile terminal is received by the plurality of fixed sites. The relative time positioning system for the relative time positioning method comprises the fixed sites, the mobile terminal and a system management background. Positioning can be completed by the positioning technique and system under the condition that synchronous timing is not needed.

Description

A kind of relative time localization method and system thereof

Technical field

The invention belongs to transfer of data and communication technical field, relate to a kind of localization method, be specifically related to a kind of relative time location technology and system thereof.

Background technology

Along with terminal equipment universal possessing the radio communication functions such as WiFi and 4G; utilize wireless communication technique to carry out accurately location to have broad application prospects. such as in megastore; hospital; tourist attractions; in parking lot and industrial and mining enterprises, people usually can not know oneself position, do not know the destination locations that oneself will go and route yet; often can get lost, therefore efficiently and exactly determine that the position of people and thing can improve social life and production efficiency effectively.

The time-based wireless location mode of tradition, needing between responsible each fixed station of locating is time synchronisation, otherwise just there will be the inaccurate phenomenon in location.But under many scenes, be difficult to ensure that all fixed station can time synchronisation, cannot locate with this.

Summary of the invention

Goal of the invention: the present invention is directed to above-mentioned prior art Problems existing and make improvement, namely the invention discloses a kind of relative time location technology and system thereof.

Technical scheme: a kind of relative time localization method, comprises the following steps:

Step 1: multiple fixed station is placed on fixed position, and the position coordinates of each fixed station of surveying record, leave location coordinate information in System Management Daemon;

Step 2: each fixed station regularly sends and comprises the site address of described fixed station and the packet of temporal information;

Step 3: each fixed station receives the packet described in step 2 that other websites except this website send, and calculates the timing error between this website and other websites;

Step 4: mobile terminal regularly sends the packet of terminal address and the package number information comprising described mobile terminal;

Step 5: when multiple fixed station receives the same packet sent from mobile terminal described in step 4, multiple fixed station wirelessly by the Packet Generation of the time of reception of same mobile terminal data bag, mutually timing error to System Management Daemon, System Management Daemon is according to the position of the time of reception of the position of fixed station, same mobile terminal data bag, mutually timing error determination mobile terminal.

As a kind of in the present invention a kind of optimal way of relative time localization method, be regularly send 1 ~ 10000 time 1 second described in step 2.

As a kind of in the present invention a kind of optimal way of relative time localization method, be regularly send 1 ~ 10000 time 1 second described in step 4.

A kind of relative time navigation system for above-mentioned relative time localization method comprises:

Multiple fixed station, is used for sending the packet and mobile terminal receive packets of information that comprise this site address and temporal information;

Mobile terminal, is used for sending the packet comprising this terminal address and package number information,

System Management Daemon, deposits fixed station coordinate information, and receives the information from fixed station, calculates the position of mobile terminal,

Described fixed station is wirelessly connected with described mobile terminal.

Beneficial effect: a kind of relative time location technology disclosed by the invention and system thereof, have following beneficial effect: do not need to complete location when relevant fixed station Timing Synchronization.

Accompanying drawing explanation

Fig. 1 be disclosed by the invention for multiple fixed station and the radio communication locating system schematic diagram of mobile terminal;

Fig. 2 is fixed station of the present invention and mobile terminal three-dimensional coordinate schematic diagram;

Figure 3 shows that between two fixed station of the present invention, timing error calculates schematic diagram.

Embodiment:

Below the specific embodiment of the present invention is described in detail.

Specific embodiment 1

A kind of relative time localization method, comprise the following steps: multiple fixed station with fixed position (namely can not the wireless transmitter of movement, be equivalent to base station, there is known and coordinate that is that determine), each fixed station regularly sends and comprises this site address (numbering of equipment, the MAC Address of similar computer) and the packet of temporal information, and receive the packet comprising other fixed station addresses and temporal information of other websites transmission, the timing error of a fixed station with other one or more fixed station can be calculated, then, one or more mobile terminal with variable position, wherein each mobile terminal regularly sends the packet comprising this terminal address and package number information, when multiple fixed station receives the same packet sent from certain mobile terminal, according to the position of these fixed station, the time of reception of same mobile terminal data bag, mutual timing error can calculate the current location of this mobile terminal.

The present invention is used for the system (as shown in Figure 1) of relative time localization method, comprising: fixed station, mobile terminal,

Wherein, fixed station, has fixed position, is used for and other fixed station and mobile terminal transmission data;

Mobile terminal, has variable position, can move, and is used for sending data to fixed station;

System Management Daemon, receives the information from fixed station, calculates the position of mobile terminal,

Described fixed station is connected by communication with described mobile terminal.

Relative time localization method of the present invention comprises the following steps:

Step 1: multiple fixed station is placed on fixed position, and record its position coordinates, then leave position coordinates in System Management Daemon.Assuming that the three-dimensional coordinate of fixed station 1 is (x1, y1, z1), the three-dimensional coordinate of fixed station 2 is (x2, y2, z2), and by that analogy, the three-dimensional coordinate of fixed station N is (xN, yN, zN), as shown in Figure 2;

Step 2: each fixed station regularly (within 1 minute, send 10000 times) send comprise this site address in time between the packet of information;

Step 3: each fixed station receives the packet comprising other fixed station addresses and temporal information that other websites send.Assumed position coordinate is the fixed station a of (xa, ya, za), at Ta reception to being (xb from position coordinates, yb, zb) the packet (as shown in Figure 3) that sends in the Tb moment of fixed station b, then the distance between fixed station a and b $L=\sqrt{{(\mathrm{xa}-\mathrm{xb})}^2+{(\mathrm{ya}-\mathrm{yb})}^2+{(\mathrm{za}-\mathrm{zb})}^2},$ Timing error △ t is between the two:

$\mathrm{\Δt}=T_a-T_b-\frac{\sqrt{{(\mathrm{xa}-\mathrm{xb})}^2+{(\mathrm{ya}-\mathrm{yb})}^2+{(\mathrm{za}-\mathrm{zb})}^2}}{c},$ Wherein c is radio signal transmission speed;

The timing error between a fixed station and other fixed station can be obtained thus.Assuming that the timing error between fixed station 1 and fixed station 2 is △ t2, the timing error between fixed station 2 and fixed station 3 is △ t3, and by that analogy, the timing error between fixed station N-1 and fixed station N is △ tN;

Step 4, each mobile terminal regularly (sends 10000 times) and sends the packet comprising this terminal address (source address information in packet) and package number information for 1 minute;

Step 5, when multiple fixed station receives the same packet sent from certain mobile terminal, multiple fixed station wirelessly will comprise fixed station position, the Packet Generation of the time of reception of same mobile terminal data bag, mutually timing error to System Management Daemon, and System Management Daemon calculates the position of this mobile terminal according to the time of reception of the position of fixed station, same mobile terminal data bag, mutually timing error.System Management Daemon is made up of information receiver and computing module.Information receiver is connected with fixed station by wired or wireless mode, receives the information from fixed station, and then computing module is by these information, calculates the position of mobile terminal.Assuming that when mobile terminal 1 moves to coordinate (x0, y0, z0), send a packet, this packet is respectively at T ₁, T ₂..., T _nmoment be fixed website 1, fixed station 2 ..., fixed station N receives (as Fig. 2), then:

$\begin{array}{c}\sqrt{{(x0-x1)}^2+{(y0-y1)}^2+{(z0-z1)}^2}-\sqrt{{(x0-x2)}^2+{(y0-y2)}^2+{(z0-z2)}^2}=c\×(T_1+\mathrm{\Δt}2-T_2)\\ \sqrt{{(x0-x2)}^2+{(y0-y2)}^2+{(z0-z2)}^2}-\sqrt{{(x0-x3)}^2+{(y0-y3)}^2+{(z0-z3)}^2}=c\×(T_2+\mathrm{\Δt}3-T_3)\\ \·\·\·\\ \sqrt{{(x0-x_{N-1})}^2+{(y0-y_{N-1})}^2+{(z0-z_{N-1})}^2}-\sqrt{{(x0-\mathrm{xN})}^2+{(y0-\mathrm{yN})}^2+{(z0-\mathrm{zN})}^2}=c\×(T_{N-1}+\mathrm{\ΔtN}-T_N)\end{array}$

Wherein c is radio signal transmission speed.

In addition, assuming that the movement of mobile terminal 1 meets z=f (x, y), namely necessarily there is z0=f (x0, y0), then obtain equation group:

$\left\{\begin{array}{c}\sqrt{{(x0-x1)}^2+{(y0-y1)}^2+{(z0-z1)}^2}-\sqrt{{(x0-x2)}^2+{(y0-y2)}^2+{(z0-z2)}^2}=c\×(T_1+\mathrm{\Δt}2-T_2)\\ \sqrt{{(x0-x2)}^2+{(y0-y2)}^2+{(z0-z2)}^2}-\sqrt{{(x0-x3)}^2+{(y0-y3)}^2+{(z0-z3)}^2}=c\×(T_3+\mathrm{\Δt}3-T_3)\\ \·\·\·\\ \sqrt{{(x0-x_{N-1})}^2+{(y0-y_{N-1})}^2+{(z0-z_{N-1})}^2}-\sqrt{{(x0-\mathrm{xN})}^2+{(y0-\mathrm{yN})}^2+{(z0-\mathrm{zN})}^2}=c\×(T_{N-1}+\mathrm{\ΔtN}-T_N)\\ z0=f(x0,y0)\end{array}\right.$

Separate this equation group, the position (x0, y0, z0) of current mobile terminal 1 can be obtained.

Specific embodiment 2

Roughly the same with specific embodiment 1, difference is:

In the present embodiment, step 2 is regularly sent 1 time 1 second.

In the present embodiment, step 4 is regularly sent 1 time 1 second.

Specific embodiment 3

Roughly the same with specific embodiment 1, difference is:

In the present embodiment, step 2 is regularly sent 500 times 1 second.

In the present embodiment, step 4 is regularly sent 500 times 1 second.

Above embodiments of the present invention are elaborated.But the present invention is not limited to above-mentioned execution mode, in the ken that art those of ordinary skill possesses, can also make a variety of changes under the prerequisite not departing from present inventive concept.

Claims (4)

1. a relative time localization method, is characterized in that, comprises the following steps:

Step 1: multiple fixed station is placed on fixed position, and the position coordinates of each fixed station of surveying record, leave location coordinate information in System Management Daemon;

Step 2: each fixed station regularly sends and comprises the site address of fixed station described in step 1 and the packet of temporal information;

Step 3: each fixed station receives the packet described in step 2 that other websites except this website send, and calculates the timing error between this website and other websites;

Step 4: mobile terminal regularly sends the packet of terminal address and the package number information comprising mobile terminal;

Step 5: when multiple fixed station receives the same packet sent from mobile terminal described in step 4, multiple fixed station wirelessly will comprise the Packet Generation of the time of reception, the mutually timing error of same mobile terminal data bag to System Management Daemon, and System Management Daemon is according to the position of the time of reception of the position of fixed station, same mobile terminal data bag, mutually timing error determination mobile terminal.

2. a kind of relative time localization method as claimed in claim 1, is characterized in that, is regularly send 1 ~ 10000 time 1 second described in step 2.

3. a kind of relative time localization method as claimed in claim 1, is characterized in that, is regularly send 1 ~ 10000 time 1 second described in step 4.

4. a relative time navigation system, is characterized in that, comprising:

Multiple fixed station, is used for sending the packet and mobile terminal receive packets of information that comprise this site address and temporal information;

Mobile terminal, is used for sending the packet comprising this terminal address and package number information,

System Management Daemon, deposits fixed station coordinate information, and receives the information from fixed station, calculates the position of mobile terminal,

Described fixed station is wirelessly connected with described mobile terminal.