CN104422942B - Localization method and electronic equipment - Google Patents
Localization method and electronic equipment Download PDFInfo
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- CN104422942B CN104422942B CN201310392961.7A CN201310392961A CN104422942B CN 104422942 B CN104422942 B CN 104422942B CN 201310392961 A CN201310392961 A CN 201310392961A CN 104422942 B CN104422942 B CN 104422942B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
Abstract
The invention discloses a kind of localization method, including：Receive the first electronic installation transmission, no less than first threshold quantity, second electronic device produce the first information for not being shorter than Second Threshold duration；Second information of the real-time reception no less than the second electronic device transmission of first threshold quantity；When judging that the duration of the second information for receiving reaches the 3rd threshold value duration, the time delay for receiving that the second information of the second electronic device no less than first threshold quantity is produced is calculated；Calculated according to time delay and be no less than the distance between second electronic device of first threshold quantity；It is determined that when the quantity for completing the distance of the second electronic device of calculating is no less than first threshold quantity, the distance no less than first threshold quantity for completing to calculate is sent to the first electronic installation；The distance no less than first threshold quantity for receiving the transmission of the first electronic installation determines the positional information of electronic equipment.The invention also discloses a kind of electronic equipment.The embodiment of the present invention improves locating speed, reduces positioning duration.
Description
Technical field
The present invention relates to location technology, more particularly to a kind of localization method and electronic equipment.
Background technology
GPS positioning technology is widely used in every field.At present, can be relatively more accurate using GPS positioning technology
The positional information for orienting electronic equipment.
Send fixed to base station generally by electronic equipment using the process positioned to electronic equipment by GPS positioning technology
Position request, and usable satellite list is sent to into electronic equipment by base station.The electronic equipment is according to the usable satellite list search
Satellite, and navigation message is buffered from the satellite for searching, the synchronizing signal in navigation message is detected, and from after synchronizing signal
Navigation message in obtain gps time, to calculate pseudorange using the gps time, so by the pseudorange for calculating send to
The base station, calculates the positional information of the electronic equipment by base station.But as navigation electricity is being obtained from the satellite for searching
Wen Shi, needs can just obtain GPS information after synchronizing signal is detected, and synchronizing signal just occurred once per 6 seconds, so
After electronic equipment searches satellite, the corresponding gps time of the satellite that can just get that waits for a period of time is needed.And electronics sets
It is standby to need to calculate the pseudo-range information for multi-satellite, so it is required to when certain hour every time, so that positioning
Journey is time-consuming longer.
The content of the invention
In view of this, the main purpose of the embodiment of the present invention is to provide a kind of localization method and device, can be reduced to electricity
It is time-consuming that sub- equipment is positioned.
To reach above-mentioned purpose, what the technical scheme of the embodiment of the present invention was realized in：
A kind of localization method, is applied to electronic equipment, and the electronic equipment is filled with the first electronic installation, the second electronics respectively
Put and communicated；Methods described includes：
Receive it is that first electronic installation sends, produce no less than first threshold quantity, described second electronic device
The first information for not being shorter than Second Threshold duration；
The second information sent no less than the second electronic device of first threshold quantity described in real-time reception；
Judge whether the duration of second information for receiving reaches the 3rd threshold value duration；
When reaching the 3rd threshold value duration, according to second information corresponding with second information described for being received
The first information of two electronic installations calculates the institute for receiving the second electronic device no less than first threshold quantity
State the time delay of the second information generation；
The distance between calculated with the second electronic device no less than first threshold quantity according to the time delay；
It is determined that when the quantity for completing the distance of the second electronic device of calculating is no less than first threshold quantity, will complete
The distance no less than first threshold quantity for calculating is sent to first electronic installation；
The distance no less than first threshold quantity for receiving the first electronic installation transmission determines that the electronics sets
Standby positional information.
A kind of electronic equipment, the electronic equipment are communicated with the first electronic installation, second electronic device respectively；It is described
Electronic equipment includes：First receiving unit, the second receiving unit, judging unit, the first computing unit, the second computing unit, really
Order unit, transmitting element and the 3rd receiving unit, wherein：
Receiving unit, for receive it is that first electronic installation sends, no less than first threshold quantity, described second
The first information for not being shorter than Second Threshold that electronic installation is produced；
Second receiving unit, the sent for the second electronic device described in real-time reception no less than first threshold quantity
Two information；
Judging unit, for judging whether the duration of second information for receiving reaches the 3rd threshold value duration；
First computing unit, for when the judged result of judging unit reaches the 3rd threshold value duration, according to what is received
The first information of second information second electronic device corresponding with second information is determined described in reception not
Less than the time delay that second information of the second electronic device of first threshold quantity is produced；
Second computing unit, for calculating electric no less than described the second of first threshold quantity with described according to the time delay
The distance between sub-device；
Determining unit, for determining the quantity of the distance for completing the second electronic device for calculating whether no less than first
Number of thresholds, triggers the transmitting element when being；
Transmitting element, sends to described first electric for completing the distance no less than first threshold quantity for calculating
Sub-device；
3rd receiving unit, for receive that first electronic installation sends no less than described in first threshold quantity away from
From the positional information for determining the electronic equipment.
In embodiments of the invention, receive that first electronic installation sends no less than described the of first threshold quantity
The first information for not being shorter than Second Threshold duration that two electronic installations are produced；No less than first threshold quantity described in real-time reception
The second information that second electronic device sends；When judging whether the duration of second information for receiving reaches three threshold values
It is long；It is when reaching the 3rd threshold value duration, corresponding with second information described second electric according to second information that received
The first information of sub-device is calculated and receives described the of the second electronic device no less than first threshold quantity
The time delay that two information are produced；According to the time delay calculate and the second electronic device no less than first threshold quantity it
Between pseudorange；It is determined that when the quantity for completing the pseudorange of the second electronic device of calculating is no less than first threshold quantity, will be complete
Send to first electronic installation into the pseudorange no less than first threshold quantity for calculating；And receive first electronics
The pseudorange no less than first threshold quantity that device sends determines the positional information of the electronic equipment.When needs are to this
When the electronic equipment of bright embodiment is positioned, the electronic equipment sends Location Request to the first electronic installation such as base station, and connects
The list of the available second electronic device such as satellite that the base station sends is received, and obtains prediction gps satellite and report data, and in foundation
When usable satellite list traces into satellite, the gps navigation message that the satellite is played is received, number is played according to the prediction gps satellite
According to determining the time delay corresponding to currently received gps navigation message, and then the navigation that the satellite is played need not be waited until
When synchronizing signal is included in text, just can determine that the current GPS for receiving gps signal time delay, reducing determination satellite
Duration needed for time, accelerates the speed for determining pseudorange, due to determining that the corresponding gps time of every satellite is corresponding less,
So that determining that the pseudorange time with multi-satellite greatly shortens；Also, the embodiment of the present invention calculates pseudo- by electronic equipment
Away from, and calculated pseudorange is sent to into the more powerful base station of disposal ability, electronic equipment is positioned by base station, and will positioning
As a result electronic device.The embodiment of the present invention is time-consuming so as to reduce positioning, improves locating speed.
Description of the drawings
Schematic flow sheets of the Fig. 1 for the localization method of the embodiment of the present invention one；
Schematic flow sheets of the Fig. 2 for the localization method of the embodiment of the present invention two；
Schematic flow sheets of the Fig. 3 for the localization method of the embodiment of the present invention three；
Composition structural representations of the Fig. 4 for the electronic equipment of the embodiment of the present invention；
Composition structural representations of the Fig. 5 for the first computing unit of embodiment of the present invention electronic equipment.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The embodiment of the invention discloses a kind of localization method, can quickly determine out the electronics using the localization method and set
Standby positional information, improves the locating speed to electronic equipment.
It is to make the object, technical solutions and advantages of the present invention become more apparent, by the following examples and referring to the drawings, right
The present invention is further described.
Schematic flow sheets of the Fig. 1 for the localization method of the embodiment of the present invention one, as shown in figure 1, preferred in the present invention one
In embodiment, localization method is comprised the following steps：
Step 101, receive the first electronic installation send, no less than first threshold quantity, second electronic device produce
The first information for not being shorter than Second Threshold duration；
The localization method of this example is applied in electronic equipment, and the electronic equipment can be mobile phone, pad, palm PC etc..
Electronic equipment is also with the ability communicated with the first electronic installation and second electronic device.
In this example, first electronic installation includes wireless communication node；The wireless communication node includes base station, relaying
Stand, communication node in the cordless communication network such as Home eNodeB etc.；And second electronic device includes position location satellite etc.；Need explanation
, wireless communication node associated with positioning satellite, can get the navigation message of the positioning in positioning satellite
Information, and navigation message that each position location satellite subsequent period is sent can be predicted.
First threshold quantity is 4；
That is, when being positioned using aeronautical satellite, the quantity of institute's reception aeronautical satellite is no less than 4, ability
Complete the positioning to positioning target.In general, need by eight positioning with position location satellite carrying out to target to be positioned
Positioning.
Second Threshold duration sends the gps navigation message of 6 seconds generally no less than 6 seconds, typically.
The first information includes that the aeronautical satellite of the wireless communication node prediction reports data；Prediction aeronautical satellite is broadcast
Count off is according to including almanac and almanac data；After getting prediction aeronautical satellite and reporting data, can according to the almanac and
Almanac data structure forecast gps navigation message.
Step 102, the second information sent no less than the second electronic device of first threshold quantity described in real-time reception；
In the embodiment of the present invention, electronic equipment also needs the GPS location signal that each GPS positioning satellite of real-time reception sends, its
The GPS location signal for being received be actually before base station be sent in advance electronic equipment prediction aeronautical satellite report number
According to；Electronic equipment can be reported data according to aeronautical satellite and determine gps navigation message, to realize the positioning to electronic equipment.
Step 103, judges whether the duration of second information for receiving reaches the 3rd threshold value duration；
In the embodiment of the present invention, the 3rd threshold value duration generally 2 to 3 seconds, if electronic equipment receives second information
Duration is shorter, then can affect the calculating to corresponding GPS location signal lag is received from GPS positioning satellite, therefore, the 3rd threshold value
Duration generally 2 to 3 seconds, but not over 6 seconds.
Electronic equipment judges whether the duration of the current GPS location signal for being received from each GPS positioning satellite in real time reaches
2 seconds or 3 seconds, if reach 2 seconds or 3 seconds, you can start to calculate the GPS location letter that electronic equipment receives the GPS positioning satellite
Number time delay.
Step 104, it is when reaching the 3rd threshold value duration, corresponding with second information according to second information for being received
The first information of the second electronic device calculate and receive second electronics no less than first threshold quantity
The time delay that second information of device is produced；
Electronic equipment judges whether the duration of the current GPS location signal for being received from each GPS positioning satellite in real time reaches
When 2 seconds or 3 seconds, using currently received gps navigation message, the prediction GPS navigation sent with the communication node such as base station before
Text is compared, and calculating currently receives the time delay of the GPS location signal of each GPS positioning satellite.
Step 105, according to the time delay calculate and the second electronic device no less than first threshold quantity it
Between pseudorange；
After electronic equipment determines the time delay of the GPS location signal for receiving each GPS positioning satellite, you can determine that electronics sets
It is standby with the pseudorange between each GPS positioning satellite.Wherein, pseudorange=time delay × light velocity.
Specifically, it is the first gps time calculating the process of pseudorange with existing calculating pseudorange using satellite clock time
Process be similar to, can adopt existing any-mode, will not be described here.
Step 106, it is determined that the quantity for completing the pseudorange of the second electronic device of calculating is no less than first threshold quantity
When, the pseudorange no less than first threshold quantity for completing to calculate is sent to first electronic installation；
Electronic equipment determine it is currently calculated go out pseudorange be no less than 4 when, that is, illustrate currently to define electronic equipment
With the pseudorange of at least 4 GPS positioning satellites；To be determined that the pseudorange with least 4 GPS positioning satellites is sent to communication section
Point such as base station etc..
Step 107, the pseudorange no less than first threshold quantity for receiving the first electronic installation transmission determine institute
State the positional information of electronic equipment.
Due to needing to calculate after the pseudorange between the electronic equipment and multi-satellite, multiple pseudoranges could be utilized finally true
Make the positional information of the electronic equipment.Therefore, according to the usable satellite list for getting, need gradually to search for and follow the trail of many
Satellite, for each satellite is required to obtain the clock i.e. gps time of the satellite, and calculates the electronic equipment with every satellite
Pseudorange, and then using with the pseudorange of multi-satellite determining the positional information of the electronic equipment.
Wherein, it is intended that the usable satellite of quantity can be set as needed, due to determine electronic equipment positional information extremely
Few pseudorange needed with 4 satellites, just can determine that electronic equipment position, therefore, the specified quantity should be more than or equal to
4, the such as specified quantity can be 4, or 8.
Determine that according to with the pseudorange of multi-satellite the positional information of the electronic equipment is specially：The electronic equipment is calculated
After the pseudorange with multi-satellite for going out, will calculate and be sent to base station with the pseudo-range information of multi-satellite, then by base station according to
Go out the positional information of the electronic equipment according to its computation of pseudoranges for receiving, and the positional information of the electronic equipment for calculating is sent to
The electronic equipment.Wherein, base station determines that according to multiple pseudoranges the positional information of electronic equipment can be using existing any
Mode, here are not any limitation as.
After base station completes positioning to electronic equipment, positioning result is sent to into electronic equipment.
Schematic flow sheets of the Fig. 2 for the localization method of the embodiment of the present invention two, as shown in Fig. 2 preferred in the present invention one
In embodiment, localization method is comprised the following steps：
Step 201, receive the first electronic installation send, no less than first threshold quantity, second electronic device produce
The first information for not being shorter than Second Threshold duration；
The localization method of this example is applied in electronic equipment, and the electronic equipment can be mobile phone, pad, palm PC etc..
Electronic equipment is also with the ability communicated with the first electronic installation and second electronic device.
In this example, first electronic installation includes wireless communication node；The wireless communication node includes base station, relaying
Stand, communication node in the cordless communication network such as Home eNodeB etc.；And second electronic device includes position location satellite etc.；Need explanation
, wireless communication node associated with positioning satellite, can get the navigation message of the positioning in positioning satellite
Information, and navigation message that each position location satellite subsequent period is sent can be predicted.
First threshold quantity is 4；
That is, when being positioned using aeronautical satellite, the quantity of institute's reception aeronautical satellite is no less than 4, ability
Complete the positioning to positioning target.In general, need by eight positioning with position location satellite carrying out to target to be positioned
Positioning.
Second Threshold duration sends the gps navigation message of 6 seconds generally no less than 6 seconds, typically.
The first information includes that the aeronautical satellite of the wireless communication node prediction reports data；Prediction aeronautical satellite is broadcast
Count off is according to including almanac and almanac data；After getting prediction aeronautical satellite and reporting data, can according to the almanac and
Almanac data structure forecast gps navigation message.
Step 202, the second information sent no less than the second electronic device of first threshold quantity described in real-time reception；
In the embodiment of the present invention, electronic equipment also needs the GPS location signal that each GPS positioning satellite of real-time reception sends, its
The GPS location signal for being received be actually before base station be sent in advance electronic equipment prediction aeronautical satellite report number
According to；Electronic equipment can be reported data according to aeronautical satellite and determine gps navigation message, to realize the positioning to electronic equipment.
Step 203, judges whether the duration of second information for receiving reaches the 3rd threshold value duration；
In the embodiment of the present invention, the 3rd threshold value duration generally 2 to 3 seconds, if electronic equipment receives second information
Duration is shorter, then can affect the calculating to corresponding GPS location signal lag is received from GPS positioning satellite, therefore, the 3rd threshold value
Duration generally 2 to 3 seconds, but not over 6 seconds.
Electronic equipment judges whether the duration of the current GPS location signal for being received from each GPS positioning satellite in real time reaches
2 seconds or 3 seconds, if reach 2 seconds or 3 seconds, you can start to calculate the GPS location letter that electronic equipment receives the GPS positioning satellite
Number time delay.
Step 204, it is when reaching the 3rd threshold value duration, corresponding with second information according to second information for being received
The first information of the second electronic device calculate and receive second electronics no less than first threshold quantity
The time delay that second information of device is produced；
Electronic equipment judges whether the duration of the current GPS location signal for sending from each GPS positioning satellite in real time has reached 2
Second or when 3 seconds, using currently received gps navigation message, the prediction gps navigation message sent with the communication node such as base station before
Compare, calculating currently receives the time delay of the GPS location signal of each GPS positioning satellite.
As a kind of preferred embodiment, determine that electronic equipment receives the time delay of the GPS location signal of GPS positioning satellite
Mode is as follows：
The 3rd information is constructed in real time according to the first information corresponding with second information is received；
By described the first of the second electronic device second information for being received corresponding with second information
Corresponding 3rd information of information carries out correlation, obtains correlated results；
The institute of the second electronic device of first threshold quantity is no less than according to the correlated results is calculated and received
State the time delay of the second information generation.
Specifically, with moment of second information for receiving as starting point, be not shorter than it is currently received described in
When a length of duration length of the second information arranges time sliding window in the 3rd information；
With the 3rd information in set time sliding window as related object, by second information for being received
The 3rd information work corresponding to the first information of the corresponding second electronic device of second information is related to be transported
Calculate, obtain correlation result；
And detect whether the peak value of the correlation result reaches the 4th threshold peak；
When reaching four threshold peak, the phase difference between second information and the 3rd information is calculated；
Time difference according to the phase difference calculating between the second information and the 3rd information；
The time difference is defined as receiving the time delay that second information is produced.
Electronic equipment record is currently received the moment of the GPS location signal of each GPS positioning satellite, determines the moment correspondence
The position of the gps navigation message received from base station in electronic equipment；The moment is led to electronic equipment from the GPS that base station is received
Difference between the initial time of avionics text, the as delay length of the gps navigation message that electronic equipment is received from base station.And
Determine one of mode of the delay length, be the gps navigation message received from GPS positioning satellite by current electronic device,
It is related to the gps navigation message work from base station reception in the time sliding window in this example, can be really by correlated results
Time delay is made, without decoding gps navigation message.
Step 205, according to the time delay calculate and the second electronic device no less than first threshold quantity it
Between pseudorange；
After electronic equipment determines the time delay of the GPS location signal for receiving each GPS positioning satellite, you can determine that electronics sets
It is standby with the pseudorange between each GPS positioning satellite.Wherein, pseudorange=time delay × light velocity.
Specifically, it is the first gps time calculating the process of pseudorange with existing calculating pseudorange using satellite clock time
Process be similar to, can adopt existing any-mode, will not be described here.
Step 206, it is determined that the quantity for completing the pseudorange of the second electronic device of calculating is no less than first threshold quantity
When, the pseudorange no less than first threshold quantity for completing to calculate is sent to first electronic installation；
Electronic equipment determine it is currently calculated go out pseudorange be no less than 4 when, that is, illustrate currently to define electronic equipment
With the pseudorange of at least 4 GPS positioning satellites；To be determined that the pseudorange with least 4 GPS positioning satellites is sent to communication section
Point such as base station etc..
Step 207, the pseudorange no less than first threshold quantity for receiving the first electronic installation transmission determine institute
State the positional information of electronic equipment.
Due to needing to calculate after the pseudorange between the electronic equipment and multi-satellite, multiple pseudoranges could be utilized finally true
Make the positional information of the electronic equipment.Therefore, according to the usable satellite list for getting, need gradually to search for and follow the trail of many
Satellite, for each satellite is required to obtain the clock i.e. gps time of the satellite, and calculates the electronic equipment with every satellite
Pseudorange, and then using with the pseudorange of multi-satellite determining the positional information of the electronic equipment.
Wherein, it is intended that the usable satellite of quantity can be set as needed, due to determine electronic equipment positional information extremely
Few pseudorange needed with 4 satellites, just can determine that electronic equipment position, therefore, the specified quantity should be more than or equal to
4, the such as specified quantity can be 4, or 8.
Determine that according to with the pseudorange of multi-satellite the positional information of the electronic equipment is specially：The electronic equipment is calculated
After the pseudorange with multi-satellite for going out, will calculate and be sent to base station with the pseudo-range information of multi-satellite, then by base station according to
Go out the positional information of the electronic equipment according to its computation of pseudoranges for receiving, and the positional information of the electronic equipment for calculating is sent to
The electronic equipment.Wherein, base station determines that according to multiple pseudoranges the positional information of electronic equipment can be using existing any
Mode, here are not any limitation as.
After base station completes positioning to electronic equipment, positioning result is sent to into electronic equipment.
Schematic flow sheets of the Fig. 3 for the localization method of the embodiment of the present invention three, as shown in figure 3, preferred in the present invention one
In embodiment, localization method is comprised the following steps：
Step 301, receive the first electronic installation send, no less than first threshold quantity, second electronic device produce
The first information for not being shorter than Second Threshold duration；
The localization method of this example is applied in electronic equipment, and the electronic equipment can be mobile phone, pad, palm PC etc..
Electronic equipment is also with the ability communicated with the first electronic installation and second electronic device.
In this example, first electronic installation includes wireless communication node；The wireless communication node includes base station, relaying
Stand, communication node in the cordless communication network such as Home eNodeB etc.；And second electronic device includes position location satellite etc.；Need explanation
, wireless communication node associated with positioning satellite, can get the navigation message of the positioning in positioning satellite
Information, and navigation message that each position location satellite subsequent period is sent can be predicted.
First threshold quantity is 4；
That is, when being positioned using aeronautical satellite, the quantity of institute's reception aeronautical satellite is no less than 4, ability
Complete the positioning to positioning target.In general, need by eight positioning with position location satellite carrying out to target to be positioned
Positioning.
Second Threshold duration sends the gps navigation message of 6 seconds generally no less than 6 seconds, typically.
The first information includes that the aeronautical satellite of the wireless communication node prediction reports data；Prediction aeronautical satellite is broadcast
Count off is according to including almanac and almanac data；After getting prediction aeronautical satellite and reporting data, can according to the almanac and
Almanac data structure forecast gps navigation message.
Step 302, the second information sent no less than the second electronic device of first threshold quantity described in real-time reception；
In the embodiment of the present invention, electronic equipment also needs the GPS location signal that each GPS positioning satellite of real-time reception sends, its
The GPS location signal for being received be actually before base station be sent in advance electronic equipment prediction aeronautical satellite report number
According to；Electronic equipment can be reported data according to aeronautical satellite and determine gps navigation message, to realize the positioning to electronic equipment.
Step 303, judges whether the duration of second information for receiving reaches the 3rd threshold value duration；
In the embodiment of the present invention, the 3rd threshold value duration generally 2 to 3 seconds, if electronic equipment receives second information
Duration is shorter, then can affect the calculating to corresponding GPS location signal lag is received from GPS positioning satellite, therefore, the 3rd threshold value
Duration generally 2 to 3 seconds, but not over 6 seconds.
Electronic equipment judges whether the duration of the current GPS location signal for being received from each GPS positioning satellite in real time reaches
2 seconds or 3 seconds, if reach 2 seconds or 3 seconds, you can start to calculate the GPS location letter that electronic equipment receives the GPS positioning satellite
Number time delay.
Step 304, it is when reaching the 3rd threshold value duration, corresponding with second information according to second information for being received
The first information of the second electronic device calculate and receive second electronics no less than first threshold quantity
The time delay that second information of device is produced；
Electronic equipment judges whether the duration of the current GPS location signal for sending from each GPS positioning satellite in real time has reached 2
Second or when 3 seconds, using currently received gps navigation message, the prediction gps navigation message sent with the communication node such as base station before
Compare, calculating currently receives the time delay of the GPS location signal of each GPS positioning satellite.
As a kind of preferred embodiment, it is also possible to determine that electronic equipment is received from GPS positioning satellite by following manner
To the time delay of gps navigation message.
Due to satellite clock, the error of receiver clock and radio signal prolonging in ionosphere and troposphere
Late, the distance actually measured has certain difference to the geometric distance of the receiver of electronic equipment with satellite, therefore, it is general to weigh
The distance between receiver and satellite of electronic equipment are measured for pseudorange.
The gps navigation message received from base station by decoding electronics, by the report for determining the gps navigation message
Head, you can the gps navigation message delivery time in gps navigation message is got, calculates electronic equipment receiver reception GPS and leads
At the local moment of avionics text, the difference at the GPS moment carried in calculating the electronic equipment local moment and gps navigation message will
The difference receives the time delay of GPS navigation signal as electronic equipment receiver, the time delay is multiplied with the light velocity pseudorange is obtained.
Step 305, according to the time delay calculate and the second electronic device no less than first threshold quantity it
Between pseudorange；
After electronic equipment determines the time delay of the GPS location signal for receiving each GPS positioning satellite, you can determine that electronics sets
It is standby with the pseudorange between each GPS positioning satellite.Wherein, pseudorange=time delay × light velocity.
Specifically, it is the first gps time calculating the process of pseudorange with existing calculating pseudorange using satellite clock time
Process be similar to, can adopt existing any-mode, will not be described here.
Step 306, it is determined that the quantity for completing the pseudorange of the second electronic device of calculating is no less than first threshold quantity
When, the pseudorange no less than first threshold quantity for completing to calculate is sent to first electronic installation；
Electronic equipment determine it is currently calculated go out pseudorange be no less than 4 when, that is, illustrate currently to define electronic equipment
With the pseudorange of at least 4 GPS positioning satellites；Being sent to the pseudorange of at least four GPS positioning satellites of being determined is communicated
Node such as base station etc..
Step 307, the pseudorange no less than first threshold quantity for receiving the first electronic installation transmission determine institute
State the positional information of electronic equipment.
Due to needing to calculate after the pseudorange between the electronic equipment and multi-satellite, multiple pseudoranges could be utilized finally true
Make the positional information of the electronic equipment.Therefore, according to the usable satellite list for getting, need gradually to search for and follow the trail of many
Satellite, for each satellite is required to obtain the clock i.e. gps time of the satellite, and calculates the electronic equipment with every satellite
Pseudorange, and then using with the pseudorange of multi-satellite determining the positional information of the electronic equipment.
Wherein, it is intended that the usable satellite of quantity can be set as needed, due to determine electronic equipment positional information extremely
Few pseudorange needed with four satellites, just can determine that electronic equipment position, therefore, the specified quantity should be more than or equal to
4, the such as specified quantity can be 4, or 8.
Determine that according to with the pseudorange of multi-satellite the positional information of the electronic equipment is specially：The electronic equipment is calculated
After the pseudorange with multi-satellite for going out, will calculate and be sent to base station with the pseudo-range information of multi-satellite, then by base station according to
Go out the positional information of the electronic equipment according to its computation of pseudoranges for receiving, and the positional information of the electronic equipment for calculating is sent to
The electronic equipment.Wherein, base station determines that according to multiple pseudoranges the positional information of electronic equipment can be using existing any
Mode, here are not any limitation as.
After base station completes positioning to electronic equipment, positioning result is sent to into electronic equipment.
Composition structural representations of the Fig. 4 for the electronic equipment of the embodiment of the present invention, as shown in figure 4, the embodiment of the present invention
Electronic equipment is communicated with the first electronic installation, second electronic device respectively；The electronic equipment of the embodiment of the present invention includes：The
One receiving unit 40, the second receiving unit 41, judging unit 42, the first computing unit 43, the second computing unit 44, determining unit
45th, transmitting element 46 and the 3rd receiving unit 47, wherein：
Receiving unit 40, for receive it is that first electronic installation sends, no less than first threshold quantity, described the
The first information for not being shorter than Second Threshold that two electronic installations are produced；
The electronic equipment of the embodiment of the present invention can be mobile phone, pad, palm PC etc..Electronic equipment is also with first
Electronic installation and the ability of second electronic device communication.In this example, first electronic installation includes wireless communication node；Should
Wireless communication node includes communication node in the cordless communication networks such as base station, relay station, Home eNodeB etc.；And the second electronics dress
Put including position location satellite etc.；It should be noted that wireless communication node is associated with positioning satellite, position location satellite can be got
The information of the navigation message of the positioning in system, and the navigation message sent by each position location satellite subsequent period can be predicted.
First threshold quantity is 4；
That is, when being positioned using aeronautical satellite, the quantity of institute's reception aeronautical satellite is no less than 4, ability
Complete the positioning to positioning target.In general, needing the position location satellite used by 8 positioning to carry out target to be positioned calmly
Position.
Second Threshold duration sends the gps navigation message of 6 seconds generally no less than 6 seconds, typically.
The first information includes that the aeronautical satellite of the wireless communication node prediction reports data；Prediction aeronautical satellite is broadcast
Count off is according to including almanac and almanac data；After getting prediction aeronautical satellite and reporting data, can according to the almanac and
Almanac data structure forecast gps navigation message.
Second receiving unit 41, sends for the second electronic device described in real-time reception no less than first threshold quantity
Second information；
In the embodiment of the present invention, electronic equipment also needs each GPS positioning satellite of real-time reception to send out by the second receiving unit 41
The GPS location signal for sending, before the GPS location signal received by which is actually, base station is sent to the pre- of electronic equipment in advance
The aeronautical satellite of survey reports data；Electronic equipment can be reported data according to aeronautical satellite and determine gps navigation message, to realize to electricity
The positioning of sub- equipment.
Judging unit 42, for judging whether the duration of second information for receiving reaches the 3rd threshold value duration；
In the embodiment of the present invention, the 3rd threshold value duration generally 2 to 3 seconds, if electronic equipment receives second information
Duration is shorter, then can affect the calculating to corresponding GPS location signal lag is received from GPS positioning satellite, therefore, the 3rd threshold value
Duration generally 2 to 3 seconds, but not over 6 seconds.
Electronic equipment judges the current GPS location signal for being received from each GPS positioning satellite in real time by judging unit 42
Duration whether reached 2 seconds or 3 seconds, if reaching 2 seconds or 3 seconds, you can start to calculate electronic equipment and receive the GPS location and defend
The time delay of the GPS location signal of star.
First computing unit 43, for when the judged result of judging unit reaches the 3rd threshold value duration, according to being received
The first information of second information second electronic device corresponding with second information determine and receive described
No less than the time delay that second information of the second electronic device of first threshold quantity is produced；
Electronic equipment judges whether the duration of the current GPS location signal for being received from each GPS positioning satellite in real time reaches
When 2 seconds or 3 seconds, currently received gps navigation message is utilized by the first computing unit 43, sent out with the communication node such as base station before
The prediction gps navigation message for sending is compared, and calculating currently receives the time delay of the GPS location signal of each GPS positioning satellite.
Second computing unit 44, for being calculated with described no less than described the second of first threshold quantity according to the time delay
Pseudorange between electronic installation；
After determining the time delay of the GPS location signal for receiving each GPS positioning satellite, you can determine electronic equipment with it is each
Pseudorange between GPS positioning satellite.Wherein, pseudorange=time delay × light velocity.
Specifically, it is the first gps time calculating the process of pseudorange with existing calculating pseudorange using satellite clock time
Process be similar to, can adopt existing any-mode, will not be described here.
Determining unit 45, for determining the quantity of the pseudorange for completing the second electronic device for calculating whether no less than the
One number of thresholds, triggers the transmitting element 46 when being；
Transmitting element 46, sends to described first for will complete the pseudorange no less than first threshold quantity for calculating
Electronic installation；
Electronic equipment by determining unit 45 determine it is currently calculated go out pseudorange be no less than 4 when, that is, illustrate it is current really
Define the pseudorange of electronic equipment and at least 4 GPS positioning satellites；To be determined and at least 4 by transmitting element 46
The pseudorange of GPS positioning satellite is sent to communication node such as base station etc..
3rd receiving unit 47, for receiving that first electronic installation sends no less than described in first threshold quantity
Pseudorange determines the positional information of the electronic equipment.
Due to needing to calculate after the pseudorange between the electronic equipment and multi-satellite, multiple pseudoranges could be utilized finally true
Make the positional information of the electronic equipment.Therefore, according to the usable satellite list for getting, need gradually to search for and follow the trail of many
Satellite, for each satellite is required to obtain the clock i.e. gps time of the satellite, and calculates the electronic equipment with every satellite
Pseudorange, and then using with the pseudorange of multi-satellite determining the positional information of the electronic equipment.
Wherein, it is intended that the usable satellite of quantity can be set as needed, due to determine electronic equipment positional information extremely
Few pseudorange needed with 4 satellites, just can determine that the position of electronic equipment, therefore, the specified quantity should be more than or wait
In 4, the such as specified quantity can be 4, or 8.
Determine that according to with the pseudorange of multi-satellite the positional information of the electronic equipment is specially：The electronic equipment is calculated
After the pseudorange with multi-satellite for going out, will calculate and be sent to base station with the pseudo-range information of multi-satellite, then by base station according to
Go out the positional information of the electronic equipment according to its computation of pseudoranges for receiving, and the positional information of the electronic equipment for calculating is sent to
The electronic equipment.Wherein, base station determines that according to multiple pseudoranges the positional information of electronic equipment can be using existing any
Mode, here are not any limitation as.
After base station completes positioning to electronic equipment, positioning result is sent to into electronic equipment.
Composition structural representations of the Fig. 5 for the first computing unit of embodiment of the present invention electronic equipment, as shown in figure 5, making
For a kind of preferred embodiment, first computing unit 43 includes：Construction subelement 430, related subelement 431 and calculating are single
Unit 432；Wherein：
Construction subelement 430, for according to being received the real-time structure of the first information corresponding with second information
Make the 3rd information；
Related subelement 431, for second information corresponding with second information described second that will be received
Corresponding 3rd information of the first information of electronic installation carries out correlation, obtains correlated results；
Computation subunit 432, for the institute according to correlated results calculating reception no less than first threshold quantity
State the time delay that second information of second electronic device is produced.
Used as a kind of preferred embodiment, above-mentioned related subelement is additionally operable to described in set time sliding window
3rd information is related object, by the second electronic device second information for being received corresponding with second information
Corresponding 3rd information of the first information make related operation, obtain correlation result；And detect the related fortune
Whether the peak value for calculating result reaches the 4th threshold peak；When reaching four threshold peak, second information and institute are calculated
State the phase difference between the 3rd information；Time according to the phase difference calculating between the second information and the 3rd information
Difference；
Accordingly, the computation subunit 432, is additionally operable to be defined as receiving the second information product by the time difference
Raw time delay.
Electronic equipment record is currently received the moment of the GPS location signal of each GPS positioning satellite, determines the moment correspondence
The position of the gps navigation message received from base station in electronic equipment；The moment is led to electronic equipment from the GPS that base station is received
Difference between the initial time of avionics text, the as delay length of the gps navigation message that electronic equipment is received from base station.And
Determine one of mode of the delay length, be the gps navigation message received from GPS positioning satellite by current electronic device,
It is related to the gps navigation message work from base station reception in the time sliding window in this example, can be really by correlated results
Time delay is made, without decoding gps navigation message.
In the embodiment of the present invention, the first information includes that the aeronautical satellite of the wireless communication node prediction reports number
According to；
Second information includes that the aeronautical satellite that position location satellite is sent in real time reports data；
First threshold quantity is 4；
A length of six seconds during three threshold values；
4th threshold peak is the peak value for making maximum in related operation.
Prediction aeronautical satellite reports data, including：Almanac and almanac data；
As a kind of preferred embodiment, on the basis of the electronic equipment shown in Fig. 4, the electronic equipment of the embodiment of the present invention
Also include：Structural unit（Not shown in Fig. 4）, for, after getting prediction aeronautical satellite and reporting data, being gone through according to described
Book and almanac data structure forecast gps navigation message；
Correspondingly, first computing unit 43, is additionally operable to determine that the gps navigation message specified is led in the prediction GPS
The first position of avionics text；According to the gps time in the prediction gps navigation message corresponding to diverse location, described the is determined
Corresponding first gps time in one position, determines the time delay according to first gps time.The gps navigation message specified can be with
It is the frame head of gps navigation message.
It will be appreciated by those skilled in the art that each processing unit and its subelement in the electronic equipment of the embodiment of the present invention
Function, can refer to the associated description of aforesaid localization method and understands, each processing unit in the electronic equipment of the embodiment of the present invention
And its subelement, can be realized by realizing the analog circuit of the function described in the embodiment of the present invention, it is also possible to by performing sheet
Operation of the software of the function described in inventive embodiments on smart machine and realize.
Between technical scheme described in the embodiment of the present invention, in the case where not conflicting, can be in any combination.
In several embodiments provided by the present invention, it should be understood that disclosed method, device and electronic equipment,
Can realize by another way.Apparatus embodiments described above are only schematic, and for example, the unit is drawn
Point, only a kind of division of logic function can have other dividing mode, such as when actually realizing：Multiple units or component can
To combine, or another system is desirably integrated into, or some features can be ignored, or do not performed.In addition, shown or discussed
The coupling each other of each part or direct-coupling or communication connection can be by some interfaces, equipment or unit
INDIRECT COUPLING or communication connection, can be electrical, machinery or other forms.
The above-mentioned unit as separating component explanation can be, or may not be it is physically separate, it is aobvious as unit
The part for showing can be, or may not be physical location, you can with local positioned at one, it is also possible to be distributed to multiple network lists
In unit；Part or all of unit therein can be selected according to the actual needs to realize the purpose of this embodiment scheme.
In addition, each functional unit in various embodiments of the present invention can be fully integrated in a processing unit, also may be used
Being each unit individually as a unit, it is also possible to which two or more units are integrated in a unit；It is above-mentioned
Integrated unit both can be realized in the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit to realize.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of said method embodiment can pass through
Completing, aforesaid program can be stored in a computer read/write memory medium the related hardware of programmed instruction, the program
Upon execution, perform the step of including said method embodiment；And aforesaid storage medium includes：It is movable storage device, read-only
Memory（ROM, Read-Only Memory）, random access memory（RAM, Random Access Memory）, magnetic disc or
Person's CD etc. is various can be with the medium of store program codes.
Or, if the above-mentioned integrated unit of the embodiment of the present invention is realized using in the form of software function module and as independently
Production marketing or use when, it is also possible to be stored in a computer read/write memory medium.Based on such understanding, this
The part that the technical scheme of bright embodiment is substantially contributed to prior art in other words can in the form of software product body
Reveal and, the computer software product is stored in a storage medium, use so that a computer sets including some instructions
It is standby（Can be personal computer, server or network equipment etc.）Perform the whole of each embodiment methods described of the invention
Or part.And aforesaid storage medium includes：Movable storage device, read-only storage（ROM, Read-Only Memory）, with
Machine accesses memory（RAM, Random Access Memory）, magnetic disc or CD etc. are various can be with Jie of store program codes
Matter.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by the scope of the claims.
Claims (10)
1. a kind of localization method, is applied to electronic equipment, the electronic equipment respectively with the first electronic installation, second electronic device
Communicated；Characterized in that, methods described includes：
Receive it is that first electronic installation sends, produce not no less than first threshold quantity, described second electronic device
It is shorter than the first information of Second Threshold duration；
The second information sent no less than the second electronic device of first threshold quantity described in real-time reception；
Judge whether the duration of second information for receiving reaches the 3rd threshold value duration；
It is when reaching the 3rd threshold value duration, corresponding with second information described second electric according to second information that received
The first information of sub-device is calculated and receives described the of the second electronic device no less than first threshold quantity
The time delay that two information are produced；
The distance between calculated with the second electronic device no less than first threshold quantity according to the time delay；
It is determined that when the quantity for completing the distance of the second electronic device of calculating is no less than first threshold quantity, will complete to calculate
The distance no less than first threshold quantity send to first electronic installation；
Receive the distance determination electronic equipment no less than first threshold quantity that first electronic installation sends
Positional information.
2. method according to claim 1, it is characterised in that described according to second information for being received and described
The first information of the corresponding second electronic device of two information is calculated and receives the institute no less than first threshold quantity
The time delay that second information of second electronic device is produced is stated, including：
The 3rd information is constructed in real time according to the first information corresponding with second information is received；
By the first information of the second electronic device second information for being received corresponding with second information
Corresponding 3rd information carries out correlation, obtains correlated results；
Calculated according to the correlated results and receive described the of the second electronic device for being no less than first threshold quantity
The time delay that two information are produced.
3. method according to claim 2, it is characterised in that described by second information and described second for being received
Corresponding 3rd information of the first information of the corresponding second electronic device of information carries out correlation, including：
With moment of second information for receiving as starting point, be not shorter than currently received second information when
A length of duration length arranges time sliding window in the 3rd information；
With the 3rd information in set time sliding window as related object, by second information for being received and institute
Corresponding 3rd information of the first information for stating the corresponding second electronic device of the second information makees related operation, obtains
To correlation result；
And detect whether the peak value of the correlation result reaches the 4th threshold peak；
When reaching four threshold peak, the phase difference between second information and the 3rd information is calculated；
Time difference according to the phase difference calculating between the second information and the 3rd information；
Accordingly, it is no less than according to correlated results determines and receives described in the second electronic device of first threshold quantity
The time delay that second information is produced, including：
The time difference is defined as receiving the time delay that second information is produced.
4. the method according to any one of claims 1 to 3, it is characterised in that first electronic installation includes channel radio
Letter node；Second electronic device includes position location satellite；
The first information includes that the aeronautical satellite of the wireless communication node prediction reports data；
Second information includes that the aeronautical satellite that position location satellite is sent in real time reports data；
First threshold quantity is four；
A length of six seconds during three threshold values；
4th threshold peak is the peak value for making maximum in related operation.
5. method according to claim 4, it is characterised in that prediction aeronautical satellite reports data, including：
Almanac and almanac data；
After getting prediction aeronautical satellite and reporting data, also include：
According to the almanac and almanac data structure forecast gps navigation message；
Correspondingly, it is described according to second information second electronic device corresponding with second information for being received
The first information calculates the second information product for receiving the second electronic device no less than first threshold quantity
Raw time delay, including：
It is determined that the gps navigation message specified is in the first position of the prediction gps navigation message；
According to the gps time in the prediction gps navigation message corresponding to diverse location, the first position corresponding the is determined
One gps time, calculates the time delay according to first gps time.
6. a kind of electronic equipment, the electronic equipment are communicated with the first electronic installation, second electronic device respectively；Its feature
It is that the electronic equipment includes：First receiving unit, the second receiving unit, judging unit, the first computing unit, the second meter
Unit, determining unit, transmitting element and the 3rd receiving unit are calculated, wherein：
Receiving unit, for receive it is that first electronic installation sends, no less than first threshold quantity, described second electronics
The first information for not being shorter than Second Threshold that device is produced；
Second receiving unit, for the second letter that the second electronic device described in real-time reception no less than first threshold quantity sends
Breath；
Judging unit, for judging whether the duration of second information for receiving reaches the 3rd threshold value duration；
First computing unit, for when the judged result of judging unit reaches the 3rd threshold value duration, according to being received
The first information determination of the second information second electronic device corresponding with second information is no less than described in receiving
The time delay that second information of the second electronic device of first threshold quantity is produced；
Second computing unit, for being calculated and the second electronics dress no less than first threshold quantity according to the time delay
The distance between put；
Determining unit, for determining the quantity of the distance for completing the second electronic device for calculating whether no less than first threshold
Quantity, triggers the transmitting element when being；
Transmitting element, sends to first electronics dress for completing the distance no less than first threshold quantity for calculating
Put；
3rd receiving unit, the distance no less than first threshold quantity for receiving the first electronic installation transmission are true
The positional information of the fixed electronic equipment.
7. electronic equipment according to claim 6, it is characterised in that first computing unit includes：Construction subelement,
Related subelement and computation subunit；Wherein：
Construction subelement, for the first information corresponding with second information is real-time to construct the 3rd letter according to being received
Breath；
Related subelement, for by the second electronic device second information for being received corresponding with second information
Corresponding 3rd information of the first information carry out correlation, obtain correlated results；
Computation subunit, for electric no less than described the second of first threshold quantity according to correlated results calculating reception
The time delay that second information of sub-device is produced.
8. electronic equipment according to claim 7, it is characterised in that the related subelement, is additionally operable to set
The 3rd information in time sliding window is related object, will be second information for being received corresponding with second information
Corresponding 3rd information of the first information of the second electronic device make related operation, obtain related operation knot
Really；And detect whether the peak value of the correlation result reaches the 4th threshold peak；When reaching four threshold peak, meter
Calculate the phase difference between second information and the 3rd information；According to the phase difference calculating the second information with it is described
Time difference between 3rd information；
Accordingly, the computation subunit, is additionally operable to be defined as receiving prolonging for the second information generation by the time difference
When.
9. the electronic equipment according to any one of claim 6 to 8, it is characterised in that first electronic installation includes nothing
Line communication node；Second electronic device includes position location satellite；
The first information includes that the aeronautical satellite of the wireless communication node prediction reports data；
Second information includes that the aeronautical satellite that position location satellite is sent in real time reports data；
First threshold quantity is four；
A length of six seconds during three threshold values；
4th threshold peak is the peak value for making maximum in related operation.
10. electronic equipment according to claim 9, it is characterised in that prediction aeronautical satellite reports data, including：Almanac
And almanac data；
Described device also includes：Structural unit, for after getting prediction aeronautical satellite and reporting data, according to the almanac
With almanac data structure forecast gps navigation message；
Correspondingly, first computing unit, is additionally operable to determine the gps navigation message specified in the prediction gps navigation message
First position；
According to the gps time in the prediction gps navigation message corresponding to diverse location, the first position corresponding the is determined
One gps time, calculates the time delay according to first gps time.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1312913A (en) * | 1998-06-16 | 2001-09-12 | 艾利森公司 | Apparatus and methods for position computation based on broadcast initialization data |
| CN1422012A (en) * | 2001-11-28 | 2003-06-04 | 株式会社电装 | Radio communication terminal and position measuring system |
| CN101300752A (en) * | 2005-10-06 | 2008-11-05 | 三星电子株式会社 | Method of acquiring initial GPS signal in broadcasting system and system using the method |
-
2013
- 2013-09-02 CN CN201310392961.7A patent/CN104422942B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1312913A (en) * | 1998-06-16 | 2001-09-12 | 艾利森公司 | Apparatus and methods for position computation based on broadcast initialization data |
| CN1422012A (en) * | 2001-11-28 | 2003-06-04 | 株式会社电装 | Radio communication terminal and position measuring system |
| CN101300752A (en) * | 2005-10-06 | 2008-11-05 | 三星电子株式会社 | Method of acquiring initial GPS signal in broadcasting system and system using the method |
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| CN104422942A (en) | 2015-03-18 |
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