CN104977560A

CN104977560A - Mobile device, positioning method and positioning system

Info

Publication number: CN104977560A
Application number: CN201410136131.2A
Authority: CN
Inventors: 廖可; 伊红; 于海华; 王炜; 笪斌
Original assignee: Ricoh Co Ltd
Current assignee: Ricoh Co Ltd
Priority date: 2014-04-04
Filing date: 2014-04-04
Publication date: 2015-10-14
Anticipated expiration: 2034-04-04
Also published as: CN104977560B

Abstract

The present invention discloses a mobile device, a positioning method and a positioning system. The mobile device comprises N first wireless signal receivers located at different positions, wherein the first wireless signal receivers are configured to receive the first wireless signals emitted by another one mobile device from different angles, and N is a positive integer greater than 1; a controller configured to estimate the N distances between the other one mobile device and the N first wireless signal receivers according to the N transmission time of the first wireless signals from being emitted to being received by the N first wireless signal receivers, and the transmission rates of the first wireless signals, to estimate an deflection angle of the other one mobile device located in a reference direction according to the estimated N distances and the known distances among the N first wireless signal receivers, wherein the reference direction is relevant with the positions of the N first wireless signal receivers, and to obtain the position of the other one mobile device relative to the mobile device according to the estimated N distances and the estimated deflection angle.

Description

Mobile device, localization method and positioning system

Technical field

The disclosure relates to wireless communication field, and more specifically, includes the mobile device, localization method and the positioning system that help locate other mobile devices.

Background technology

In the rally of such as exhibitions industry, especially need the on-the-spot scene linked up face-to-face, such as industry supply and marketing meeting, business negotiations meeting, technical forum etc., the object of most visitor is the position of the people finding interest to mate at the scene, and carry out aspectant communication, even reach certain business associate.But in the face of numerous people, there is the problem of not knowing " people of these interest coupling where ", therefore, hit rate and the efficiency of on-the-spot communication are very low.

Therefore, a kind of technology of locating other people position is exactly needed.

Summary of the invention

According to an aspect of this technology, a kind of mobile device is provided, comprises: N number of first wireless signal receiver being positioned at diverse location, be configured to receive the first wireless signal launched from another mobile device from different perspectives, wherein, N be greater than 1 positive integer; Controller, be configured to: according to the first wireless signal from the propagation rate being launched into N number of transmission time and the first wireless signal received by N number of first wireless signal receiver, estimate described N number of distance between another mobile device and N number of first wireless signal receiver; According to the known distance between N number of distance of described estimation and described N number of first wireless signal receiver, estimate that another mobile device described is positioned at the deflection angle with reference direction, wherein, described reference direction is relevant with the position of described N number of first wireless signal receiver; According to N number of distance of described estimation, and the deflection angle of described estimation, obtain the position of another mobile device described relative to described mobile device.

According to the another aspect of this technology, a kind of mobile device is provided to be used for locating the localization method of another mobile device, comprise: make N number of first wireless signal receiver being positioned at diverse location receive the first wireless signal launched from another mobile device from different perspectives, wherein, N be greater than 1 positive integer; According to the first wireless signal from the propagation rate being launched into N number of transmission time and the first wireless signal received by N number of first wireless signal receiver, estimate described N number of distance between another mobile device and N number of first wireless signal receiver; According to the known distance between N number of distance of described estimation and described N number of first wireless signal receiver, estimate that another mobile device described is positioned at the deflection angle with reference direction, wherein, described reference direction is relevant with the position of described N number of first wireless signal receiver; According to N number of distance of described estimation, and the deflection angle of described estimation, obtain the position of another mobile device described relative to described mobile device.

According to the another aspect of this technology, a kind of positioning system is provided, comprise: telegon, be configured to the mobile device multiple as claimed in claim 1 in supervising the network, and distribute No. ID, mobile device to each mobile device, and receive the Distance geometry deflection angle of that send from each mobile device and between other mobile devices estimation; Scheduler, is configured to, according to No. ID, mobile device, sequentially indicate each mobile device to carry out the estimation of Distance geometry deflection angle; As the mobile device according to an aspect of this technology, be configured to the Distance geometry deflection angle sending described estimation to telegon.

Accompanying drawing explanation

Fig. 1 shows the example application scene applying technology of the present disclosure.

Fig. 2 shows the schematic construction block diagram of mobile device according to an embodiment of the invention.

Fig. 3 mobile device shown according to another embodiment of the invention is used for the example flow diagram of the localization method of locating another mobile device.

Fig. 4 A shows the schematic diagram of the positioning system of the localization method of this technology of application according to another embodiment of the invention.Fig. 4 B shows the exemplary hardware structured flowchart of the mobile device of the localization method of this technology of application according to another embodiment of the invention.Fig. 4 C shows the example block diagram of the ultrasonic signal cell array of the mobile device of the localization method of this technology of application according to another embodiment of the invention.

The sequential chart of the exemplary step that each assembly of the positioning system that Fig. 5 shows according to another embodiment of the invention carries out.

The process flow diagram of the exemplary step of the time delay correction that the mobile device of mobile device and reception that Fig. 6 A shows transmitting according to another embodiment of the invention carries out.Fig. 6 B shows estimation time delay T in the step shown in Fig. 6 A _utUrexample waveform.Fig. 6 C shows radio frequency (RF) the signal physical layer frame structure of example.

The mobile device of mobile device and reception that Fig. 7 A shows transmitting according to another embodiment of the invention makes received ultrasonic signal and receives the process flow diagram of the signal asynchronous exemplary step of RF.Fig. 7 B shows the ultrasonic signal of the reception that may occur when not adopting the asynchronous system shown in Fig. 7 A and the noise waveform of RF signal.Fig. 7 C shows the precision waveform that can obtain when adopting the asynchronous system shown in Fig. 7 A.

Fig. 8 shows the process flow diagram of the method for another mobile device of location according to a preferred embodiment of the invention.

The principle schematic that the deflection angle that Fig. 9 A, 9B, 9C and Fig. 9 D shows method is according to a preferred embodiment of the invention estimated.

Embodiment

Present by detail with reference to specific embodiments of the invention, in the accompanying drawings exemplified with example of the present invention.Although will describe the present invention in conjunction with specific embodiments, will understand, be not want to limit the invention to described embodiment.On the contrary, want to cover be defined by the following claims the change comprised within the spirit and scope of the present invention, amendment and equivalent.It should be noted that method step described herein can be arranged by any functional block or function realize, and any functional block or function are arranged and can be implemented as physical entity or logic entity or both combinations.

In order to make those skilled in the art understand the present invention better, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.

As shown in Figure 1, a certain mobile device (node) adds a local wireless network, after finding the interested node around it, can estimate the distance (D as shown in Figure 1 between this node and node interested ₁, D ₂) and estimate between this node and node interested deflection angle (θ as shown in Figure 1 ₁, θ ₂).The such as industry supply and marketing meeting of typical use scenes example, business negotiations meeting, technical forum, blind date conference etc.

Mobile device 200 shown in Fig. 2 comprises: N number of first wireless signal receiver 201 being positioned at diverse location, is configured to receive the first wireless signal launched from another mobile device from different perspectives, wherein, N be greater than 1 positive integer; Controller 202, be configured to: according to the first wireless signal from the propagation rate being launched into N number of transmission time and the first wireless signal received by N number of first wireless signal receiver, estimate described N number of distance between another mobile device and N number of first wireless signal receiver; According to the known distance (and/or geometric relationship of the position of described N number of first wireless signal receiver and another mobile device described) between N number of distance of described estimation and described N number of first wireless signal receiver, estimate that another mobile device described is positioned at the deflection angle with reference direction, wherein, described reference direction is relevant with the position of described N number of first wireless signal receiver; According to N number of distance of described estimation, and the deflection angle of described estimation, obtain the position of another mobile device described relative to described mobile device.

So, utilize N number of first wireless signal receiver 201 placed at the diverse location place of same mobile device inside, the first wireless signal from another mobile device can be received from different perspectives, thus utilize geometric relationship can estimate the Distance geometry deflection angle of another mobile device relative to described mobile device.Note, above-mentioned deflection angle is the reference direction based on current mobile device, and this reference direction can be determined uniquely according to the position of N number of first wireless signal receiver.Therefore, user that is hand-held or that wear this mobile device can know specific user's (such as there are other users of the interest information matched with the interest information of active user) of holding another mobile device relative to oneself Distance geometry relative to known reference direction (such as, the direction etc. of frontal, face or head) deflection angle, thus easily can rotate the angle of this deflection angle, and mobile above-mentioned distance, thus this holds the user of another mobile device to find (or location).

In one embodiment, this first wireless signal receiver can be ultrasound signal receipt device.Because ultrasound wave is the ripple relative to the velocity of sound slower the light velocity as velocity of propagation, can utilize and measure from time of the propagation being transmitted into reception and the velocity of sound to estimate propagation distance, therefore ultrasound wave is in this as preferred signal.Certainly, the present invention is not limited thereto embodiment, also can utilize other ripples (such as sound wave) to carry out the measurement of this propagation distance.

In one embodiment, described controller 202 can also be configured to: according to the known distance between the distance of described estimation and described N number of first wireless signal receiver, obtains connecting (N-1) individual triangle of any two and another mobile device described in described N number of first wireless signal receiver; According to described (N-1) triangle, obtain the angle on described (N-1) individual each summit leg-of-mutton; According to described angle and described reference direction, obtain the mean value of the N number of angle between the line of described N number of first wireless signal receiver and another mobile device described and described reference direction, as described deflection angle.

At this, in order to make, the deflection angle of estimation is more accurate, error is less, can consider that aforesaid way is when receiving more than two the first wireless signal receivers the first wireless signal sent from another mobile device, can by calculating all mean value that can connect any two the first wireless signal receivers and deflection angle when this another mobile device triangularity receiving the first wireless signal, obtain deflection angle more accurately, some errors caused because of transmission obstacle, signal attenuation, measuring error etc. can be eliminated.

In certain embodiments, described reference direction can be: when described N number of first wireless signal receiver is arranged as circular arc, and described reference direction is the normal direction of arbitrary first wireless signal receiver in described N number of first wireless signal receiver; When described N number of first wireless signal receiver is arranged as straight line, described reference direction is the perpendicular line direction of described straight line; The direction etc. that can obtain from the diverse location of described N number of first wireless signal receiver preset.In a word, this reference direction can obtain uniquely from the diverse location of N number of first wireless signal receiver, thus the user holding mobile device easily can know which is reference direction, thus can know the deflection how carrying out deflection angle.Certainly, this is a kind of preferred embodiment, in fact, also by other means, can obtain the deflection angle of final estimation.

In one embodiment, described controller 202 can also be configured to: the minimum distance in the N number of distance between another mobile device described of Selectivity Estimating and N number of first wireless signal receiver, as the measuring distance between another mobile device described and described mobile device.

At this, due to a distance can be estimated for launching each time that the first wireless signal receives this signal to each first wireless signal receiver from another mobile device, but usually when the distance estimated is minimum, normally face face-to-face between first wireless signal receiver and another mobile device, in this case, it has been generally acknowledged that the situation of the transmission path between the first wireless signal receiver and another mobile device is better, such as, be not easy to occur barrier, scattering, the problem of the Signal transmissions such as diffraction, therefore think that the distance in this case estimated is usually comparatively accurate, because Signal transmissions is comparatively close to straight line.Certainly, this is a kind of preferred embodiment, in fact, also by averaging or other modes, can obtain the distance of final estimation.

In one embodiment, mobile device can also comprise: the second wireless signal receiver, be configured to receive and launch the first wireless signal substantially side by side from the second wireless signal that another mobile device is launched from another mobile device, the transfer rate V of wherein said second wireless signal ₂in the transfer rate V of described first wireless signal ₁; Wherein, described controller be also configured to by following formula (1) estimate another mobile device described and described N number of first wireless signal receiver each between distance d:

d = \frac{T_{UtUr} \times V_{1} \times V_{2}}{V_{2} - V_{1}},

Formula (1)

Wherein, T _utUrthat the first wireless signal is from the time delay being transmitted into reception.

This second wireless signal receiver can come together to carry out range observation more accurately with the first wireless signal receiver.Such as, this second wireless signal receiver can be radio frequency (Radio Frequency, RF) signal receiver, the speed of its signal launched is the speed light velocity faster than the first wireless signal, the travel-time being transmitted into reception of the wireless signal therefore utilizing two kinds of speed different, distance between transmitting terminal and receiving end can be calculated by poor by time of arrival (Time Difference of Arrival, TDOA) algorithm.Certainly, this second wireless signal receiver can be the signal receiver that other speed is propagated, as long as the speed of this second wireless signal is different from the speed of the first wireless signal.

In one embodiment, described controller 202 can also be configured to: revise according to the first wireless signal from being transmitted into by each each time delay T received of described N number of first wireless signal receiver according to following formula (2) _utUr:

T _utUr=Δ t _utRt+ T _rtRr+ Δ t _rr-T _urRr, formula (2)

Wherein, T _utUrbe the first wireless signal from the time delay being transmitted into reception, Δ t _utRtthe time delay of the first radio wave signal transmitting and the second wireless signal transmission, T _rtRrbe the second wireless signal from the time delay being transmitted into reception, Δ t _rrthe time delay of the second wireless signal that the second wireless signal receiver process receives, T _urRrit is the time delay of the first reception of wireless signals and the second reception of wireless signals.

So, by considering various time delay to obtain that the first wireless signal is from the time delay T being transmitted into reception more accurately _utUr, thus distance more accurately can be estimated by the velocity of propagation of the first wireless signal.

Wherein, in one embodiment,

T_{RtRr} = \frac{(N_{preamble} + N_{lenth} + N_{data} + N_{CRC}) \times 8}{BaudRate}

Formula (3)

Wherein, N _preambleit is the byte number of lead code in the physical layer frame structure of the second wireless signal; N _lenthit is the byte number of data length in the physical layer frame structure of the second wireless signal; N _datait is the byte number of real data in the physical layer frame structure of the second wireless signal; N _cRCbe in the physical layer frame structure of the second wireless signal CRC check and byte number; BaudRate is the transmission speed of data between processing unit and the second wireless signal unit of the second wireless signal.

In one embodiment, described controller 202 can also be configured to: make when one of described first wireless signal receiver and described second wireless signal receiver are opened, forbid another of described first wireless signal receiver and described second wireless signal receiver, and forbidden after one of described first wireless signal receiver and described second wireless signal receiver receive wireless signal, open simultaneously described another.

Like this, can make the first wireless signal receiver and the second wireless signal receiver can not a direct-open, but open asynchronously when needs, thus reduce the possibility that arbitrary receiver receives other undesired signals or noise signal, thus the estimation of the various mistakes avoided the signal owing to receiving noise or mistake as far as possible and cause.

In one embodiment, this mobile device 200 can also comprise: with N number of first wireless signal transmitter together with described N number of first wireless signal receiver being positioned at diverse location, is configured to launch N number of first wireless signal to another mobile device described; The second wireless signal transmitter together with the second wireless signal receiver, is configured to and launches the first wireless signal and launch the second wireless signal substantially simultaneously to another mobile device described.N number of first wireless signal receiver being positioned at diverse location can also be configured to receive the first wireless signal launched from N number of first wireless signal transmitter of another mobile device from different perspectives.Described controller 202 can also be configured to the propagation rate being transmitted into each transmission time and this first wireless signal received by described N number of first wireless signal receiver each according to the first wireless signal from N number of first wireless signal transmitter of another mobile device, estimate described N number of first wireless signal receiver of each and this mobile device of described N number of first wireless signal transmitter of another mobile device described each between distance; The shortest distance in the distance of estimation is set to the measuring distance between this mobile device and another mobile device described.

At this, conveniently internal placement, usual layout transceiver realizes the function of both transmitting and receiving simultaneously, so can arrange N number of first wireless signal transceiver and the second possible wireless signal transceiver in each mobile device, like this, when also having N number of first wireless signal transceiver to launch the first wireless signal in another mobile device, N number of first wireless signal transceiver in current mobile device also may receive from various angle the first wireless signal launched from N number of first wireless signal transceiver another mobile device respectively, so, each distance between N number of first wireless signal transceiver in current mobile device and N number of first wireless signal transceiver in another mobile device can be estimated.In this case, also can using minimum distance wherein as the measuring distance between this mobile device and another mobile device described, because as previously mentioned, apart from minimum often represent two the first wireless signal transceivers normally face-to-face towards, can think that signals transmission is more stable like this, not easily be interfered or other propagation problems, therefore it has been generally acknowledged that this distance of so estimation is comparatively accurately.

In one embodiment, this controller 202 can also be configured to: one or more are in the following way to judge that this another mobile device is positioned at left side or the right side of described reference direction: first wireless signal receiver be close in the left side of reference direction and the distance of another mobile device are greater than first wireless signal receiver be close on the right side of reference direction and the distance of another mobile device, then can judge that this deflection angle is towards the right side, and otherwise, then towards a left side; Or first wireless signal receiver be close in the left side of reference direction and the deflection angle of another mobile device are greater than first wireless signal receiver be close on the right side of reference direction and the deflection angle of another mobile device, then can judge that this deflection angle is towards the right side, and otherwise, then towards a left side; Or there is the quantity of the distance of estimation or the first wireless signal receiver of deflection angle in the quantity of the first wireless signal receiver of the left side of the reference direction distance or deflection angle that the there is estimation right side that is less than reference direction, then can judge that this deflection angle is towards the right side, and otherwise, then towards a left side; Or according to the geometric relationship between (N-1) individual triangle of any two and another mobile device described that connect in described N number of first wireless signal receiver and reference direction, judge this deflection angle towards a left side still towards right etc.

At this, when calculated deflection angle is absolute value, can judge that this another mobile device is positioned at left side or the right side of the reference direction of current mobile device node, thus instruct the user holding and deserve front mobile device node towards a left side or the deflection angle turning above-mentioned calculating towards right avertence, find this another mobile device and user thereof.Certainly, at this, judge that the mode towards a left side still towards the right side is not limited thereto, those skilled in the art can conceive other modes to obtain towards a left side still towards the right side by the arrangement of the first wireless signal receiver and the Distance geometry calculated deflection angle.In addition, if the deflection angle calculated has been with positive and negative angle value, then directly can judges towards a left side still towards the right side according to positive and negative, and not need through above-mentioned determining step.

So, according to each embodiment of the present invention, N number of first wireless signal receiver 201 placed at the diverse location place of same mobile device inside can be utilized, receive the first wireless signal from another mobile device from different perspectives, thus utilize geometric relationship can estimate the Distance geometry deflection angle of another mobile device relative to described mobile device, thus locate this another mobile device.So, this technology without the need to any beaconing nodes or external auxiliary parameter or facility, locate a certain node without the need to two or three traditional nodes, namely can locate arbitrary node by direct present node.

This localization method 300 comprises: step 301, makes N number of first wireless signal receiver being positioned at diverse location receive the first wireless signal launched from another mobile device from different perspectives, wherein, N be greater than 1 positive integer; Step 302, according to the first wireless signal from the propagation rate being launched into N number of transmission time and the first wireless signal received by N number of first wireless signal receiver, estimate described N number of distance between another mobile device and N number of first wireless signal receiver; Step 303, according to the known distance (and/or geometric relationship of the position of described N number of first wireless signal receiver and another mobile device described) between N number of distance of described estimation and described N number of first wireless signal receiver, estimate that another mobile device described is positioned at the deflection angle with reference direction, wherein, described reference direction is relevant with the position of described N number of first wireless signal receiver; Step 304, according to N number of distance of described estimation, and the deflection angle of described estimation, obtain the position of another mobile device described relative to described mobile device.

So, utilize N number of first wireless signal receiver placed at the diverse location place of same mobile device inside, the first wireless signal from another mobile device can be received from different perspectives, thus utilize geometric relationship can estimate the Distance geometry deflection angle of another mobile device relative to described mobile device.Note, above-mentioned deflection angle is the reference direction based on current mobile device, and this reference direction can be determined uniquely according to the position of N number of first wireless signal receiver.Therefore, user that is hand-held or that wear this mobile device can know specific user's (such as there are other users of the interest information matched with the interest information of active user) of holding another mobile device relative to oneself Distance geometry relative to known reference direction (such as, the direction etc. of frontal, face or head) deflection angle, thus easily can rotate the angle of this deflection angle, and mobile above-mentioned distance, thus this holds the user of another mobile device to find (or location).

In one embodiment, this first wireless signal receiver can be ultrasound signal receipt device.Because ultrasound wave is the ripple relative to the velocity of sound slower the light velocity as velocity of propagation, can utilize and measure from time of the propagation being transmitted into reception and the velocity of sound to estimate propagation distance, therefore ultrasound wave is in this as preferred signal.Certainly, the present invention is not limited thereto embodiment, the ripple of other speed also can be utilized to carry out the measurement of this propagation distance.

In one embodiment, this localization method 300 can also comprise: according to the known distance between the distance of described estimation and described N number of first wireless signal receiver, obtains connecting (N-1) individual triangle of any two and another mobile device described in described N number of first wireless signal receiver; According to described (N-1) triangle, obtain the angle on described (N-1) individual each summit leg-of-mutton; According to described angle and described reference direction, obtain the mean value of the N number of angle between the line of described N number of first wireless signal receiver and another mobile device described and described reference direction, as described deflection angle.

In one embodiment, this localization method 300 can also comprise: the minimum distance in the N number of distance between another mobile device described of Selectivity Estimating and N number of first wireless signal receiver, as the measuring distance between another mobile device described and described mobile device.

In one embodiment, this localization method 300 can also comprise: the second wireless signal receiver is received and launches the first wireless signal substantially side by side from the second wireless signal that another mobile device is launched from another mobile device, the transfer rate V of wherein said second wireless signal ₂in the transfer rate V of described first wireless signal ₁; Wherein, described controller be also configured to by following formula (1) estimate another mobile device described and described N number of first wireless signal receiver each between distance d:

d = \frac{T_{UtUr} \times V_{1} \times V_{2}}{V_{2} - V_{1}},

Formula (1)

In one embodiment, this localization method 300 can also comprise: revise according to the first wireless signal from being transmitted into by each each time delay T received of described N number of first wireless signal receiver according to following formula (2) _utUr:

T _utUr=Δ t _utRt+ T _rtRr+ Δ t _rr-T _urRr, formula (2)

Wherein, in one embodiment,

T_{RtRr} = \frac{(N_{preamble} + N_{lenth} + N_{data} + N_{CRC}) \times 8}{BaudRate}

Formula (3)

In one embodiment, this localization method 300 can also comprise: make when one of described first wireless signal receiver and described second wireless signal receiver are opened, forbid another of described first wireless signal receiver and described second wireless signal receiver, and forbidden after one of described first wireless signal receiver and described second wireless signal receiver receive wireless signal, open simultaneously described another.

In one embodiment, this localization method 300 can also comprise: make N number of first wireless signal transmitter together with described N number of first wireless signal receiver being positioned at diverse location launch N number of first wireless signal to another mobile device described; The second wireless signal transmitter together with the second wireless signal receiver is made to launch the second wireless signal with transmitting the first wireless signal substantially simultaneously to another mobile device described.N number of first wireless signal receiver being positioned at diverse location can also be made to receive the first wireless signal launched from N number of first wireless signal transmitter of another mobile device from different perspectives.The propagation rate of each transmission time and this first wireless signal received by described N number of first wireless signal receiver each can also be transmitted into from N number of first wireless signal transmitter of another mobile device according to the first wireless signal, estimate described N number of first wireless signal receiver of each and this mobile device of described N number of first wireless signal transmitter of another mobile device described each between distance; The shortest distance in the distance of estimation is set to the measuring distance between this mobile device and another mobile device described.

In one embodiment, this localization method 300 can also comprise: one or more are in the following way to judge that this another mobile device is positioned at left side or the right side of described reference direction: first wireless signal receiver be close in the left side of reference direction and the distance of another mobile device are greater than first wireless signal receiver be close on the right side of reference direction and the distance of another mobile device, then can judge that this deflection angle is towards the right side, and otherwise, then towards a left side; Or first wireless signal receiver be close in the left side of reference direction and the deflection angle of another mobile device are greater than first wireless signal receiver be close on the right side of reference direction and the deflection angle of another mobile device, then can judge that this deflection angle is towards the right side, and otherwise, then towards a left side; Or there is the quantity of the distance of estimation or the first wireless signal receiver of deflection angle in the quantity of the first wireless signal receiver of the left side of the reference direction distance or deflection angle that the there is estimation right side that is less than reference direction, then can judge that this deflection angle is towards the right side, and otherwise, then towards left etc.; Or according to the geometric relationship between (N-1) individual triangle of any two and another mobile device described that connect in described N number of first wireless signal receiver and reference direction, judge this deflection angle towards a left side still towards right etc.

So, according to each embodiment of the present invention, N number of first wireless signal receiver placed at the diverse location place of same mobile device inside can be utilized, receive the first wireless signal from another mobile device from different perspectives, thus utilize geometric relationship can estimate the Distance geometry deflection angle of another mobile device relative to described mobile device, thus locate this another mobile device.So, this technology without the need to any beaconing nodes or external auxiliary parameter or facility, locate a certain node without the need to two or three traditional nodes, namely can locate arbitrary node by direct present node.

As shown in Figure 4 A, a kind of positioning system 400 comprises: telegon 401, be configured to the mobile device multiple as claimed in claim 1 in supervising the network, and distribute mobile device ID(Identifier to each mobile device) number (identifier), and receive the Distance geometry deflection angle of that send from each mobile device and between other mobile devices estimation; Scheduler 402, is configured to, according to No. ID, mobile device, sequentially indicate each mobile device to carry out the estimation of Distance geometry deflection angle; Mobile device 403, is configured to the Distance geometry deflection angle sending described estimation to telegon.

So, under the coordination and scheduling of telegon 401 and scheduler 402, the actions such as the estimation of the signal transmitting and receiving between mobile device 403 and Distance geometry deflection angle can more suitably be carried out.

Fig. 4 B shows the hardware configuration of the illustrated inside of mobile device 403.Such as, mobile device 403 can comprise: processing unit U1, for controlling the behavior instructing mobile device node; Internal storage location U2, for storing various result; Display unit U3, for showing result to user; Power supply unit U4, for providing power supply; Radio receiving transmitting module U5, for adding wireless network and exchanging data by wireless network; Ultrasonic signal cell array U6, for receiving and dispatching ultrasonic signal from different perspectives; Radio frequency (RF) signal element U7, for transceiving radio frequency (RF) signal.Such as, the representative instance of wireless transmit/receive units U5 is the zigbee module containing omnidirectional antenna, or other have the ability to set up the radio receiving transmitting module of wireless network arbitrarily.

Certain U6 and U7 also can be any two kinds of signal elements except ultrasound wave and radiofrequency signal, only needs two kinds of signals different in the speed of same Propagation, carrys out estimated distance with this by time of arrival poor (TDOA) algorithm.

Note, the inner possible hardware configuration of mobile device is shown at this, but and the hardware cell shown in not all is all that this technology is necessary, in fact, mobile device inside only needs N number of first wireless signal receiver being positioned at diverse location receiving the first wireless signal launched from another mobile device from different perspectives, and other hardware cells are all optional.

Fig. 4 C shows the preferred example of the internal placement of ultrasonic signal cell array U6.Usually, if the deflection of ultrasound beamformer is α (α <2 π), in array, the quantity of ultrasonic transmitter-receiver is (n is integer and n>1).In array, the position of ultrasonic transmitter-receiver is on the k sub-multiple angle of circle.Such as, as shown in Figure 4 C, the representative value of ultrasonic signal field angle α generally at 120 degree, in this case, when the ultrasonic transmitter-receiver number in array is 6 ( ) (i.e. N=6), can ensure that any one ultrasonic transmitter-receiver once can receive signal from least two different Transceiver Transmit, this arrangement convenience subsequent calculations deflection angle from least two different angles.And, suppose that the sequence number of ultrasonic transmitter-receiver increases progressively in a clockwise direction, namely clockwise direction be 1,2,3 ..., 6.Certainly, there are 6 ultrasonic transmitter-receivers altogether in ultrasonic signal cell array U6 is only an example, in fact, as long as there are at least 2 ultrasonic transmitter-receivers can receive ultrasonic signal from another mobile device from least 2 different angles, namely deflection angle can be calculated.

At this, note, exist in ultrasonic signal cell array U6 between the sum of ultrasonic transmitter-receiver and the number that can receive the ultrasonic transmitter-receiver of the ultrasonic signal from another mobile device from least 2 different angles and there is no direct relation, namely, even if there are 6 ultrasonic transmitter-receivers, also once 2 can only be had, or 3 ultrasonic transmitter-receivers can receive the ultrasonic signal from another mobile device from different perspectives, this is because due to ultrasonic transmitter-receiver arrangement and towards and hyperacoustic field angle characteristic, not all ultrasonic transmitter-receivers of arrangement can receive the ultrasonic signal from a certain place simultaneously, therefore, as long as there are at least 2 the first wireless signal (such as ultrasound wave) transceivers in the disclosure can receive the first wireless signal (such as ultrasound wave) from another mobile device from least 2 different angles, and do not limit the sum of the first wireless signal (such as ultrasound wave) transceiver, its spread geometry, its field angle size, whether the arrangement of its first wireless signal (such as ultrasound wave) transceiver covers all angles etc.

Fig. 5 comprises step:

1) telegon: set up wireless network S111; Send online mobile device set of node together with No. ID of each node to scheduler S112; Send traffic order to scheduler, open the process S113 that once traversal wheel is sent out; Complete feedback signal from scheduler receiving scheduling, stop once traversal wheel to send out process S114; The range data that receiving node is sent and deflection angle data, the matrix S 115 of relative deflection angle composition between the matrix that more between new node, relative distance forms and node.

2) scheduler: add wireless network S121; Receive from telegon and upgrade the ID S122 of line node collection and each node; Receive the traffic order that telegon is sent, open the process S123 that once traversal wheel is sent out; Once traveling through in a wheel process, according to node ID number order, successively to node transmission range measuring command, the range observation function S124 of trigger node; Send scheduling to telegon and complete feedback signal, stop once traversal wheel to send out process S125.

3) mobile device node: add wireless network S131; The node receiving the range observation order of scheduler opens the range observation function S132 of oneself; Other nodes not receiving the range observation order of scheduler wait for its ultrasonic signal unit and RF(radio frequency) signal element received ultrasonic signal and RF(radio frequency) signal, realize distance measurement process, obtain distance initial value S2-S4; According to distance initial value, complete computation process, obtain range data and deflection angle data S5; Range data and deflection angle data are beamed back, the matrix S 133 of relative deflection angle composition between the matrix that more between new node, relative distance forms and node to telegon.

Note, Fig. 5 illustrate only telegon in positioning system and scheduler is deposited in case, the operation steps of system, but not this technology is necessary for this, in fact, when not having telegon and scheduler, the mobile device of this technology also can realize the function of locating another mobile device.

Process flow diagram as shown in 6A comprises step:

1) the mobile device node transmitted, is packaged in S21 in RF Frame by node No. ID and the sequence number of ultrasonic transmitter-receiver in ultrasonic transmitter-receiver array; Node launches ultrasonic signal and RF(radio frequency substantially simultaneously) signal S22.

2) the mobile device node of Received signal strength, received ultrasonic signal and RF(radio frequency) signal S23; According to above-mentioned formula (3) by RF(radio frequency) byte number of physical layer frame, calculate RF(radio frequency) physical layer frame length S24; This frame length is compared S25 with previous frame length; If frame length consistent (the RF signal that expression receives is correct), estimation time delay T _rtRrs26; Otherwise abandon data, require the node completing steps S2 again transmitted.

Wherein according to formula (2), T _utUr=Δ t _utRt+ T _rtRr+ Δ t _rr-T _urRrobtain the first wireless signal from the time delay being transmitted into reception.Wherein, Δ t _utRtthe time delay of the first radio wave signal transmitting and the second wireless signal transmission, T _rtRrbe the second wireless signal from the time delay being transmitted into reception, Δ t _rrthe time delay of the second wireless signal that the second wireless signal receiver process receives, T _urRrit is the time delay of the first reception of wireless signals and the second reception of wireless signals.

As shown in Figure 6B, due in practical situation, launch ultrasonic signal and transmitting RF (radio frequency) signal not necessarily completely simultaneously, therefore Δ t _utRtdepend on frequency of operation and the RF(radio frequency of processing unit) the transmitting time delay of signal physical layer protocol.Δ t _rrdepend on RF(radio frequency) receive time delay of signal physical layer protocol.T _urRrprecision depend on the precision (relevant with the frequency of operation of processing unit) of processing unit timer.Because what relate to is physical layer protocol, the stable and error of protocol-dependent transmitting and receiving time delay is in μ s level.The frequency of processing unit is generally at MHz simultaneously, and processing delay error is also in μ s level.In the evaluation system of actual measurement, Δ t _utRt+ Δ t _rrgeneral at 500 μ about s, and for particular system, this value is constant.Therefore, in another embodiment, compensating with the form of system constant this time delay and revise is the another kind of method improving system accuracy.

As shown in Figure 6 C be RF(radio frequency) signal physical layer frame structure schematic diagram.RF(radio frequency) signal be typically 315MHz or 433MHz.For 315MHz, lead code is 8 bytes, and data length is 2 bytes, CRC check and be 4 bytes.Usually, if the data transmitted are sequence numbers of ultrasonic transmitter-receiver, then data are 1 byte.RF(radio frequency) signal transmitting and receiving Configuration of baud rate be 9600bps.Based on above analysis, RF(radio frequency) length of physical layer frame is 15 bytes, according to formula (3), T _rtRr12.5ms.

Note, Fig. 6 A-6C illustrate only estimation (or correction) the time delay T at transmitting node and receiving node _utUrtime delay T is estimated more accurately to reach _utUrand by time delay T _utUrthe exemplary operations step of estimated distance and principle, but not this technology is necessary for this, is not in fact revising this time delay T _utUrwhen, the mobile device of this technology also can realize roughly the function of locating another mobile device.

Asynchronous system shown in Fig. 7 A comprises following steps:

1) the mobile device node transmitted selects the ultrasonic transmitter-receiver of one of them in its ultrasonic transmitter-receiver array, and the sequence number of this ultrasonic transmitter-receiver is bundled to RF(radio frequency) S31 in signal frame; By a ultrasonic transmitter-receiver selecting and RF(radio frequency) signal element launches ultrasonic signal and RF(radio frequency substantially simultaneously) signal S32; According to ultrasonic transmitter-receiver sequence number order, repeat S31 and S32.

2) the mobile device node of Received signal strength forbids RF(radio frequency) signal processing function, open ultrasonic signal processing function S33; When node receives ultrasonic signal, this moment of nodes records, and forbid ultrasonic signal processing function, and open RF(radio frequency) signal processing function S34; When node receives RF(radio frequency) signal time, this moment of nodes records, and open ultrasonic signal processing function, forbid RF(radio frequency) signal processing function S35; Calculate the time delay T between two record moment _utUr; If time delay T _utUrbe less than the time delay T estimated in S26 step _rtRr(this just supposes according to the one of the magnitude relationship of Fig. 6 B, and unrestricted), this time delay T _utUrto be used for calculating distance initial value S36 according to formula in next stage:

D=T _utUr× V _ultrasonicformula (4)

Wherein, d represents initial distance, and T _utUrultrasonic signal described before expression is from the time delay being transmitted into reception, and V _ultrasonicrepresent the transfer rate of ultrasonic signal;

So, for calculating distance initial value S36; From RF(radio frequency) obtain the sequence number of ultrasonic transmitter-receiver signal frame, and by sequence number and time delay corresponding stored S37.

So, make ultrasound signal receipt device and RF signal receiver can not a direct-open, but open asynchronously when needs, thus reduce the possibility that arbitrary receiver receives other undesired signals or noise signal, thus the estimation of the various mistakes avoided the signal owing to receiving noise or mistake as far as possible and cause.

Fig. 7 B is the noise waveform of the possible Received signal strength when utilizing TDOA range observation mode: (a) ultrasound wave (Ultrasonic, US) signal and RF(radio frequency) signal overlapping; (b) RF(radio frequency) absorption of signal; The transmitting of (c) ultrasound US signals, scattering and echo.Ultrasound US signals and RF(radio frequency) signal overlapping come from different node synchronization or almost synchronization send signal.Above-mentioned asynchronous procedure can avoid this phenomenon.Signal absorption typically refers to RF(radio frequency) signal absorbed by the metal in actual environment or other materials.Launch, scattering and echo are normally for ultrasonic signal.In (b) (c) two kinds of situations, the T that the pairing of two kinds of signal errors leads to errors _urRr, thus when calculating distance initial value according to formula (4), the possibility of result mistake.In actual conditions, the particularly behavior of people and the impact of complex environment factor, the noise waveform of Received signal strength can reduce the precision of location, even can not navigate to specific node.

Fig. 7 C is the precision waveform of the Received signal strength for TDOA range observation after utilizing above-mentioned asynchronous procedure: ultrasound US signals receives and RF(radio frequency) Signal reception.Because RF(radio frequency) baud rate of signal, receiving node receives RF(radio frequency) all data of signal and produce and receive complete beacon and need the regular hour.Which results in ultrasound US signals and receive complete beacon prior to RF(radio frequency) the complete beacon of Signal reception.

As shown in Figure 8, the method comprises: 1) S801, received ultrasonic signal; 2) S802, receives RF signal; 3) S803, based on the RF signal received, completes time delay correction; 4) S804, makes received ultrasonic signal signal asynchronous with reception RF; 5) S805, estimates the distance initial value between two nodes; 6) S806, estimates deflection angle, 7) S807, obtain measuring distance; 8) S808, between the matrix that between computing node, relative distance forms and node, the matrix of relative deflection angle composition, orients the relative position of specific mobile device node.

Certainly, the step described in Fig. 8 is only example and unrestricted, and some step, such as step S802-S804 can omit, and sometimes according to circumstances also can change the order etc. of step.In addition, for step S804, replace and make received ultrasonic signal signal asynchronous with reception RF, the signal filtering mode of hardware or software also can be adopted from the combined waveform of the correct and noise signal received to extract correct signal waveform, do not describe in detail at this.

The principle schematic that the deflection angle that Fig. 9 A, 9B, 9C and 9D show method is according to a preferred embodiment of the invention estimated.

Fig. 9 A is ultrasonic signal transceiver unit array emitter in two nodes and received ultrasonic signal schematic diagram.The representative value of ultrasound waves beam angle is 120 degree.In this case, in ultrasonic transmitter-receiver array, ultrasonic transmitter-receiver number is such as 6.As shown in Figure 9 A, the ultrasonic transmitter-receiver 3(of transmitting node namely, sequence number is 3) launch ultrasonic signal, this ultrasonic signal is received the ultrasonic transmitter-receiver 1 of node, ultrasonic transmitter-receiver 2, ultrasonic transmitter-receiver 5 and ultrasonic transmitter-receiver 6 receive (such as, when N=6).Line between the ultrasonic transmitter-receiver 3 of transmitting node and the ultrasonic transmitter-receiver 6 of receiving node (is noted relative to reference direction, at this, reference direction hypothesis is set to the normal direction of the ultrasonic transmitter-receiver 6 of receiving node, namely the direction that ultrasonic transmitter-receiver 6 is just right) deflection angle can pass through triangle 326, the geometric relationship of 316 and 365, (triangle number word meaning justice: the ultrasonic transmitter-receiver sequence number on transmitting node is drawn according to following formulae discovery, ultrasonic transmitter-receiver sequence number on receiving node, ultrasonic transmitter-receiver sequence number on receiving node).

Particularly, as shown in Figure 9 B, the triangle 316 that the ultrasonic transmitter-receiver 3 of transmitting node and the ultrasonic transmitter-receiver 1 and 6 of receiving node form is supposed.So, three limits of this triangle 316 (distance between the ultrasonic transmitter-receiver 3 of transmitting node and the ultrasonic transmitter-receiver 1 of receiving node), (distance between the ultrasonic transmitter-receiver 3 of transmitting node and the ultrasonic transmitter-receiver 6 of receiving node) and (distance between the ultrasonic transmitter-receiver 1 and 6 of receiving node, this normally known constant, because the position of these ultrasonic transmitter-receiver unit is known) and angle the geometric relationship of (angle of the line of ultrasonic transmitter-receiver 1 and 6 of receiving node and the ultrasonic transmitter-receiver 6 of the ultrasonic transmitter-receiver 3 of transmitting node and receiving node) is as follows:

d_{6}^{32} + D_{1}^{62} - 2 \times d_{6}^{3} \times d_{1}^{6} \times \cos {θ_{6}^{3}}^{'} = d_{1}^{32}

Formula (5)

Wherein, formula (4) d=T can be passed through _utUr× V _ultrasoniccalculate (wherein, T _utUrrepresent the time delay that ultrasonic signal receives from the ultrasonic transmitter-receiver 1 that the ultrasonic transmitter-receiver 3 of transmitting node is transmitted into received node), formula (4) d=T can be passed through _utUr× V _ultrasoniccalculate (wherein, T _utUrrepresent the time delay that ultrasonic signal receives from the ultrasonic transmitter-receiver 6 that the ultrasonic transmitter-receiver 3 of transmitting node is transmitted into received node), and be known, so can obtain the angle of the line of ultrasonic transmitter-receiver 1 and 6 of receiving node and the ultrasonic transmitter-receiver 6 of the ultrasonic transmitter-receiver 3 of transmitting node and receiving node

So, following formula (6) is utilized to pass through can in the hope of such as, the deflection angle relative to reference direction (at this, the normal direction of the ultrasonic transmitter-receiver 6 of receiving node) of the line between the ultrasonic transmitter-receiver 3 of transmitting node and the ultrasonic transmitter-receiver 6 of receiving node

θ_{6}^{3} = 2 π - {θ_{6}^{3}}^{'} - \frac{2 π}{6}

Formula (6)

At this, obtain the deflection angle of the line between the ultrasonic transmitter-receiver 3 of transmitting node and the ultrasonic transmitter-receiver 6 of receiving node relative to reference direction by triangle 316 as shown in Figure 9 B.

In like manner, in order to the deflection angle of the line between the ultrasonic transmitter-receiver 3 of transmitting node and the ultrasonic transmitter-receiver 6 of receiving node relative to reference direction can be obtained more accurately (and nonessential), can respectively ask a deflection angle to other triangles, such as 326 and 365 and it is averaged obtain.

Particularly, three frontier juncture systems of triangle 326 are as follows:

d_{6}^{32} + D_{2}^{62} - 2 \times d_{6}^{3} \times D_{2}^{6} \times \cos {θ_{6}^{3}}^{'} = d_{2}^{32}

Formula (7)

Three frontier juncture systems of triangle 365 are as follows:

d_{6}^{32} + D_{5}^{62} - 2 \times d_{6}^{3} \times D_{5}^{6} \times \cos {θ_{6}^{3}}^{'} = d_{5}^{32}

Formula (8)

Meanwhile, by above-mentioned formula (6) basis obtain the deflection angle under triangle 326 and 365 respectively

Then, the ultrasonic transmitter-receiver 3 of transmitting node and the average of the ultrasonic transmitter-receiver 6 of receiving node with the deflection angle of reference direction is calculated according to formula (9)

θ_{6}^{3} = \frac{Σ θ_{6}^{3}}{3}

Formula (9)

After a wheel ultrasonic signal is once traveled through to each ultrasonic transmitter-receiver of transmitting node, obtain deflection angle matrix, the line between each ultrasonic transmitter-receiver of this matrix representative transmitting node and each ultrasonic transmitter-receiver of receiving node and the deflection angle of reference direction, these values are for calculating deflection angle initial value matrix, such as follows:

[\begin{matrix} θ_{1}^{1} & θ_{2}^{1} & \cdot \cdot \cdot & θ_{N}^{1} \\ θ_{1}^{2} & θ_{2}^{2} & \cdot \cdot \cdot & θ_{N}^{2} \\ \cdot \cdot \cdot \\ θ_{1}^{N} & θ_{2}^{N} & \cdot \cdot \cdot & θ_{N}^{N} \end{matrix}]

In addition, as above-mentioned, all can try to achieve a distance initial value according to the time delay of the hyperacoustic transmitting and receiving between each ultrasonic transmitter-receiver of transmitting node and each ultrasonic transmitter-receiver of receiving node, equally, be classified as matrix, such as follows:

[\begin{matrix} d_{1}^{1} & d_{2}^{1} & \cdot \cdot \cdot & d_{N}^{1} \\ d_{1}^{2} & d_{2}^{2} & \cdot \cdot \cdot & d_{N}^{2} \\ \cdot \cdot \cdot \\ d_{1}^{N} & d_{2}^{N} & \cdot \cdot \cdot & d_{N}^{N} \end{matrix}]

Wherein, suppose, upper right is designated as the sequence number of the ultrasonic transmitter-receiver of transmitting node, and bottom right is designated as the sequence number of the ultrasonic transmitter-receiver of receiving node.

Select the value (non-zero) that in above two matrixes, (distance initial value matrix and deflection angle initial value matrix) is minimum.Wherein minimum distance initial value is as the measuring distance between transmitting node and receiving node; Minimum deflection angle initial value is as the deflection angle (that is, receiving node will deflect how many degree and can find this transmitting node) between transmitting node and receiving node.At this, minimum distance initial value and minimum deflection angle initial value is selected to be only example and unrestricted, it is to select signal transmission to lose and the minimum distance initial value of error and deflection angle initial value, so can obtain Distance geometry deflection angle more accurately, certainly, in addition to this mode, in fact, the mode selecting arbitrary distance initial value and deflection angle initial value or adjust the distance initial value and deflection angle initial value to average also can obtain final Distance geometry deflection angle.

At this, because deflection angle is relative to reference direction (being the normal direction of the ultrasonic transmitter-receiver 6 of receiving node in this instance), when supposing that user holds this receiving node, using the normal direction of this ultrasonic transmitter-receiver 6 as oneself frontal (such as, user hangs this receiving node, namely the advanced direction of this receiving node is the normal direction (reference direction) of this ultrasonic transmitter-receiver 6, again such as, user wears this receiving node, and namely the advanced direction of head is the normal direction (reference direction) of this ultrasonic transmitter-receiver 6).In this case, there is known the deflection angle relative to this reference direction, this user easily can learn that transmitting node is positioned at the position of which kind of deflection angle of the frontal of oneself, so that user finds this transmitting node towards left or towards right avertence corner angle.

At this, if the deflection angle of above estimation a kind of absolute value, in one embodiment, can also in the following manner in one or more judge this deflection angle should be towards left or towards right (that is, judge the line between the ultrasonic transmitter-receiver 3 of transmitting node and the ultrasonic transmitter-receiver 6 of receiving node the left side of the normal of the ultrasonic transmitter-receiver 6 of receiving node or on the right side of (from the counter clockwise direction of ultrasonic transmitter-receiver 6 or clockwise)):

The ultrasonic receiver be close in the left side of reference direction and the distance d of transmitting node are greater than the ultrasonic receiver be close on the right side of reference direction and the distance d of transmitting node, then can judge this deflection angle should be towards right (that is, clockwise direction), and otherwise, then towards left (that is, counterclockwise) (with reference to figure 9C Suo Shi); Or

The ultrasonic receiver be close in the left side of the reference direction as above calculated and the deflection angle theta of transmitting node are greater than the ultrasonic receiver be close on the right side of reference direction and the deflection angle theta of transmitting node, then can judge this deflection angle should be towards right (that is, clockwise direction), and otherwise, then towards left (that is, counterclockwise) (with reference to figure 9C Suo Shi); Or

The distance d of left side existence estimation of reference direction or the quantity of the receiver of deflection angle theta are less than the distance d of right side existence estimation of reference direction or the quantity of the receiver of deflection angle theta, then can judge this deflection angle should be towards right (that is, clockwise direction), and otherwise, then towards left (that is, counterclockwise) (with reference to figure 9C Suo Shi); Or

According to the geometric relationship between (N-1) individual triangle of any two and another mobile device described that connect in described N number of ultrasonic receiver and reference direction, judge this deflection angle towards a left side still towards right etc.

At this, suppose if judge this deflection angle should be towards right (that is, clockwise direction), then by this deflection angle be set to positive; Suppose if judge this deflection angle should be towards left (that is, counterclockwise), then by this deflection angle be set to bear.

Certainly, the mode of above-mentioned judgement towards a left side still towards the right side is only example, actually by the known permutation of each receiver and the various relations between the distance matrix of above-mentioned calculating and deflection angle matrix, can conceive other modes easily infer this another mobile device node be in the reference direction of current mobile device node towards a left side still towards the right side, do not describe in detail one by one at this.

In addition, if otherwise calculated deflection angle has been with positive and negative angle value, then directly can judges towards a left side still towards the right side according to positive and negative, and not need through above-mentioned determining step.

In addition, above deflection angle it is the hypothesis of the normal direction being the ultrasonic transmitter-receiver 6 of receiving node based on reference direction.And as shown in fig. 9d, if reference direction is set to the normal direction of the ultrasonic transmitter-receiver 5 of receiving node, then can by the deflection angle of the ultrasonic transmitter-receiver 6 of receiving node be converted to the deflection angle of the normal direction (this is current reference direction) of the ultrasonic transmitter-receiver 5 of receiving node following formula can be adopted:

if ( carry positive and negative values with represent towards) or if ( towards right (clockwise), be then+, if towards left (counterclockwise), be then-) formula (10)

In like manner, and if reference direction is set to the normal direction of the ultrasonic transmitter-receiver 1 of receiving node, then can by the deflection angle of the ultrasonic transmitter-receiver 6 of receiving node be converted to the deflection angle of the normal direction (this is current reference direction) of the ultrasonic transmitter-receiver 1 of receiving node following formula can be adopted:

if ( carry positive and negative values with represent towards) or if ( towards right (clockwise), be then+, if towards left (counterclockwise), be then-) formula (11)

In like manner, if reference direction is set to the normal direction of the ultrasonic transmitter-receiver N of receiving node, then can by the deflection angle of the ultrasonic transmitter-receiver 6 of receiving node be converted to the deflection angle of the normal direction (this is current reference direction) of the ultrasonic transmitter-receiver N of receiving node following formula can be adopted:

if ( carry positive and negative values with represent towards) or if ( towards right (clockwise), be then+, if towards left (counterclockwise), be then-) formula (12)

At this, note, the deflection angle of this conversion with ultrasonic transmitter-receiver 5 and the line of ultrasonic transmitter-receiver 3 of transmitting node and the deflection angle of the normal direction of ultrasonic transmitter-receiver 5 of the receiving node of estimation differentiated from implication and value.The deflection angle of this conversion the ultrasonic transmitter-receiver 6(being actually receiving node notes it not being 5) and the line of ultrasonic transmitter-receiver 3 of transmitting node and the deflection angle of the normal direction of ultrasonic transmitter-receiver 5.And deflection angle as mentioned above according to ultrasonic transmitter-receiver 5 and the line of ultrasonic transmitter-receiver 3 of transmitting node and the deflection angle of the normal direction of ultrasonic transmitter-receiver 5 of Triangle Principle estimation, receiving node.Certainly, when the distance difference of transmitting node and receiving node is far away, this difference is also negligible, the deflection angle namely changed can directly by the deflection angle of estimation as mentioned above replace.In the above-described embodiments, the deflection angle of the ultrasonic transmitter-receiver 6 by receiving node is adopted be converted to the deflection angle of the normal direction (if this is reference direction) of the ultrasonic transmitter-receiver 5 of receiving node and directly do not adopt deflection angle object be, if after calculating each distance d and deflection angle theta, find the distance between the ultrasonic transmitter-receiver 6 of receiving node and the ultrasonic transmitter-receiver 3 of transmitting node and deflection angle minimum, as previously mentioned, can think that interference is between the two minimum, the distance of estimation and deflection angle comparatively accurate, even if therefore when reference direction is not the ultrasonic transmitter-receiver 6 of receiving node normal direction (but normal direction of the ultrasonic transmitter-receiver 5 of such as receiving node), also can deflection angle comparatively accurately be passed through come more adequately to obtain after changing with the deflection angle of reference direction on the other hand, the ultrasonic transmitter-receiver 5 that there is receiving node does not receive ultrasonic signal at all and therefore cannot calculate deflection angle situation, in this case, also can adopt the deflection angle by obtaining be converted to the deflection angle with the normal direction (reference direction) for ultrasonic transmitter-receiver 5

In addition, if the deflection angle after conversion be greater than π, namely need to rotate towards right (clockwise) angle being greater than π, be in fact equivalent to rotate towards left (counterclockwise) (obtaining the angle being less than π), at this, user can oneself grasp, or the display unit of mobile device node of the present disclosure can provide these two kinds selections (namely towards right (clockwise) rotation or rotate towards left (counterclockwise) ), or the rotation directly providing the angle being less than π is selected; In like manner, if the deflection angle after conversion (signed) is less than-π, namely needs to rotate towards left (counterclockwise) angle being greater than π, is in fact equivalent to rotate towards right (clockwise) (obtaining the positive angle being less than π), at this, user can oneself grasp, or the display unit of mobile device node of the present disclosure can provide these two kinds selection (namely towards left (counterclockwise) rotation | | or rotate towards right (clockwise) ), or the rotation directly providing the positive angle being less than π is selected.Those skilled in the art can conceive this situation, detailed process are not described in detail in detail at this.

In addition, embodiment above describes first to each deflection angle of such as each triangle 316,326,365 be averaging and just obtain final deflection angle and then carry out toward reference direction deflection angle such as the embodiment of conversion, but in another embodiment, also can first carry out toward reference direction deflection angle such as conversion, and then to conversion after each be averaged, obtain final with deflection angle that is reference direction this is that those skilled in the art can conceive, and does not describe in detail at this.

So, also the deflection angle with current reference direction can be learnt, and judge as described above alternatively towards a left side still towards the right side, the user that can contribute to holding receiving node judges to hold user and the relative position of oneself of transmitting node, thus the user contributing to holding receiving node easily finds the user (such as, interested user etc.) holding transmitting node.

So, the different ultrasonic transmitter-receiver in the position in mobile device node is utilized to receive ultrasonic signal from another mobile device node from different perspectives, measuring distance data and deflection angle data are obtained by estimated distance initial value, this technology without the need to any beaconing nodes or external auxiliary parameter or facility, locate a certain node without the need to two or three traditional nodes, namely can locate arbitrary node by direct present node.

Note, the advantage mentioned in the disclosure, advantage, effect etc. are only examples and unrestricted, can not think that these advantages, advantage, effect etc. are that multiple embodiment of the present invention is prerequisite.

The block scheme of the device related in the disclosure, device, equipment, system only illustratively the example and being not intended to of property to require or hint must carry out connecting according to the mode shown in block scheme, arranges, configure.As the skilled person will recognize, can connect by any-mode, arrange, configure these devices, device, equipment, system.Such as " comprise ", " comprising ", " having " etc. word be open vocabulary, refer to " including but not limited to ", and can use with its exchange.Here used vocabulary "or" and " with " refer to vocabulary "and/or", and can to use with its exchange, unless it is not like this that context clearly indicates.Here used vocabulary " such as " refer to phrase " such as, but not limited to ", and can to use with its exchange.

Flow chart of steps in the disclosure and above method only describe the example of illustratively property and are not intended to require or imply the step must carrying out multiple embodiment according to the order provided.As the skilled person will recognize, the order of the step in above embodiment can be carried out in any order.Such as the word of " thereafter ", " then ", " next " etc. is not intended to limit the order of step; The description of these words only for guiding reader to read over these methods.In addition, such as use article " ", " one " or " being somebody's turn to do " be not interpreted as this key element to be restricted to odd number for any quoting of the key element of odd number.

The above description of disclosed aspect is provided to make to enable any technician of this area or use the present invention.Be very apparent to those skilled in the art to the various amendments of these aspects, and can be applied in other in General Principle of this definition and do not depart from the scope of the present invention.Therefore, the present invention be not intended to be limited to shown in this in, but according to consistent with principle disclosed herein and novel feature most wide region.

In order to the object illustrating and describe has given above description.In addition, this description is not intended to embodiments of the invention to be restricted to form disclosed herein.Although below discussed multiple exemplary aspect and embodiment, its some modification, amendment, change, interpolation and sub-portfolio are those skilled in the art will recognize that.

N number of operation of above-described method can be undertaken by carrying out any suitable means of corresponding function.These means can comprise various hardware and/or component software and/or module, include but not limited to circuit, special IC (ASIC) or processor.

Can utilize be designed to carry out function described herein general processor, digital signal processor (DSP), ASIC, field programmable gate array signal (FPGA) or other programmable logic device (PLD) (PLD), discrete gate or transistor logic, discrete nextport hardware component NextPort or its combination in any and realize or carry out described N number of illustrative logical block, module and circuit.General processor can be microprocessor, but as replacing, this processor can be any commercially available processor, controller, microcontroller or state machine.Processor can also be embodied as the combination of computing equipment, the combination of such as DSP and microprocessor, multi-microprocessor, the one or more microprocessor cooperated with DSP core or any other such configuration.

In conjunction with in the method for disclosure description or the software module that step can directly embed within hardware, processor performs of algorithm or in this combination of two kinds.Software module may reside in any type of tangible media.Some examples of operable storage medium comprise random-access memory (ram), ROM (read-only memory) (ROM), flash memory, eprom memory, eeprom memory, register, hard disc, removable dish, CD-ROM etc.Storage medium can be couple to processor so that this processor can from this read information and to this storage medium write information.In substitute mode, storage medium can be overall with processor.Software module can be single instruction or many instructions, and can be distributed between programs on several different code segment, different and stride across multiple storage medium.

Method disclosed herein comprises the one or more actions for realizing described method.Method and/or action can be interchangeable with one another and do not depart from the scope of claim.In other words, unless specified the concrete order of action, otherwise the order of concrete action and/or use can be revised and do not depart from the scope of claim.

Described function can realize by hardware, software, firmware or its combination in any.If with software simulating, function can be stored on practical computer-readable medium as one or more instruction.Storage medium can be can by any available tangible media of computer access.By example instead of restriction, such computer-readable medium can comprise that RAM, ROM, EEPROM, CD-ROM or other laser discs store, magnetic disc stores or other magnetic memory devices or may be used for the expectation carrying or store instruction or data structure form program code and can by any other tangible media of computer access.As used herein, dish (disk) and dish (disc) comprise compact disk (CD), laser disk, CD, digital universal disc (DVD), soft dish and Blu-ray disc, wherein dish usual magnetic ground rendering data, and dish utilizes laser optics ground rendering data.

Therefore, computer program can carry out operation given herein.Such as, such computer program can be the computer-readable tangible medium with tangible storage (and/or coding) instruction thereon, and this instruction can be performed by one or more processor to carry out operation described herein.Computer program can comprise the material of packaging.

Software or instruction also can be transmitted by transmission medium.Such as, can use such as concentric cable, optical fiber cable, twisted-pair feeder, digital subscribe lines (DSL) or such as infrared, radio or microwave the transmission medium of wireless technology from website, server or other remote source software.

In addition, for carrying out the module of Method and Technology described herein and/or other suitable means can be downloaded by user terminal and/or base station in due course and/or other modes obtain.Such as, such equipment can be couple to server to promote the transmission of the means for carrying out method described herein.Or, various method described herein can provide via memory unit (such as the physical storage medium of RAM, ROM, such as CD or soft dish etc.), so that user terminal and/or base station can obtain various method being couple to this equipment or providing during memory unit to this equipment.In addition, any other the suitable technology for Method and Technology described herein being supplied to equipment can be utilized.

Other examples and implementation are in the scope of the disclosure and the accompanying claims and spirit.Such as, due to the essence of software, above-described function can use the software simulating performed by processor, hardware, firmware, hardwired or these arbitrary combination.The feature of practical function also can be physically located in N number of position, comprises and being distributed so that the part of function realizes in different physical locations.And, as used herein, comprise and to use in the claims, what be separated in the "or" instruction enumerating middle use of the item started with " at least one " enumerates, enumerating of " A, B or C at least one " means A or B or C so that such as, or AB or AC or BC, or ABC(and A and B and C).In addition, wording " example " does not mean that the example of description is preferred or better than other examples.

The technology of instructing defined by the appended claims can not be departed from and carry out various changes to technology described herein, replacement and change.In addition, of the present disclosure and scope that is claim is not limited to the concrete aspect of above-described process, machine, manufacture, the composition of event, means, method and action.The composition of process that is that can utilize the current existence carrying out substantially identical function with corresponding aspect described herein or realize substantially identical result or that will develop after a while, machine, manufacture, event, means, method or action.Thus, claims are included in such process within the scope of it, machine, manufacture, the composition of event, means, method or action.

Claims

1. a mobile device, comprising:

Be positioned at N number of first wireless signal receiver of diverse location, be configured to receive the first wireless signal launched from another mobile device from different perspectives, wherein, N be greater than 1 positive integer;

Controller, is configured to:

According to the first wireless signal from the propagation rate being launched into N number of transmission time and the first wireless signal received by N number of first wireless signal receiver, estimate described N number of distance between another mobile device and N number of first wireless signal receiver;

According to the known distance between N number of distance of described estimation and described N number of first wireless signal receiver, estimate that another mobile device described is positioned at the deflection angle with reference direction, wherein, described reference direction is relevant with the position of described N number of first wireless signal receiver;

According to N number of distance of described estimation, and the deflection angle of described estimation, obtain the position of another mobile device described relative to described mobile device.

2. mobile device according to claim 1, wherein,

Described controller is also configured to:

According to the known distance between the distance of described estimation and described N number of first wireless signal receiver, obtain connecting (N-1) individual triangle of any two and another mobile device described in described N number of first wireless signal receiver;

According to described (N-1) triangle, obtain the angle on described (N-1) individual each summit leg-of-mutton;

According to described angle and described reference direction, obtain the mean value of the N number of angle between the line of described N number of first wireless signal receiver and another mobile device described and described reference direction, as described deflection angle.

3. mobile device according to claim 1, wherein, described reference direction comprises at least one as follows:

When described N number of first wireless signal receiver is arranged as circular arc, described reference direction is the normal direction of arbitrary first wireless signal receiver in described N number of first wireless signal receiver;

When described N number of first wireless signal receiver is arranged as straight line, described reference direction is the perpendicular line direction of described straight line;

The direction that can obtain from the diverse location of described N number of first wireless signal receiver preset.

4. mobile device according to claim 1, wherein, described controller is also configured to:

Minimum distance in N number of distance between another mobile device described of Selectivity Estimating and N number of first wireless signal receiver, as the measuring distance between another mobile device described and described mobile device.

5. mobile device according to claim 1, also comprises:

Second wireless signal receiver, is configured to receive and launch the first wireless signal substantially side by side from the second wireless signal that another mobile device is launched from another mobile device, the transfer rate V of wherein said second wireless signal ₂in the transfer rate V of described first wireless signal ₁;

Wherein, described controller be also configured to by following formula estimate another mobile device described and described N number of first wireless signal receiver each between distance d:

d = \frac{T_{UtUr} \times V_{1} \times V_{2}}{V_{2} - V_{1}},

6. mobile device according to claim 5, wherein, described controller is also configured to:

Revise according to the first wireless signal from being transmitted into by each each time delay T received of described N number of first wireless signal receiver according to following formula _utUr:

T _UtUr=Δt _UtRt+T _RtRr+Δt _Rr-T _UrRr,

Wherein, T _utUrbe the first wireless signal from the time delay being transmitted into reception,

Δ t _utRtthe time delay of the first radio wave signal transmitting and the second wireless signal transmission,

T _rtRrbe the second wireless signal from the time delay being transmitted into reception,

Δ t _rrthe time delay of the second wireless signal that the second wireless signal receiver process receives,

T _urRrit is the time delay of the first reception of wireless signals and the second reception of wireless signals.

7. mobile device according to claim 5, wherein,

Described controller is also configured to:

Make when one of described first wireless signal receiver and described second wireless signal receiver are opened, forbid another of described first wireless signal receiver and described second wireless signal receiver, and forbidden after one of described first wireless signal receiver and described second wireless signal receiver receive wireless signal, open simultaneously described another.

8. mobile device according to claim 1, wherein, described controller be also configured in the following way one or more to judge this another mobile device be positioned at described reference direction left side or right side:

First wireless signal receiver be close in the left side of reference direction and the distance of another mobile device are greater than first wireless signal receiver be close on the right side of reference direction and the distance of another mobile device, then can judge that this deflection angle is towards the right side, and otherwise, then towards a left side; Or

First wireless signal receiver be close in the left side of reference direction and the deflection angle of another mobile device are greater than first wireless signal receiver be close on the right side of reference direction and the deflection angle of another mobile device, then can judge that this deflection angle is towards the right side, and otherwise, then towards a left side; Or

The distance of left side existence estimation of reference direction or the quantity of the first wireless signal receiver of deflection angle are less than the distance of right side existence estimation of reference direction or the quantity of the first wireless signal receiver of deflection angle, then can judge that this deflection angle is towards the right side, and otherwise, then towards a left side;

According to the geometric relationship between (N-1) individual triangle of any two and another mobile device described that connect in described N number of first wireless signal receiver and reference direction, judge this deflection angle towards a left side still towards the right side.

9. mobile device is used for locating a localization method for another mobile device, comprising:

Make N number of first wireless signal receiver being positioned at diverse location receive the first wireless signal launched from another mobile device from different perspectives, wherein, N be greater than 1 positive integer;

10. a positioning system, comprising:

Telegon, is configured to the mobile device multiple as claimed in claim 1 in supervising the network, and distributes No. ID, mobile device to each mobile device, and receives the Distance geometry deflection angle of that send from each mobile device and between other mobile devices estimation;

Scheduler, is configured to, according to No. ID, mobile device, sequentially indicate each mobile device to carry out the estimation of Distance geometry deflection angle;

Mobile device as claimed in claim 1, is configured to the Distance geometry deflection angle sending described estimation to telegon.