CN105388454A - Quasi-synchronization structure, positioning device and positioning method thereof - Google Patents
Quasi-synchronization structure, positioning device and positioning method thereof Download PDFInfo
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- CN105388454A CN105388454A CN201510674334.1A CN201510674334A CN105388454A CN 105388454 A CN105388454 A CN 105388454A CN 201510674334 A CN201510674334 A CN 201510674334A CN 105388454 A CN105388454 A CN 105388454A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- Engineering & Computer Science (AREA)
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a quasi-synchronization structure, a positioning device and a positioning method thereof. The positioning device comprises a first device, a wire line, a second device and a third device, wherein the first device transmits a first positioning signal and supplies a synchronization signal. A known time relation exists between the first positioning signal and the synchronization signal. The wire line has a first end and a second end. The first end receives the synchronization signal from the first device. The second device receives the synchronization signal from the second end of the wire line and furthermore transmits a second positioning signal in response to triggering of the synchronization signal. The third device receives the second positioning signal and the first positioning signal, and acquires an arrival time difference between the second positioning signal and the first positioning signal. The wire line is utilized among the components of the positioning device for transmitting the synchronization signal. High-precision synchronization among positioning base stations can be realized in a low-cost manner.
Description
Technical field
The disclosure relates to radio communication, and more specifically, it is synchronous that the disclosure relates between signals in wireless communications.
Background technology
Short distance, high precision wireless indoor positioning technologies are applied widely in urban compact region and indoor enclosure space.The location algorithm that existing indoor positioning technologies is conventional has TOA time of arrival location and difference TDOA time of arrival location etc.Above-mentioned algorithm requires that in implementation process between each locating base station and mobile terminal, precise time synchronously just can reach higher positioning precision.Mainly contain two kinds for synchronous method conventional between each locating base station in prior art, one is each self-contained accurate synchronous clock in each locating base station, and as atomic clock etc., this method cost is higher, and needs regularly to carry out clock check to it; Two is synchronizing signals that use wireless path transmits between each locating base station, the method needs each locating base station to comprise wireless receiver, described wireless receiver need carry out the process such as filtering, amplification, shaping to signal, its structure is comparatively complicated, cost and power consumption are all higher, and the synchronizing signal of wireless path transmission is easily subject to that space is blocked, the impact of multipath effect and undesired signal, thus good synchronous effect can not be obtained.Therefore, Low-cost, low-power consumption, high-precision synchronous positioning system become the problem that this area researchist needs solution badly.
Summary of the invention
According to one aspect of the present invention, propose a kind of locating device.This locating device comprises first device, Wireline, the second device and the 3rd device.First device is launched the first positioning signal and is provided synchronizing signal.First positioning signal and synchronizing signal have known time relationship.Wireline, has first end and the second end.This first end receives synchronizing signal from first device.Second device receives synchronizing signal from the second termination of Wireline, and launches the second positioning signal under the triggering of synchronizing signal.3rd device receives the second positioning signal and the first positioning signal, and the time of arrival of resolving the second positioning signal and the first positioning signal arrival the 3rd device is poor, for location the 3rd device.
According to another aspect of the present invention, propose a kind of localization method.This localization method comprises: produce the first positioning signal and the first synchronizing signal, has known time relationship between the first synchronizing signal and described first positioning signal; Launch the first positioning signal; The first synchronizing signal is propagated through the first Wireline; Produce under the triggering of the first synchronizing signal and launch the second positioning signal; And the time of arrival of resolving the second positioning signal and the first positioning signal is poor for location.
According to another aspect of the present invention, propose a kind of for realizing the quasi synchronous device of signal.This device comprises Wireline.Wireline has first end and the second end.This Wireline is configured to the synchronizing signal receiving first device transmitting at first end place; At the second end place, synchronizing signal is sent to the second device and launch the second positioning signal to trigger the second device.Between the first positioning signal that synchronizing signal and first device are launched, there is known time relationship.Accurate synchronous device determines that the second positioning signal is synchronous with the standard realizing the second positioning signal and the first positioning signal with difference launch time of the first positioning signal.
According to another aspect of the present invention, propose a kind of locating device.This locating device comprises first device, the first Wireline, the second device, the second Wireline, the 4th device and the 3rd device.First device launches the first positioning signal and the first synchronizing signal.First positioning signal and the first synchronizing signal have known time relationship.First Wireline has first end and the second end.This first end receives the first synchronizing signal from first device.Second device receives the first synchronizing signal from the second termination of the first Wireline, and under the triggering of the first synchronizing signal, launch the second positioning signal and the second synchronizing signal.This second positioning signal and the second synchronizing signal have known time relationship.Second Wireline has first end and the second end.This first end receives the second synchronizing signal from the second device.4th device receives the second synchronizing signal from the second termination of the second Wireline, and launches the 4th positioning signal under the triggering of the second synchronizing signal.3rd device receives the 4th positioning signal, the second positioning signal and the first positioning signal, and locates the 3rd device according to difference time of arrival of the 4th positioning signal, the second positioning signal and the first positioning signal.
According to another aspect of the present invention, propose a kind of locating device.This locating device comprises first device, the first Wireline, the second device, the second Wireline, the 4th device and the 3rd device.First device launches the first positioning signal and the first synchronizing signal and the second synchronizing signal.First positioning signal and between the first synchronizing signal and the second synchronizing signal, there is known time relationship.First Wireline has first end and the second end.This first end receives the first synchronizing signal from first device.Second device receives the first synchronizing signal from the second termination of the first Wireline, and under the triggering of the first synchronizing signal, launch the second positioning signal.Second Wireline has first end and the second end.This first end receives the second synchronizing signal from the second device.4th device receives the second synchronizing signal from the second termination of the second Wireline, and launches the 4th positioning signal under the triggering of the second synchronizing signal.3rd device receives the 4th positioning signal, the second positioning signal and the first positioning signal, and locates the 3rd device according to difference time of arrival of the 4th positioning signal, the second positioning signal and the first positioning signal.
Accompanying drawing explanation
Fig. 1 provides the schematic diagram of the accurate synchronization structure 100 according to an embodiment of the present invention;
Fig. 2 provides the work schedule schematic diagram of above-mentioned accurate synchronization structure 100;
Fig. 3 provides the schematic diagram of the positioning system 300 according to an embodiment of the present invention;
Fig. 4 provides the schematic diagram of the positioning system 400 according to an embodiment of the present invention;
Fig. 5 provides the schematic diagram of the locating base station inner structure 500 according to one embodiment of the invention;
Fig. 6 provides a kind of schematic diagram of the locating base station inner structure 600 according to one embodiment of the invention;
Fig. 7 provides the schematic diagram of the locating base station inner structure 700 according to one embodiment of the invention;
Fig. 8 provides the schematic diagram of the device inner structure 800 to be positioned according to one embodiment of the invention;
Fig. 9 illustrates the process flow diagram of the localization method 900 according to one embodiment of the invention;
Figure 10 illustrates the process flow diagram of the positioning system method of work 1000 according to an embodiment of the present invention.
Embodiment
To specific embodiments of the invention be described in detail below, it should be noted that the embodiments described herein is only for illustrating, is not limited to the present invention.In the following description, in order to provide thorough understanding of the present invention, a large amount of specific detail has been set forth.But, those of ordinary skill in the art be it is evident that: these specific detail need not be adopted to carry out the present invention.In other instances, in order to avoid obscuring the present invention, do not specifically describe known circuit, material or method.
In whole instructions, " embodiment ", " embodiment ", " example " or mentioning of " example " are meaned: the special characteristic, structure or the characteristic that describe in conjunction with this embodiment or example are at least one embodiment of the invention involved.Therefore, the phrase " in one embodiment " occurred in each place of whole instructions, " in an embodiment ", " example " or " example " differ to establish a capital and refer to same embodiment or example.In addition, can with any combination suitably and or sub-portfolio by specific feature, structure or property combination in one or more embodiment or example.In addition, it should be understood by one skilled in the art that the diagram provided at this is all for illustrative purposes, and diagram is not necessarily drawn in proportion.Should be appreciated that when claim " element " " be connected to " or " coupling " to another element time, it can be directly connected or coupled to another element or can there is intermediary element.On the contrary, when claim element " be directly connected to " or " being directly coupled to " another element time, there is not intermediary element.Identical Reference numeral indicates identical element.Term "and/or" used herein comprises any and all combinations of one or more relevant project listed.Positioning signal described in some embodiment can be the wireless signals such as ultra-broadband signal, FM signal, pulse signal below.
Fig. 1 provides the schematic diagram of the accurate synchronization structure 100 according to an embodiment of the present invention.As shown in Figure 1, this accurate synchronization structure 100 exemplarily comprises locating base station BSi and BS (i+1), device MS to be positioned and Wireline LINi.In one embodiment, described locating base station BSi and/or BS (i+1) be geographically fix and three-dimensional position is known, and device MS to be positioned is geographically moveable.
Locating base station BSi launches positioning signal Si and synchronizing signal SYNi.Wherein, positioning signal Si and synchronizing signal SYNi has known time relationship.Such as, in one embodiment, positioning signal Si and synchronizing signal SYNi launches simultaneously.Again such as, in another embodiment, synchronizing signal SYNi is later than positioning signal Si transmitting.Wireline LINi has first end and the second end.Wherein, its first end is coupled to base station BS i to receive synchronizing signal SYNi.Synchronizing signal SYNi is transmitted to the second end via Wireline LINi by first end.In one embodiment, Wireline LINi is optical fiber, and correspondingly, synchronizing signal SYNi is light signal.In another embodiment, Wireline LINi is coaxial cable or twisted-pair feeder, and correspondingly, synchronizing signal SYNi is electric signal.Locating base station BS (i+1) is coupled to second end of Wireline LINi to receive synchronizing signal SYNi, and under the triggering of synchronizing signal SYNi, produce positioning signal S (i+1).Device MS to be positioned receives positioning signal Si and S (i+1), and tries to achieve difference TDOAi time of arrival of positioning signal Si and S (i+1) according to the time that positioning signal Si and S (i+1) arrives himself.
Fig. 2 provides the work schedule schematic diagram of above-mentioned accurate synchronization structure 100.As shown in Figure 2, locating base station BSi launches positioning signal Si in the ti moment in the locating area that may there is device MS to be positioned.Meanwhile, locating base station BSi produces synchronizing signal SYNi, and described synchronizing signal SYNi is transmitted to locating base station BS (i+1) by Wireline LINi.Locating base station BS (i+1) triggers through synchronizing signal SYNi, launches positioning signal S (i+1) in t (i+1) moment to device MS to be positioned.
It will be appreciated by those skilled in the art that in the embodiment depicted in figure 2, locating base station BSi sends positioning signal Si and synchronizing signal SYNi simultaneously.But as mentioned above, in other embodiments, synchronizing signal SYNi launches after can postponing one section of known time after positioning signal Si launches.And, in the embodiment depicted in figure 2, t (i+1) moment is the trigger instants of synchronizing signal SYNi triggered location base station BS (i+1), but, in other embodiments, t (i+1) moment can be certain moment after trigger instants postpones one section of known time.
Device MS to be positioned at ti ' reception to positioning signal Si, at t (i+1) ' reception to positioning signal S (i+1).Therefore, difference TDOAi time of arrival of these two signals can be expressed as:
TDOAi＝t(i+1)′-ti′(1)
In fig. 2, TBBi represents that locating base station BSi and BS (i+1) launches the time interval of positioning signal Si and S (i+1) respectively, TBMi represents the travel-time that positioning signal Si propagates in the Li of path, and TBM (i+1) represents the travel-time that positioning signal S (i+1) propagates in path L (i+1).According to TDOA (TimeDifferenceofArrival, time of arrival is poor) location algorithm, utilize arrival mistiming TDOAi and time interval T BBi can calculate propagation time difference TBMi-TBM (i+1), and then determine the range difference of device MS to locating base station BSi and BS (i+1) to be positioned, as follows:
Wherein c is positioning signal velocity of propagation in free space.
Fig. 3 provides the schematic diagram of the positioning system 300 according to an embodiment of the present invention.As shown in Figure 3, positioning system 300 exemplarily comprises locating base station BS1, BS2 and BS3, Wireline LIN1 and LIN2 and device MS to be positioned.Wherein, Wireline LIN1 is connected between locating base station BS1 and BS2; Wireline LIN2 is connected between locating base station BS2 and BS3.In one embodiment, Wireline LIN1 ~ LIN2 can be optical fiber, coaxial cable, twisted-pair feeder etc.In another embodiment, can be same item type between the Wireline of connection two base stations, also can be dissimilar.In one embodiment, described three locating base station BS1, BS2 and BS3 can geographically fix, and device MS to be positioned is moveable.In the embodiment shown in fig. 3, locating base station BS1 and BS2, device MS to be positioned and Wireline LIN1, locating base station BS2 and BS3, device MS to be positioned and Wireline LIN2 be the accurate synchronization structure 100 shown in pie graph 1 respectively, namely corresponding with BS (i+1), device MS to be positioned and Wireline LINi with the locating base station BSi shown in Fig. 1.They carry out work in the mode similar with synchronization structure 100 accurate shown in Fig. 1.Therefore, it will be appreciated by those skilled in the art that positioning system 300 shown in Fig. 3 can comprise and quote content embodiment illustrated in fig. 1, and spirit of the present invention can not be run counter to.
In one embodiment, positioning system 300 shown in Fig. 3 can also comprise Wireline LIN3, and it is connected between locating base station BS3 and BS1.Therefore, locating base station BS3 and BS1, the accurate synchronization structure 100 of device MS to be positioned and Wireline LIN3 also shown in pie graph 1.Launch the moment t3 of the 3rd positioning signal S3 at locating base station BS3 to the locating area that may there is device MS to be positioned, or after the t3 moment postpones one section of known time, locating base station BS3 by Wireline LIN3 to locating base station BS1 synchronous signal transmission SYN3.Locating base station BS1 triggers through synchronizing signal SYN3, launches the 4th positioning signal S4 (not shown) in the t4 moment to the locating area that may there is device MS to be positioned.So, locating base station BS1, BS2 and BS3 form a loop structure successively, can start the positioning action of a new round.Like this, by the mode that positional information that is time of arrival is poor or device MS to be positioned is average, the raising of positioning precision is realized.
Locating base station BS1 launches the first positioning signal S1 in the t1 moment to the locating area that may there is device MS to be positioned.Meanwhile, or after postponing one section of known time, locating base station BS1 passes through Wireline LIN1 to locating base station BS2 synchronous signal transmission SYN1.Locating base station BS2 triggers through synchronizing signal SYN1, launches the second positioning signal S2 in the t2 moment to the locating area that may there is device MS to be positioned.Wherein, moment t2 can be the trigger instants of synchronizing signal SYN1 triggered location base station BS 2, or trigger instants postpones certain moment after one section of known time.Meanwhile, or after postponing one section of known time, locating base station BS2 passes through Wireline LIN2 to locating base station BS3 synchronous signal transmission SYN2.Locating base station BS3 launches the 3rd positioning signal S3 in the t3 moment to device MS to be positioned.Wherein, moment t3 can be the trigger instants of synchronizing signal SYN2 triggered location base station BS 3, or trigger instants postpones certain moment after one section of known time.In one embodiment, each described time delay can all identical, part is identical, also can be different.In one embodiment of the invention, synchronizing signal SYN1 may also be referred to as the upstream synchronization signal of locating base station BS2, same, synchronizing signal SYN2 may also be referred to as the upstream synchronization signal of locating base station BS3, further, synchronizing signal SYN3 may also be referred to as the upstream synchronization signal of locating base station BS1.
Fig. 4 provides the schematic diagram of the positioning system 400 according to an embodiment of the present invention.Positioning system 400 shown in Fig. 4 has similar structure with positioning system 300 shown in Fig. 3, exemplarily comprises locating base station BS1, BS2 and BS3, also comprises Wireline LIN1, LIN2 and device MS to be positioned.Easy for describing, for part identical with positioning system 300 shown in Fig. 3 in positioning system 400 shown in Fig. 4, no longer repeat, and only different to it parts is described herein.As shown in Figure 4, and positioning system 300 shown in Fig. 3 is different, and in positioning system 400, the first end of Wireline LIN1 connects locating base station BS1, and the second end connects locating base station BS2; The first end of Wireline LIN2 connects locating base station BS1, and the second end connects locating base station BS3.Locating base station BS1 passes through Wireline LIN1 and LIN2 to locating base station BS2 and BS3 synchronous signal transmission SYN1.Locating base station BS2 and BS3 triggers through synchronizing signal SYN1, and certain moment after trigger instants or trigger instants postpone one section of known time is respectively to launching the second positioning signal S2 and the 3rd positioning signal S3 containing in the locating area of device MS to be positioned.Like this, in the embodiment shown in fig. 4, locating base station BS1 and BS2, device MS to be positioned and Wireline LIN1, locating base station BS1 and BS3, device MS to be positioned and Wireline LIN2 be the accurate synchronization structure 100 shown in pie graph 1 respectively, namely corresponding with BS (i+1), device MS to be positioned and Wireline LINi with the locating base station BSi shown in Fig. 1.
Those skilled in the art are to be understood that, Fig. 3 and Fig. 4 exemplarily illustrates the positioning system of two kinds of different Wireline syndetons, but, the connected mode of Wireline is not limited to according to positioning system of the present invention, locating base station can be interconnected flexibly according to application scenarios, and it requires it is the synchronizing signal that each locating base station can both receive a certain locating base station transmission known except initial alignment base station BS 1.Those skilled in the art it is also understood that in the embodiment shown in Fig. 3 or Fig. 4, and the Wireline in a positioning system can be same item type, also can be dissimilar, and such as, one section of Wireline is optical fiber, and another section of Wireline is coaxial cable.
According to Fig. 1, Fig. 3 and description embodiment illustrated in fig. 4, positioning system 300 or 400 can obtain three time of arrival poor TDOA1, TDOA2 and TDOA3.Wherein, to be that the second positioning signal S2 and the first positioning signal S1 arrive time of arrival of device MS to be positioned poor for TDOA1; It is poor that TDOA2 is that the 3rd positioning signal S3 and the second positioning signal S2 arrives time of arrival of device MS to be positioned; It is poor that TDOA3 is that the 3rd positioning signal S3 and the first positioning signal S1 arrives time of arrival of device MS to be positioned.If TBB1 is the Transmission Time Interval of the second positioning signal S2 and the first positioning signal S1, TBB2 is the Transmission Time Interval of the 3rd positioning signal S3 and the second positioning signal S2, and TBB3 is the Transmission Time Interval of the 3rd positioning signal S3 and the first positioning signal S1.The distance of device MS to locating base station BS1 to be positioned, BS2 and BS3 is respectively L1, L2 and L3.Three groups of range differences can be obtained by formula (2), as follows:
L2-L1＝c×(TDOA1-TBB1)(3)
L3-L2＝c×(TDOA2-TBB2)(4)
L3-L1＝c×(TDOA3-TBB3)(5)
As shown in phantom in Figure 3, with the position of launching the locating base station of these two positioning signals for focus is (in a default system, the position of locating base station is all known), the range difference of trying to achieve with above-mentioned formula, for arriving the constant of the range difference of two focuses, so just obtains three groups of hyperbolic curves.These three groups of hyperbolic curves meet at MS and MS '.Imaginary intersection point MS ' can be rejected according to prior art, thus obtain the position at device MS place to be positioned.
As the above analysis, according to technical scheme of the present invention, each positioning signal is not launched accurately simultaneously, and namely between each positioning signal, not traditional sense Shangdi is carried out synchronously.But be there is by same Base Transmitter positioning signal and the synchronizing signal of known time relation, and utilize synchronizing signal to trigger another positioning signal of another Base Transmitter, make the time relationship between described two positioning signals known, realize " accurate synchronous " between two signals, reach the effect identical with conventional synchronization methods.In the present invention, on the one hand because the time relationship of same Base Transmitter positioning signal and synchronizing signal easily, accurately can be known by system itself; On the other hand, synchronizing signal, from a Base Transmitter, is propagated through Wireline, then is gone the time of triggering another Base Transmitter positioning signal to be also accurately to calculate.Therefore, according to embodiments of the invention, signal height ground can be realized synchronous.And, Wireline synchronous signal transmission is adopted between each locating base station according to the embodiment of the present invention, each locating base station is without the need to comprising accurate synchronous clock and wireless receiver, and synchronizing signal can not be subject to that space is blocked, the impact of multipath effect and undesired signal, can low cost realize high-precise synchronization between each locating base station.
Fig. 5 provides the schematic diagram of the locating base station inner structure 500 according to one embodiment of the invention.As shown in Figure 5, locating base station comprises signal generator module 5_1 and antenna 5_2.Wherein, signal generator module 5_1 is for generation of positioning signal Si and the synchronizing signal SYN (i+1) being provided to Wireline; Antenna 5_2 is coupled to signal generator module 5_1 to receive and to launch positioning signal Si.
Exemplarily, signal generator module 5_1 comprises positioning signal generation module 5_3 and power splitter or coupling mechanism 5_4.Positioning signal generation module 5_3 receives upstream synchronization signal SYNi, and triggers generation positioning signal Si through upstream synchronization signal SYNi.In another embodiment, if this locating base station is initial alignment base station, positioning signal generation module 5_3 also can receiving system send positioning instruction signal namely require locating base station start locate request signal to replace upstream synchronization signal SYNi triggered location signal generator module 5_3.Power splitter or coupling mechanism 5_4 are coupled to positioning signal generation module 5_3 to receive positioning signal Si, and positioning signal Si is divided into two paths of signals, one tunnel is emitted in the locating area that may there is device to be positioned through antenna 5_2, another road transfers to another or multiple locating base station as synchronizing signal SYN (i+1) via next road Wireline.In another embodiment, if this locating base station is end locating base station, signal generator module 5_1 also can comprise power splitter/coupling mechanism to produce synchronizing signal SYN (i+1).In this embodiment, antenna is directly coupled to positioning signal generation module 5_3 to receive and to launch positioning signal Si.
Embodiment is known as shown in Figure 5, and locating base station can launch identical signal as positioning signal and synchronizing signal, and can launch positioning signal and synchronizing signal simultaneously.
Fig. 6 provides a kind of schematic diagram of the locating base station inner structure 600 according to one embodiment of the invention.As shown in Figure 6, signal generator module 6_1 comprises synchronizing signal generation module 6_3 and positioning signal generation module 6_4.Synchronizing signal generation module 6_3 and positioning signal generation module 6_4 is all coupled to Wireline to receive upstream synchronization signal SYNi, and positioning signal generation module 6_4 produces positioning signal Si under the triggering of upstream synchronization signal SYNi.Synchronizing signal generation module 6_3 can produce synchronizing signal SYN (i+1) under the triggering of upstream synchronization signal SYNi or positioning signal Si, and positioning signal generation module 6_4 can produce positioning signal Si under the triggering of synchronizing signal SYNi or synchronizing signal SYN (i+1).In another embodiment, if this locating base station is initial alignment base station, positioning signal generation module 6_4 and synchronizing signal generation module 6_3 also can receiving system send command signal to replace upstream synchronization signal SYNi triggered location signal generator module 6_4 and synchronizing signal generation module 6_3, the function of command signal is identical with the function of described synchronizing signal SYNi in this locating base station.The positioning signal Si that positioning signal generation module 6_4 produces is emitted to through antenna 6_2 in the locating area that may there is device to be positioned.In another embodiment, if this locating base station is end locating base station, signal generator module 6_1 also can comprise synchronizing signal generation module 6_3 for generation synchronizing signal SYN (i+1).
Fig. 7 provides the schematic diagram of the locating base station inner structure 700 according to one embodiment of the invention.As shown in Figure 7, locating base station, except comprising the signal generator module 7_1 identical with Fig. 5 or Fig. 6 and antenna 7_2, can also comprise photoelectric commutator 7_5 and/or electrical to optical converter 7_6, can also comprise chronotron 1 and/or chronotron 2.Easy for describing, part identical with embodiment shown in Fig. 5 or Fig. 6 in embodiment illustrated in fig. 7, is not repeated herein, and is only described its difference.If synchronizing signal SYNi is light signal, then locating base station 900 also comprises photoelectric commutator 7_5, light signal SYNi is converted to electric signal and then is supplied to signal generator module 7_1.If the signal that the Wireline receiving synchronizing signal SYN (i+1) is propagated is light signal, then locating base station 700 also comprises electrical to optical converter 7_6, is provided to Wireline after converting optical synchronous signal SYN (i+1) to the electric synchronizing signal that signal generator module 7_1 is produced.Described Wireline can be selected according to the form of the synchronizing signal wherein transmitted, if described Wireline transmission is electric synchronizing signal, then Wireline can be coaxial cable, twisted-pair feeder etc., if the transmission of described Wireline is optical synchronous signal, Wireline can be optical fiber etc.Further, can optionally add chronotron 1, chronotron 2 or both one of, launch again after the synchronizing signal SYN (i+1) produced or positioning signal Si is postponed one default period.
Fig. 8 provides the schematic diagram of the device inner structure 800 to be positioned according to one embodiment of the invention.As shown in Figure 8, device 800 to be positioned comprises antenna 8_1 and receiver 8_2, and wherein antenna 8_1 receives positioning signal and is supplied to receiver 8_2.Receiver 8_2 processes to obtain the temporal information that positioning signal arrives device MS to be positioned to positioning signal, and described process may be the process such as filtering, amplification or shaping, and described temporal information can be that the due in of positioning signal or time of arrival are poor.Device to be positioned can also comprise positional information and resolve module 8_3, input/output module 8_4.First resolve module 8_3 by input/output module 8_4 to positional information before location starts and import the positional information of locating base station, the time sequencing of locating base station transmitting positioning signal and the time interval, and the index of each positioning signal carry information.Receiver 8_2 is supplied to positional information the temporal information obtained and resolves module 8_3.Positional information is resolved module 8_3 and is resolved own location information in conjunction with the positional information of locating base station and time interval of transmitting by TDOA location algorithm, and imports above-mentioned positional information into input/output module 8_4 and export.
Fig. 9 illustrates the process flow diagram of the localization method 900 according to one embodiment of the invention.Localization method comprises the steps:
Step 9_1: locating base station BSi produces the first positioning signal Si and the first synchronizing signal SYNi, and described first positioning signal Si and the first synchronizing signal SYNi has known time relationship.
Step 9_2: locating base station BSi launches the first positioning signal Si, and propagates the first synchronizing signal SYNi through Wireline LINi.
Step 9_3: locating base station BS (i+1) produces transmitting second positioning signal S (i+1) under the triggering of the first synchronizing signal SYNi.
Step 9_4: device MS to be positioned records the second positioning signal S (i+1) and the first positioning signal Si arrives the time of self and to resolve both time of arrival poor.
In one embodiment, above-mentioned localization method also comprises locating base station BS (i+1) under the triggering of the first synchronizing signal SYNi, produces the second synchronizing signal SYN (i+1), and the second synchronizing signal SYN (i+1) transfers to locating base station BS (i+2) through Wireline LIN (i+1).Locating base station BS (i+2) produces the 3rd positioning signal S (i+2) through the triggering of the second synchronizing signal SYN (i+1).Device MS to be positioned records the 3rd positioning signal S (i+2), the second positioning signal S (i+1) and the first positioning signal Si and arrives the time of self and to resolve both time of arrival poor.
Figure 10 illustrates the process flow diagram of the positioning system method of work 1000 according to an embodiment of the present invention.In positioning system, the number of locating base station is N (N >=3), locating base station can be interconnected flexibly according to application scenarios, and it requires it is the synchronizing signal that each locating base station can both receive a certain locating base station transmission known except initial alignment base station BS i.Positioning system also comprises device MS to be positioned.
Step 10_1: positioning system judges whether that will treat locating device MS positions, if then enter step 10_2, if not then directly terminate positioning action.
Step 10_2: selected a certain locating base station BSi is as initial alignment base station, locating base station BSi through the triggering of command signal or synchronizing signal backward may exist in the locating area of device MS to be positioned launch positioning signal Si, meanwhile, or after postponing one section of known time, locating base station BSi to one or more locating base station synchronous signal transmission SYNi, and enters step 10_3 by Wireline.
Step 10_3: one or more locating base station is after the triggering of the synchronizing signal SYNi transmitted by locating base station BSi, certain moment after trigger instants or trigger instants postpone one section of known time launches positioning signal in the locating area that may there is device MS to be positioned, one section of known time of described delay is precalculated by system, receives described multiple positioning signal when making device MS to be positioned different.And judge whether that the one or more locating base station to not being triggered launch synchronizing signal according to system requirements, if desired, then described one or more locating base station can be meanwhile, or after postponing one section of identical or different known time, by Wireline to not by one or more locating base station synchronous signal transmissions that synchronizing signal triggers, and enter step 10_4.
Step 10_4: detect whether all locating base station launch positioning signal all, if then forward step 10_5 to, continues to perform if not then forward 10_3 to.
Step 10_5: device MS record to be positioned receives the relevant information of positioning signal, and judges whether to resolve own location information according to system requirements.
Step 10_6: system judges whether location terminates, if then terminate, continues to perform if not then forward step 10_7 to.
Step 10_7: system determines whether initial alignment base station self-starting pattern, continues to perform if then forward step 10_8 to, continues to perform if not then forward step 10_9 to.
Self-starting after the known time of step 10_8: the locating base station BSi one section of systemic presupposition in interval, positioning signal Si is launched in the locating area that may there is device MS to be positioned, meanwhile, or after postponing one section of known time, locating base station BSi to one or more locating base station synchronous signal transmission SYNi, and enters step 10_3 by Wireline.
Step 10_9: selected a certain locating base station BSj launches synchronizing signal SYNj to locating base station BSi, and enters step 10_3.
As the above mentioned, although have illustrated and described the preferred embodiments of the present invention, when not deviating from the spirit and scope of the present invention, many changes can be carried out.Thus, scope of the present invention be can't help the open of preferred embodiment and limited.But, the present invention should be determined with reference to claim subsequently completely.
Claims (25)
1. a locating device, comprising:
First device, launches the first positioning signal and provides synchronizing signal, and wherein, the first positioning signal and synchronizing signal have known time relationship;
Wireline, has first end and the second end, and wherein, described first end receives synchronizing signal from first device;
Second device, receives synchronizing signal from the second termination of Wireline, and launch the second positioning signal under the triggering of synchronizing signal; And
3rd device, receives the second positioning signal and the first positioning signal;
Wherein, locating device resolve the second positioning signal and the first positioning signal arrive the 3rd device time of arrival difference for location the 3rd device.
2. locating device as claimed in claim 1, wherein, Wireline is optical fiber, coaxial cable or twisted-pair feeder.
3. locating device as claimed in claim 1, wherein, first device comprises:
Signal generator module, produces the first positioning signal and the synchronizing signal being provided to Wireline; And
Antenna, is coupled to signal generator module to receive and to launch the first positioning signal.
4. locating device as claimed in claim 3, wherein, signal generator module comprises:
Positioning signal generation module, produces the first positioning signal under the triggering of positioning instruction signal or upstream synchronization signal; And
Power splitter or coupling mechanism, be coupled to positioning signal generation module to receive the first positioning signal, and the first positioning signal is divided into two paths of signals, a road signal is provided to antenna, and another road signal is provided to Wireline as synchronizing signal.
5. locating device as claimed in claim 3, wherein, signal generator module comprises:
Positioning signal generation module, produces the first positioning signal to be provided to antenna under the triggering of positioning instruction signal or upstream synchronization signal; And
Synchronizing signal generation module, produces synchronizing signal and is provided to Wireline.
6. locating device as claimed in claim 5, wherein, described synchronizing signal generation module produces synchronizing signal under positioning instruction signal or upstream synchronization signal or the triggering of the first positioning signal.
7. locating device as claimed in claim 6, wherein, described first device also comprises delay circuit, and described delay circuit is provided to Wireline by after the time default for sync signal delay one section.
8. locating device as claimed in claim 6, wherein, when synchronizing signal generation module is triggered by upstream synchronization signal and upstream synchronization signal is light signal, described first device also comprises photoelectric conversion module, and photoelectric conversion module is used for upstream synchronization signal to be converted to electric signal to be provided to synchronizing signal generation module by light signal.
9. locating device as claimed in claim 3, wherein, first device comprises electrooptic conversion module, and electrooptic conversion module is coupled to signal generator module to receive synchronizing signal and synchronizing signal is converted to light signal to be provided to Wireline by electric signal.
10. locating device as claimed in claim 1, wherein, the second device comprises:
Signal generator module, is coupled to the second end of Wireline to receive synchronizing signal, and produces the second positioning signal under the triggering of synchronizing signal; And
Antenna, is coupled to signal generator module to receive and to launch the second positioning signal.
11. locating devices as claimed in claim 10, wherein, the second device also provides the second synchronizing signal.
12. locating devices as claimed in claim 1, wherein, described 3rd device comprises:
Antenna, for receiving the first positioning signal and the second positioning signal; And
Receiver, for the treatment of the second positioning signal and the first positioning signal;
Wherein, the 3rd device obtains the temporal information of the second positioning signal and the first positioning signal arrival the 3rd device.
13. locating devices as claimed in claim 12, wherein, described 3rd device also comprises:
Positional information resolves module, arrives the poor positional information resolving the 3rd device time of arrival of the 3rd device according to the second positioning signal and the first positioning signal; And
Input/output module, exports the positional information of the 3rd device.
14. 1 kinds of localization methods, comprising:
Produce the first positioning signal and the first synchronizing signal, between described first synchronizing signal and described first positioning signal, there is known time relationship;
Launch the first positioning signal;
The first synchronizing signal is propagated through the first Wireline;
Produce under the triggering of described first synchronizing signal and launch the second positioning signal; And
Record the second positioning signal and the first positioning signal arrive the temporal information of same device and the time of arrival of resolving between the second positioning signal and the first positioning signal poor.
15. localization methods as claimed in claim 14, also comprise:
The second synchronizing signal is produced under the triggering of the first synchronizing signal;
Produce under the triggering of the second synchronizing signal and launch the 3rd positioning signal; And
Record the 3rd positioning signal, the second positioning signal and the first positioning signal arrive the temporal information of same device and differ to locate described same device the time of arrival of resolving between any two positioning signals.
16. localization methods as claimed in claim 14, wherein, the first positioning signal is identical with the first synchronizing signal.
17. localization methods as claimed in claim 14, wherein, the first synchronizing signal produces under the triggering of the first positioning signal, positioning instruction signal or upstream synchronization signal.
18. localization methods as claimed in claim 14, wherein, described first synchronizing signal is light signal, and described localization method also comprises light signal is converted to electric signal to trigger generation second positioning signal.
19. localization methods as claimed in claim 14, wherein, when Wireline is optical fiber, described first synchronizing signal is light signal with through spread fiber.
20. 1 kinds, for realizing the quasi synchronous device of signal, comprising:
Wireline, have first end and the second end, described Wireline is configured to:
Receive the synchronizing signal that first device is launched at first end place, wherein, between the first positioning signal that described synchronizing signal and first device are launched, there is known time relationship;
At the second end place, synchronizing signal is sent to the second device and launch the second positioning signal to trigger the second device; And
Described accurate synchronous device determines that the second positioning signal is synchronous with the standard realizing the second positioning signal and the first positioning signal with difference launch time of the first positioning signal.
21. accurate synchronous devices as claimed in claim 20, wherein, described Wireline is optical fiber, coaxial cable or twisted-pair feeder.
22. 1 kinds of locating devices, comprising:
First device, launch the first positioning signal and provide the first synchronizing signal, wherein, the first positioning signal and the first synchronizing signal have known time relationship;
First Wireline, has first end and the second end, and wherein, described first end receives the first synchronizing signal from first device;
Second device, receives the first synchronizing signal from the second termination of the first Wireline, and under the triggering of the first synchronizing signal, launches the second positioning signal and provide the second synchronizing signal, and wherein, the second positioning signal and the second synchronizing signal have known time relationship;
Second Wireline, has first end and the second end, and wherein, described first end receives the second synchronizing signal from the second device;
4th device, receives the second synchronizing signal from the second termination of the second Wireline, and launches the 4th positioning signal under the triggering of the second synchronizing signal; And
3rd device, receives the 4th positioning signal, the second positioning signal and the first positioning signal;
Wherein, the time relationship that locating device arrives the 3rd device according to the 4th positioning signal, the second positioning signal and the first positioning signal locates the 3rd device.
23. locating devices as claimed in claim 22, wherein, 4th device also launches the 4th synchronizing signal, 4th synchronizing signal and the 4th positioning signal have known time relationship, and locating device also comprises the 3rd Wireline, have first end and the second end, wherein, described first end receives the 4th synchronizing signal from the 4th device, and the second end is coupled to first device to provide the 4th synchronizing signal, triggers first device and produces the 4th positioning signal.
24. 1 kinds of locating devices, comprising:
First device, launches the first positioning signal and the first synchronizing signal and the second synchronizing signal, wherein, and the first positioning signal and between the first synchronizing signal and the second synchronizing signal, there is known time relationship;
First Wireline, has first end and the second end, and wherein, described first end receives the first synchronizing signal from first device;
Second device, receives the first synchronizing signal from the second termination of the first Wireline, and under the triggering of the first synchronizing signal, launch the second positioning signal;
Second Wireline, has first end and the second end, and wherein, described first end receives the second synchronizing signal from first device;
4th device, receives the second synchronizing signal from the second termination of the second Wireline, and launches the 4th positioning signal under the triggering of the second synchronizing signal; And
3rd device, receives the 4th positioning signal, the second positioning signal and the first positioning signal;
Wherein, the time relationship that locating device arrives the 3rd device according to the 4th positioning signal, the second positioning signal and the first positioning signal locates the 3rd device.
25. locating devices as claimed in claim 24, wherein, the first synchronizing signal and the second synchronizing signal are identical signal.
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| CN201510674334.1A CN105388454B (en) | 2015-10-16 | 2015-10-16 | For realizing the quasi synchronous device of signal, positioner and method |
| PCT/CN2015/098434 WO2017063271A1 (en) | 2015-10-16 | 2015-12-23 | Quasi-synchronization structure, positioning device thereof, and positioning method therefor |
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| CN201510674334.1A CN105388454B (en) | 2015-10-16 | 2015-10-16 | For realizing the quasi synchronous device of signal, positioner and method |
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Also Published As
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| CN105388454B (en) | 2016-10-12 |
| WO2017063271A1 (en) | 2017-04-20 |
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