CN105388454B - For realizing the quasi synchronous device of signal, positioner and method - Google Patents
For realizing the quasi synchronous device of signal, positioner and method Download PDFInfo
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- CN105388454B CN105388454B CN201510674334.1A CN201510674334A CN105388454B CN 105388454 B CN105388454 B CN 105388454B CN 201510674334 A CN201510674334 A CN 201510674334A CN 105388454 B CN105388454 B CN 105388454B
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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
- G01S5/12—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)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
Disclose a kind of plesiochronous structure and positioner thereof and method.Positioner includes first device, Wireline, the second device and the 3rd device.Wherein, first device is launched the first framing signal and provides synchronizing signal.First framing signal and synchronizing signal have known time relationship.Wireline has the first end and the second end, and this first end receives synchronizing signal from first device.Second device receives synchronizing signal from the second end of Wireline, and launches the second framing signal under the triggering of synchronizing signal.3rd device receives the second framing signal and the first framing signal, and the time of advent obtaining the second framing signal and the first framing signal is poor.Wireline synchronous signal transmission is used, it is possible to be achieved at low cost the high-precise synchronization between each locating base station between each positioner.
Description
Technical field
It relates to radio communication, more specifically, it relates between signals in wireless communications
Synchronize.
Background technology
Short distance, high precision wireless indoor positioning technologies should in urban compact region and indoor closing space
With widely.The location algorithm that existing indoor positioning technologies is conventional have TOA time of advent location and
Difference time of advent TDOA location etc..Above-mentioned algorithm requires each locating base station and shifting in implementation process
Dynamic terminal room precise time synchronizes to can be only achieved higher positioning precision.For each in prior art
Synchronous method conventional between locating base station mainly has two kinds, and one is each self-contained in each locating base station
Accurate synchronised clock, such as atomic clock etc., this method is relatively costly, and when needing periodically it to be carried out
Clock verifies；Two is the synchronizing signal using wireless path to transmit between each locating base station, and the method needs each
Locating base station comprises wireless receiver, and signal need to be filtered, amplifies by described wireless receiver, whole
Shapes etc. process, and its structure is complex, and cost and power consumption are the highest, and the synchronization of wireless path transmission
Signal is easily subject to spatial occlusion, multipath effect and the impact of interference signal, thus can not obtain good
Synchronous effect.Therefore, Low-cost, low-power consumption, high-precision synchronization alignment system become
The problem that this area research worker needs solution badly.
Summary of the invention
According to one aspect of the present invention, it is proposed that a kind of positioner.This positioner includes first
Device, Wireline, the second device and the 3rd device.First device is launched the first framing signal and carries
For synchronizing signal.First framing signal and synchronizing signal have known time relationship.Wireline,
There is the first end and the second end.This first end receives synchronizing signal from first device.Second device is from having
Second end of line circuit receives synchronizing signal, and launches the second framing signal under the triggering of synchronizing signal.
3rd device receives the second framing signal and the first framing signal, and resolves the second framing signal and first
The time of advent that framing signal arrives the 3rd device is poor, for location the 3rd device.
According to another aspect of the present invention, it is proposed that a kind of localization method.This localization method includes:
Produce the first framing signal and the first synchronizing signal, the first synchronizing signal and described first framing signal it
Between there is known time relationship；Launch the first framing signal；First is propagated same through the first Wireline
Step signal；The second framing signal it is generated and transmitted by under the triggering of the first synchronizing signal；And resolve the
The time of advent of two framing signals and the first framing signal is poor for location.
According to another aspect of the present invention, it is proposed that one is used for realizing the quasi synchronous device of signal.
This device includes Wireline.Wireline has the first end and the second end.This Wireline is configured
Cheng end receives the synchronizing signal that first device is launched；By synchronizing signal transmission at the second end
The second framing signal is launched to trigger the second device to the second device.Synchronizing signal is launched with first device
The first framing signal between there is known time relationship.Plesiochronous device determines the second framing signal
Poor same with the standard of the first framing signal to realize the second framing signal with the launch time of the first framing signal
Step.
According to another aspect of the present invention, it is proposed that a kind of positioner.This positioner includes
One device, the first Wireline, the second device, the second Wireline, the 4th device and the 3rd device.
First device launches the first framing signal and the first synchronizing signal.First framing signal and first synchronizes letter
Number there is known time relationship.First Wireline has the first end and the second end.This first end from
First device receives the first synchronizing signal.Second device receives first from the second end of the first Wireline
Synchronizing signal, and under the triggering of the first synchronizing signal, launch the second framing signal and the second synchronizing signal.
This second framing 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 is from
Second end of two Wirelines receives the second synchronizing signal, and launches under the triggering of the second synchronizing signal
4th framing signal.3rd device receives the 4th framing signal, the second framing signal and the first location letter
Number, and come according to the difference time of advent of the 4th framing signal, the second framing signal and the first framing signal
Position the 3rd device.
According to another aspect of the present invention, it is proposed that a kind of positioner.This positioner includes
One device, the first Wireline, the second device, the second Wireline, the 4th device and the 3rd device.
First device launches the first framing signal and the first synchronizing signal and the second synchronizing signal.First location letter
Number and the first synchronizing signal and the second synchronizing signal between there is known time relationship.First wired line
Road has the first end and the second end.This first end receives the first synchronizing signal from first device.Second dress
Put the second end from the first Wireline and receive the first synchronizing signal, and in the triggering of the first synchronizing signal
Lower transmitting the second framing signal.Second Wireline has the first end and the second end.This first end is from
Two devices receives the second synchronizing signal.It is same that 4th device receives second from the second end of the second Wireline
Step signal, and under the triggering of the second synchronizing signal, launch the 4th framing signal.3rd device receives the
Four framing signals, the second framing signal and the first framing signal, and according to the 4th framing signal, second
The difference time of advent of framing signal and the first framing signal positions the 3rd device.
Accompanying drawing explanation
Fig. 1 provides the schematic diagram of the plesiochronous structure 100 according to an embodiment of the present invention；
Fig. 2 provides the work schedule schematic diagram of above-mentioned plesiochronous structure 100；
Fig. 3 provides the schematic diagram of the alignment system 300 according to an embodiment of the present invention；
Fig. 4 provides the schematic diagram of the alignment system 400 according to an embodiment of the present invention；
Fig. 5 provides the schematic diagram of the locating base station internal structure 500 according to one embodiment of the invention；
Fig. 6 provides the signal of a kind of locating base station internal structure 600 according to one embodiment of the invention
Figure；
Fig. 7 provides the schematic diagram of the locating base station internal structure 700 according to one embodiment of the invention；
Fig. 8 provides the schematic diagram of the device internal structure 800 to be positioned according to one embodiment of the invention；
Fig. 9 is shown according to the flow chart of the localization method 900 of one embodiment of the invention；
Figure 10 is shown according to the flow chart of the alignment system method of work 1000 of an embodiment of the present invention.
Detailed description of the invention
The specific embodiment of the present invention is described more fully below, it should be noted that the embodiments described herein
It is served only for illustrating, is not limited to the present invention.In the following description, in order to provide this
Bright thorough understanding, elaborates a large amount of specific detail.But, those of ordinary skill in the art are shown
And be clear to: these specific detail need not be used to carry out the present invention.In other instances, in order to
Avoid confusion the present invention, does not specifically describes known circuit, material or method.
Throughout the specification, to " embodiment ", " embodiment ", " example " or " example "
Mention and meaning: combine this embodiment or special characteristic, structure or characteristic that example describes comprised
In at least one embodiment of the invention.Therefore, at each local phrase occurred of entire disclosure
" in one embodiment ", " in an embodiment ", " example " or " example " are not necessarily all referring to same
Embodiment or example.Furthermore, it is possible to any suitable combination and or sub-portfolio by specific feature,
Structure or property combination are in one or more embodiments or example.Additionally, ordinary skill people
Member should be appreciated that diagram is provided to descriptive purpose provided herein, and diagram be not necessarily by
Ratio is drawn.Should be appreciated that when claiming " element " " being connected to " or " coupled " to another element, it
Can be to be directly connected or coupled to another element or intermediary element can be there is.On the contrary, when claiming unit
Part " is directly connected to " or during " being directly coupled to " another element, there is not intermediary element.Identical is attached
The element that the instruction of figure labelling is identical.Term "and/or" used herein includes that one or more being correlated with is listed
Any and all combination of project.Framing signal described in some embodiments below can be ultra-wide
The wireless signals such as band signal, FM signal, pulse signal.
Fig. 1 provides the schematic diagram of the plesiochronous structure 100 according to an embodiment of the present invention.Such as Fig. 1
Shown in, this plesiochronous structure 100 exemplarily includes locating base station BSi and BS (i+1), to be positioned
Device MS and Wireline LINi.In one embodiment, described locating base station BSi and/or
BS (i+1) be geographically fix and three-dimensional position it is known that and device MS to be positioned is geographically can to move
Move.
Locating base station BSi launches framing signal Si and synchronizing signal SYNi.Wherein, framing signal
Si and synchronizing signal SYNi have known time relationship.Such as, in one embodiment, location
Signal Si and synchronizing signal SYNi are launched simultaneously.The most such as, in another embodiment, synchronize
Signal SYNi is later than framing signal Si and launches.Wireline LINi has the 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 warp
The second end is propagated to by the first end by Wireline LINi.In one embodiment, Wireline
LINi is optical fiber, and correspondingly, synchronizing signal SYNi is optical signal.In another embodiment, have
Line circuit LINi is coaxial line or twisted-pair feeder, and correspondingly, synchronizing signal SYNi is the signal of telecommunication.Location
Base station BS (i+1) is coupled to second end of Wireline LINi to receive synchronizing signal SYNi, and
Framing signal S (i+1) is produced under the triggering of synchronizing signal SYNi.Device MS to be positioned receives location
Signal Si and S (i+1), and arrive himself time according to framing signal Si and S (i+1) and try to achieve location
The difference TDOAi time of advent of signal Si and S (i+1).
Fig. 2 provides the work schedule schematic diagram of above-mentioned plesiochronous structure 100.As in figure 2 it is shown, location
Base station BS i launches framing signal in the ti moment in the region, location that there may be device MS to be positioned
Si.Meanwhile, locating base station BSi produces synchronizing signal SYNi, and described synchronizing signal SYNi is led to
Cross Wireline LINi to transmit to locating base station BS (i+1).Locating base station BS (i+1) synchronized signal
SYNi triggers, and launches framing 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 is simultaneously
Send framing signal Si and synchronizing signal SYNi.But, as it has been described above, in other embodiments,
Synchronizing signal SYNi can be launched after postponing one section of known time after framing signal Si is launched.And,
In the embodiment depicted in figure 2, t (i+1) moment is that synchronizing signal SYNi triggers locating base station BS (i+1)
The triggering moment, but, in other embodiments, t (i+1) moment can be trigger the moment postpone one
Certain moment after section known time.
Device MS to be positioned is at ti ＇ reception to framing signal Si, at t (i+1) ＇ reception
To framing signal S (i+1).Therefore, the difference TDOAi time of advent of the two signal can be expressed as:
TDOAi=t (i+1) ＇-ti ＇ (1)
In fig. 2, TBBi represent locating base station BSi and BS (i+1) launch respectively framing signal Si and
The time interval of S (i+1), TBMi represents the propagation time that framing signal Si is propagated in the Li of path,
And TBM (i+1) represents the propagation time that framing signal S (i+1) is propagated in path L (i+1).According to
TDOA (Time Difference of Arrival, the time of advent is poor) location algorithm, utilizes and arrives time difference
TDOAi and time interval TBBi can be calculated propagation time difference TBMi-TBM (i+1), and then really
Fixed device MS to be positioned is to locating base station BSi and the range difference of BS (i+1), as follows:
Wherein c is framing signal spread speed in free space.
Fig. 3 provides the schematic diagram of the alignment system 300 according to an embodiment of the present invention.In Fig. 3
Shown in, alignment system 300 exemplarily includes locating base station BS1, BS2 and BS3, Wireline
LIN1 and LIN2 and device MS to be positioned.Wherein, Wireline LIN1 is connected to position base
Stand between 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 line, twisted-pair feeder etc.
Deng.In another embodiment, connecting between the Wireline of two base stations can be same type,
Can also 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.Real shown in Fig. 3
Execute in example, locating base station BS1 and BS2, device MS to be positioned and Wireline LIN1, fixed
Position base station BS 2 and BS3, device MS to be positioned and Wireline LIN2 respectively constitute Fig. 1 institute
The plesiochronous structure 100 shown, i.e. with locating base station BSi shown in Fig. 1 and BS (i+1), dress to be positioned
Put MS and Wireline LINi corresponding.They are similar with structure 100 plesiochronous with shown in Fig. 1
Mode be operated.Therefore, it will be appreciated by those skilled in the art that alignment system shown in Fig. 3
300 contents that can include and quote embodiment illustrated in fig. 1, without running counter to the spirit of the present invention.
In one embodiment, alignment system 300 shown in Fig. 3 can also include Wireline LIN3,
It is connected between locating base station BS3 and BS1.Therefore, locating base station BS3 and BS1, undetermined
Position device MS and the Wireline LIN3 also plesiochronous structure 100 shown in pie graph 1.In location
Base station BS 3 is to location field emission the 3rd framing signal S3 that there may be device MS to be positioned
Moment t3, or after the t3 moment postpones one section of known time, locating base station BS3 passes through Wireline
LIN3 is to locating base station BS1 synchronous signal transmission SYN3.The synchronized signal of locating base station BS1
SYN3 triggers, fixed to the location field emission the 4th that there may be device MS to be positioned in the t4 moment
Position signal S4 (not shown).So, locating base station BS1, BS2 and BS3 sequentially form one and follow
Ring structure, can start the positioning action of a new round.So, can be by by poor or undetermined for the time of advent
The average mode of positional information of position device MS, it is achieved the raising of positioning precision.
Locating base station BS1 in the t1 moment to the location field emission that there may be device MS to be positioned
First framing signal S1.Meanwhile, or postponing after one section of known time, locating base station BS1 is led to
Cross Wireline LIN1 to locating base station BS2 synchronous signal transmission SYN1.Locating base station BS2 warp
Synchronizing signal SYN1 triggers, and sends out to the region, location that there may be device MS to be positioned in the t2 moment
Penetrate the second framing signal S2.Wherein, moment t2 can be that synchronizing signal SYN1 triggers locating base station
The triggering moment of BS2, or trigger certain moment after one section of known time of moment delay.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 was launched to device MS to be positioned in the t3 moment
3rd framing signal S3.Wherein, moment t3 can be that synchronizing signal SYN2 triggers locating base station
The triggering moment of BS3, or trigger certain moment after one section of known time of moment delay.A reality
Execute in example, each described time delay can the most identical, part is identical, it is also possible to different.?
In one embodiment of the present of invention, synchronizing signal SYN1 may also be referred to as the upstream of locating base station BS2
Synchronizing signal, same, synchronizing signal SYN2 may also be referred to as the upstream synchronization of locating base station BS3
Signal, further, synchronizing signal SYN3 may also be referred to as the upstream synchronization letter of locating base station BS1
Number.
Fig. 4 provides the schematic diagram of the alignment system 400 according to an embodiment of the present invention.Shown in Fig. 4
Alignment system 400 has similar structure with alignment system 300 shown in Fig. 3, and it is fixed exemplarily to include
Position base station BS 1, BS2 and BS3, also include Wireline LIN1, LIN2 and device to be positioned
MS.For describe simplicity, in alignment system 400 shown in Fig. 4 with alignment system 300 shown in Fig. 3
Identical part, is not repeated herein, and is only described the part that they are different.As shown in Figure 4,
Different with alignment system 300 shown in Fig. 3, in alignment system 400, the first of Wireline LIN1
End connects locating base station BS1, and the second end connects locating base station BS2；The first of Wireline LIN2
End connects locating base station BS1, and the second end connects locating base station BS3.Locating base station BS1 is by wired
Circuit LIN1 and LIN2 is to locating base station BS2 and BS3 synchronous signal transmission SYN1.Location base
BS2 and BS3 that stand synchronized signal SYN1 triggers, and is triggering the moment or is triggering moment delay one
Certain moment after section known time is respectively to launching in the region, location containing device MS to be positioned
Second framing signal S2 and the 3rd framing signal S3.So, in the embodiment shown in fig. 4, location
Base station BS 1 and BS2, device MS to be positioned and Wireline LIN1, locating base station BS1 and
BS3, device MS to be positioned and Wireline LIN2 respectively constitute the plesiochronous structure shown in Fig. 1
100, i.e. with locating base station BSi shown in Fig. 1 and BS (i+1), device MS to be positioned and wired
Circuit LINi is corresponding.
It will be appreciated by those skilled in the art that Fig. 3 with Fig. 4 is exemplarily illustrated two kinds of different wired lines
The alignment system of road attachment structure, but, it is not limited to wired line according to the alignment system of the present invention
The connected mode on road, locating base station can interconnect flexibly according to application scenarios, and it requires it is except initial fixed
Base station BS 1 each locating base station outer in position can receive the same of a certain locating base station transmission that knows
Step signal.It should also be appreciated by one skilled in the art that in the embodiment shown in Fig. 3 or Fig. 4, one
Wireline in individual alignment system can be same type, it is also possible to for dissimilar, such as, one
Section Wireline is optical fiber, and another section of Wireline is coaxial line.
According to Fig. 1, Fig. 3 and the description of embodiment illustrated in fig. 4, alignment system 300 or 400 can obtain
TDOA1, TDOA2 and TDOA3 is differed to three times of advent.Wherein, TDOA1 is second fixed
The time of advent that position signal S2 and the first framing signal S1 arrive device MS to be positioned is poor；TDOA2
The time of advent being the 3rd framing signal S3 and the second framing signal S2 arrival device MS to be positioned is poor；
TDOA3 is that the 3rd framing signal S3 and the first framing signal S1 arrive arriving of device MS to be positioned
Reach time difference.If TBB1 is between the launch time of the second framing signal S2 and the first framing signal S1
Every, TBB2 is the 3rd framing signal S3 and the Transmission Time Interval of the second framing signal S2, TBB3
It is the 3rd framing signal S3 and the Transmission Time Interval of the first framing signal S1.Device MS to be positioned
Distance to locating base station BS1, BS2 and BS3 is respectively L1, L2 and L3.Can by formula (2)
To obtain three groups of range differences, 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, launching the position of the locating base station of the two framing signal it is
Focus (in a default system, the position of locating base station is the most known), asks with above-mentioned formula
The range difference obtained is the constant of the range difference arriving two focuses, has thus obtained three groups of hyperbolies.
These three groups of hyperbolies meet at a 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, each framing signal is the most accurate
Launching, i.e. between each framing signal, not traditional sense Shangdi synchronizes simultaneously.But by same
One Base Transmitter has framing signal and the synchronizing signal of known time relation, and utilizes synchronizing signal to touch
Send out another framing signal of another Base Transmitter so that the time relationship between said two framing signal is
Know, it is achieved " plesiochronous " between two signals, reach the effect identical with conventional synchronization methods.?
In the present invention, on the one hand permissible due to the time relationship of same Base Transmitter framing signal and synchronizing signal
Easily, precisely known by system itself；On the other hand, synchronizing signal is from a Base Transmitter, warp
Wireline is propagated, then to go the time triggering another Base Transmitter framing signal be also accurately to count
Draw.Therefore, according to embodiments of the invention, it is possible to synchronize with realizing signal height.And,
According to using Wireline synchronous signal transmission between each locating base station of the embodiment of the present invention, respectively position base
Stand without comprising accurate synchronised clock and wireless receiver, and synchronizing signal will not by spatial occlusion,
Multipath effect and interference signal impact, it is possible to low cost realize high-precise synchronization between each locating base station.
Fig. 5 provides the schematic diagram of the locating base station internal structure 500 according to one embodiment of the invention.
As it is shown in figure 5, locating base station includes signal generator module 5_1 and antenna 5_2.Wherein, signal produces
Raw module 5_1 is for producing framing signal Si and providing synchronizing signal SYN (i+1) to Wireline；
Antenna 5_2 is coupled to signal generator module 5_1 to receive and to launch framing signal Si.
Exemplarily, signal generator module 5_1 comprise framing signal generation module 5_3 and power splitter or
Bonder 5_4.Framing signal generation module 5_3 receives upstream synchronization signal SYNi, and same through upstream
Step signal SYNi triggers and produces framing signal Si.In another embodiment, if this locating base station is
Initial alignment base station, framing signal generation module 5_3 can also receive the positioning instruction letter that system sends
Number i.e. require that locating base station starts the request signal of location fixed to replace upstream synchronization signal SYNi to trigger
Position signal generator module 5_3.Power splitter or bonder 5_4 are coupled to framing signal generation module 5_3
To receive framing signal Si, and framing signal Si being divided into two paths of signals, a road is sent out through antenna 5_2
Being incident upon in the region, location that there may be device to be positioned, another road is as synchronizing signal SYN (i+1)
Via next road Wireline transmission to another or multiple locating base station.In another embodiment,
If this locating base station is end locating base station, signal generator module 5_1 also can include power splitter/coupling
Clutch is to produce synchronizing signal SYN (i+1).In this embodiment, antenna is coupled directly to location letter
Number generation module 5_3 is to receive and to launch framing signal Si.
Embodiment understands as shown in Figure 5, locating base station can launch identical signal as framing signal and
Synchronizing signal, and can framing signal and synchronizing signal be launched simultaneously.
Fig. 6 provides the signal of a kind of locating base station internal structure 600 according to one embodiment of the invention
Figure.As shown in Figure 6, signal generator module 6_1 comprises synchronizing signal generation module 6_3 and location letter
Number generation module 6_4.Synchronizing signal generation module 6_3 and framing signal generation module 6_4 all couples
Same in upstream to receive upstream synchronization signal SYNi, framing signal generation module 6_4 to Wireline
Framing signal Si is produced under the triggering of step signal SYNi.Synchronizing signal generation module 6_3 can be upper
Synchronizing signal SYN (i+1), location is produced under the triggering of trip synchronizing signal SYNi or framing signal Si
Signal generator module 6_4 can produce under the triggering of synchronizing signal SYNi or synchronizing signal SYN (i+1)
Raw framing signal Si.In another embodiment, if this locating base station is initial alignment base station, location
Signal generator module 6_4 and synchronizing signal generation module 6_3 can also receive the instruction letter that system sends
Number produce replacing upstream synchronization signal SYNi to trigger framing signal generation module 6_4 and synchronizing signal
Module 6_3, the function of command signal and described synchronizing signal SYNi function in this locating base station
Identical.Framing signal Si that framing signal generation module 6_4 produces is launched to depositing through antenna 6_2
In the region, location of device to be positioned.In another embodiment, determine if this locating base station is end
Base station, position, signal generator module 6_1 also can include that synchronizing signal generation module 6_3 is for product
Raw synchronizing signal SYN (i+1).
Fig. 7 provides the schematic diagram of the locating base station internal structure 700 according to one embodiment of the invention.
As it is shown in fig. 7, locating base station is except including the signal generator module 7_1 identical with Fig. 5 or Fig. 6
Outside with antenna 7_2, it is also possible to include optical-electrical converter 7_5 and/or electrical to optical converter 7_6, it is also possible to
Including chronotron 1 and/or chronotron 2.For describing simplicity, with Fig. 5 or figure in embodiment illustrated in fig. 7
The part that embodiment shown in 6 is identical, is not repeated herein, and is only described its difference.
If synchronizing signal SYNi is optical signal, then locating base station 700 also includes optical-electrical converter 7_5, with
Optical signal SYNi is converted into the signal of telecommunication and is then available to signal generator module 7_1.If receiving same
The signal that the Wireline of step signal SYN (i+1) is propagated is optical signal, then locating base station 700 is also wrapped
Include electrical to optical converter 7_6, be converted into light with the electric synchronizing signal that signal generator module 7_1 is produced same
Step signal SYN (i+1) provides afterwards to Wireline.Described Wireline can be according to wherein transmitting
The form of synchronizing signal selects, if the transmission of described Wireline is electricity synchronizing signal, and the most wired line
Road can be coaxial line, twisted-pair feeder etc., if the transmission of described Wireline is optical synchronous signal, wired
Circuit can be optical fiber etc..Further, can optionally add chronotron 1, chronotron 2 or
One of both, postpones one section in order to synchronizing signal SYN (i+1) that will produce or framing signal Si and presets
Time after launch again.
Fig. 8 provides the schematic diagram of the device internal structure 800 to be positioned according to one embodiment of the invention.
As shown in Figure 8, device 800 to be positioned includes antenna 8_1 and receiver 8_2, wherein antenna 8_1
Receive framing signal and be supplied to receiver 8_2.Framing signal is processed to obtain by receiver 8_2
Obtaining framing signal and arrive the temporal information of device MS to be positioned, described process is probably filtering, amplifies
Or shaping etc. processes, described temporal information can be the due in of framing signal or the time of advent poor.
Device to be positioned can also include that positional information resolves module 8_3, input/output module 8_4.Location
First pass through input/output module 8_4 before beginning and resolve module 8_3 importing locating base station to positional information
Positional information, locating base station launch time sequencing and the time interval of framing signal, and respectively position letter
Number carry the index of information.Receiver 8_2 is supplied to positional information the temporal information obtained and resolves mould
Block 8_3.Positional information resolve module 8_3 combine locating base station positional information and launch signal time
Between be spaced and resolve own location information by TDOA location algorithm, and by incoming for above-mentioned positional information defeated
Enter/output module 8_4 exports.
Fig. 9 is shown according to the flow chart of the localization method 900 of one embodiment of the invention.Localization method
Comprise the steps:
Step 9_1: locating base station BSi produces the first framing signal Si and the first synchronizing signal SYNi,
Described first framing signal Si and the first synchronizing signal SYNi have known time relationship.
Step 9_2: locating base station BSi launches the first framing signal Si, and passes through Wireline LINi
Broadcast the first synchronizing signal SYNi.
Step 9_3: locating base station BS (i+1) produces transmitting under the triggering of the first synchronizing signal SYNi
Second framing signal S (i+1).
Step 9_4: device MS to be positioned records the second framing signal S (i+1) and the first framing signal
Si arrives self time and to resolve both time of advent poor.
In one embodiment, above-mentioned localization method also includes that locating base station BS (i+1) synchronizes first
The second synchronizing signal SYN (i+1), the second synchronizing signal SYN (i+1) is produced under the triggering of signal SYNi
Through Wireline LIN (i+1) transmission to locating base station BS (i+2).Locating base station BS (i+2) is same through second
The triggering of step signal SYN (i+1) produces the 3rd framing signal S (i+2).Device MS to be positioned record the
Three framing signals S (i+2), the second framing signal S (i+1) with first framing signal Si arrive self time
Between and to resolve both time of advent poor.
Figure 10 is shown according to the flow chart of the alignment system method of work 1000 of an embodiment of the present invention.
In alignment system, the number of locating base station is N (N >=3), and locating base station can be flexible according to application scenarios
Interconnection, it requires it is that each locating base station can receive and knows in addition to initial alignment base station BS i
A certain locating base station transmission synchronizing signal.Alignment system also includes device MS to be positioned.
Step 10_1: alignment system determines whether to treat positioner MS and positions, if then
Enter step 10_2, if not the most directly terminating positioning action.
Step 10_2: selected a certain locating base station BSi is as initial alignment base station, locating base station BSi
In the backward region, location that there may be device MS to be positioned of triggering of command signal or synchronizing signal
Launching framing signal Si, meanwhile, or after one section of known time of delay, locating base station BSi is passed through
Wireline is to one or more locating base station synchronous signal transmission SYNi, and enters step 10_3.
Step 10_3: one or more locating base station are through the synchronizing signal transmitted by locating base station BSi
Certain moment after the triggering of SYNi, after triggering the moment or triggering one section of known time of moment delay
Framing signal, a section of described delay is launched in the region, location that there may be device MS to be positioned
Known time is precalculated by system, makes device MS to be positioned not be simultaneously received the plurality of location
Signal.And judge whether that the one or more locating base station transmitting to not being triggered is same according to system requirements
Step signal, if desired, then the one or more locating base station meanwhile, or can postpone one section of phase
With or different known time after, by Wireline to not by synchronizing signal trigger one or more
Locating base station synchronous signal transmission, and enter step 10_4.
Step 10_4: detect whether that all of locating base station has launched framing signal the most, if then turning
To step 10_5, continue executing with if not then forwarding 10_3 to.
Step 10_5: device MS to be positioned record receives the relevant information of framing signal, and according to
System requirements judges whether to resolve own location information.
Step 10_6: system judges whether location terminates, if then terminating, if not then forwarding step to
Rapid 10_7 continues executing with.
Step 10_7: system determines whether initial alignment base station self-starting pattern, if then forwarding to
Step 10_8 continues executing with, and continues executing with if not then forwarding step 10_9 to.
Step 10_8: self-starting after the known time of the one section of systemic presupposition in locating base station BSi interval, to
There may be transmitting framing signal Si in the region, location of device MS to be positioned, meanwhile, or prolong
After slow one section of known time, locating base station BSi is passed to one or more locating base station by Wireline
Defeated synchronizing signal SYNi, and enter step 10_3.
Step 10_9: selected a certain locating base station BSj launches synchronizing signal to locating base station BSi
SYNj, and enter step 10_3.
As the above mentioned, although have illustrated and described the preferred embodiments of the present invention, but
In the case of the spirit and scope of the present invention, many changes can be carried out.Thus, the present invention
Scope is not limited by the open of preferred embodiment.But, it should entirely by reference to following claims
Determine the present invention.
Claims (25)
1. a positioner, including:
First device, launches the first framing signal and provides synchronizing signal, wherein, and the first framing signal
With synchronizing signal, there is known time relationship；
Wireline, has the first end and the second end, and wherein, described first end receives from first device
Synchronizing signal；
Second device, receives synchronizing signal from the second end of Wireline, and in the triggering of synchronizing signal
Lower transmitting the second framing signal；And
3rd device, receives the second framing signal and the first framing signal；
Wherein, positioner resolves the second framing signal and the first framing signal arrives arriving of the 3rd device
Reach time difference for location the 3rd device.
2. positioner as claimed in claim 1, wherein, Wireline be optical fiber, coaxial line or
Twisted-pair feeder.
3. positioner as claimed in claim 1, wherein, first device includes:
Signal generator module, produces the first framing signal and provides the synchronizing signal to Wireline；With
And
Antenna, is coupled to signal generator module to receive and to launch the first framing signal.
4. positioner as claimed in claim 3, wherein, signal generator module includes:
Framing signal generation module, produces the under the triggering of positioning instruction signal or upstream synchronization signal
One framing signal；And
Power splitter or bonder, be coupled to framing signal generation module to receive the first framing signal, and
First framing signal is divided into two paths of signals, and a road signal provides to antenna, and another road signal is as same
Step signal provides to Wireline.
5. positioner as claimed in claim 3, wherein, signal generator module includes:
Framing signal generation module, produces the under the triggering of positioning instruction signal or upstream synchronization signal
One framing signal is to provide to antenna；And
Synchronizing signal generation module, producing synchronizing signal provides to Wireline.
6. positioner as claimed in claim 5, wherein, described synchronizing signal generation module is fixed
Bit instruction signal or upstream synchronization signal or the first framing signal produce synchronizing signal under triggering.
7. positioner as claimed in claim 6, wherein, described first device also includes time delay electricity
Road, described delay circuit provided to Wireline after the one default period of sync signal delay.
8. positioner as claimed in claim 6, wherein, when synchronizing signal generation module is by upstream
When synchronizing signal triggers and upstream synchronization signal is optical signal, described first device also includes opto-electronic conversion
Module, photoelectric conversion module is for being converted to the signal of telecommunication to provide extremely by upstream synchronization signal by optical signal
Synchronizing signal generation module.
9. positioner as claimed in claim 3, wherein, first device includes electrooptic conversion module,
Electrooptic conversion module is coupled to signal generator module to receive synchronizing signal and by synchronizing signal by the signal of telecommunication
Be converted to optical signal to provide to Wireline.
10. positioner as claimed in claim 1, wherein, the second device includes:
Signal generator module, is coupled to the second end of Wireline to receive synchronizing signal, and is synchronizing
The second framing signal is produced under the triggering of signal；And
Antenna, is coupled to signal generator module to receive and to launch the second framing signal.
11. positioners as claimed in claim 10, wherein, the second device also provides for the second synchronization
Signal.
12. positioners as claimed in claim 1, wherein, described 3rd device includes:
Antenna, for receiving the first framing signal and the second framing signal；And
Receiver, for processing the second framing signal and the first framing signal；
Wherein, the 3rd device obtain the second framing signal and the first framing signal arrive the 3rd device time
Between information.
13. positioners as claimed in claim 12, wherein, described 3rd device also includes:
Positional information resolves module, arrives the 3rd device according to the second framing signal and the first framing signal
The time of advent difference resolve the 3rd device positional information；And
Input/output module, the positional information of output the 3rd device.
14. 1 kinds of localization methods, including:
Producing the first framing signal and the first synchronizing signal, described first synchronizing signal is fixed with described first
Between the signal of position, there is known time relationship；
Launch the first framing signal；
The first synchronizing signal is propagated through the first Wireline；
It is generated and transmitted by the second framing signal under the triggering of described first synchronizing signal；And
Record the second framing signal and the first framing signal arrive the temporal information of same device and resolve the
The time of advent between two framing signals and the first framing signal is poor.
15. localization methods as claimed in claim 14, also include:
The second synchronizing signal is produced under the triggering of the first synchronizing signal；
The 3rd framing signal it is generated and transmitted by under the triggering of the second synchronizing signal；And
Record the 3rd framing signal, the second framing signal with first framing signal arrive same device time
Between information and resolve between any two framing signal the time of advent difference to position described same device.
16. localization methods as claimed in claim 14, wherein, the first framing signal is Tong Bu with first
Signal is identical.
17. localization methods as claimed in claim 14, wherein, the first synchronizing signal is in the first location
Produce under the triggering of signal, positioning instruction signal or upstream synchronization signal.
18. localization methods as claimed in claim 14, wherein, described first synchronizing signal is light letter
Number, described localization method also includes that converting optical signals to the signal of telecommunication produces the second framing signal to trigger.
19. localization methods as claimed in claim 14, wherein, when Wireline is optical fiber, institute
Stating the first synchronizing signal is that optical signal is with through spread fiber.
20. 1 kinds are used for realizing the quasi synchronous device of signal, including:
Wireline, has the first end and the second end, and described Wireline is configured to:
The synchronizing signal that first device is launched, wherein, described synchronizing signal and the is received at end
Between the first framing signal that one device is launched, there is known time relationship；
At the second end, synchronizing signal is sent to the second device and launches the second location to trigger the second device
Signal；And
Described plesiochronous device determines that the second framing signal is poor with reality with the launch time of the first framing signal
Existing second framing signal is plesiochronous with the first framing signal.
21. are used for realizing the quasi synchronous device of signal as claimed in claim 20, wherein, described in have
Line circuit is optical fiber, coaxial line or twisted-pair feeder.
22. 1 kinds of positioners, including:
First device, launches the first framing signal and provides the first synchronizing signal, wherein, and the first location
Signal and the first synchronizing signal have known time relationship；
First Wireline, has the first end and the second end, and wherein, described first end is from first device
Receive the first synchronizing signal；
Second device, receives the first synchronizing signal from the second end of the first Wireline, and same first
Launch the second framing signal under the triggering of step signal and the second synchronizing signal is provided, wherein, the second location
Signal and the second synchronizing signal have known time relationship；
Second Wireline, has the first end and the second end, and wherein, described first end is from the second device
Receive the second synchronizing signal；
4th device, receives the second synchronizing signal from the second end of the second Wireline, and same second
The 4th framing signal is launched under the triggering of step signal；And
3rd device, receives the 4th framing signal, the second framing signal and the first framing signal；
Wherein, positioner locates signal to according to the 4th framing signal, the second framing signal and first
The time relationship reaching the 3rd device positions the 3rd device.
23. positioners as claimed in claim 22, wherein, the 4th device also launches the 4th synchronization
Signal, the 4th synchronizing signal and the 4th framing signal have known time relationship, and positioner also wraps
Including the 3rd Wireline, have the first end and the second end, wherein, described first end connects from the 4th device
Receiving the 4th synchronizing signal, the second end is coupled to first device to provide the 4th synchronizing signal, triggers first
Device produces the 4th framing signal.
24. 1 kinds of positioners, including:
First device, launches the first framing signal and the first synchronizing signal and the second synchronizing signal, wherein,
There is between first framing signal and the first synchronizing signal and the second synchronizing signal known time relationship；
First Wireline, has the first end and the second end, and wherein, described first end is from first device
Receive the first synchronizing signal；
Second device, receives the first synchronizing signal from the second end of the first Wireline, and same first
The second framing signal is launched under the triggering of step signal；
Second Wireline, has the first end and the second end, and wherein, described first end is from first device
Receive the second synchronizing signal；
4th device, receives the second synchronizing signal from the second end of the second Wireline, and same second
The 4th framing signal is launched under the triggering of step signal；And
3rd device, receives the 4th framing signal, the second framing signal and the first framing signal；
Wherein, positioner locates signal to according to the 4th framing signal, the second framing signal and first
The time relationship reaching the 3rd device positions the 3rd device.
25. positioners as claimed in claim 24, wherein, the first synchronizing signal and second synchronizes
Signal is 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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| US10942241B2 (en) | 2016-04-11 | 2021-03-09 | Statsports Group Limited | System for indoor and outdoor position measurement |
| CN106353728A (en) * | 2016-08-23 | 2017-01-25 | 四川中电昆辰科技有限公司 | Method of ranging and positioning based on optical synchronization signal and devices thereof |
| CN106353729A (en) * | 2016-08-23 | 2017-01-25 | 四川中电昆辰科技有限公司 | Distance measuring method and device, positioning method and device, base station and shifting device |
| CN106872965B (en) * | 2017-03-30 | 2020-04-21 | 四川中电昆辰科技有限公司 | Distance measuring device for measuring distance between two base stations |
| CN106932755B (en) * | 2017-03-30 | 2019-08-16 | 四川中电昆辰科技有限公司 | Positioning system |
| CN107064869B (en) * | 2017-05-08 | 2019-07-02 | 中国电子科技集团公司第二十八研究所 | A kind of accurate measurement method and device of civil aviaton S code signal arrival time |
| FI20195031A1 (en) | 2019-01-18 | 2020-07-19 | Exalocus Oy | Positioning based on signal propagation time difference |
| CN112351381B (en) * | 2019-08-07 | 2022-05-17 | 华为云计算技术有限公司 | Positioning method and device |
| CN112305498A (en) * | 2020-11-09 | 2021-02-02 | 成都信息工程大学 | Heterogeneous TDOA (time difference of arrival) positioning system |
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| JPH08211141A (en) * | 1995-02-01 | 1996-08-20 | Clarion Co Ltd | Positioning system |
| US6493539B1 (en) * | 1999-07-28 | 2002-12-10 | Lucent Technologies Inc. | Providing an accurate timing source for locating the geographical position of a mobile |
| US6574478B1 (en) * | 2000-08-11 | 2003-06-03 | Alcatel Usa Sourcing, L.P. | System and method for locating mobile devices |
| JP5023508B2 (en) * | 2006-02-20 | 2012-09-12 | 富士通株式会社 | Wireless positioning system, wireless positioning method, and program for wireless positioning |
| JP2008002866A (en) * | 2006-06-21 | 2008-01-10 | Matsushita Electric Ind Co Ltd | Position-detecting system and position detection method |
| DE102006040497A1 (en) * | 2006-08-30 | 2008-03-27 | Siemens Ag | Method and device for time-based positioning using a triggered or self-triggering reference signal |
| WO2009100562A1 (en) * | 2008-01-29 | 2009-08-20 | Lucent Technologies Inc. | Method and apparatus of mobile device location |
| CN102143127A (en) * | 2010-06-24 | 2011-08-03 | 华为技术有限公司 | Time synchronization method, time synchronization system and network equipment |
| WO2012081740A1 (en) * | 2010-12-14 | 2012-06-21 | Choi Ok Jae | Reference signal sending method and system for measuring location, location measuring method, device, and system using same, and time synchronization method and device using same |
| CN103686990A (en) * | 2013-12-10 | 2014-03-26 | 北京北方烽火科技有限公司 | Device for achieving clock synchronization |
| CN104142489A (en) * | 2014-06-20 | 2014-11-12 | 林伟 | Label passive locating method |
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