CN105652244A

CN105652244A - Mobile terminal positioning method, acoustic positioning transmitter-receiver, mobile terminal and mobile terminal positioning system

Info

Publication number: CN105652244A
Application number: CN201511031940.8A
Authority: CN
Inventors: 赵振纲; 刘千喜; 胡琼方
Original assignee: SHANGHAI COOLFAR IOT TECHNOLOGY Co Ltd
Current assignee: SHANGHAI COOLFAR IOT TECHNOLOGY Co Ltd
Priority date: 2015-12-31
Filing date: 2015-12-31
Publication date: 2016-06-08

Abstract

The invention provides a mobile terminal positioning method, an acoustic positioning transmitter-receiver, a mobile terminal and a mobile terminal positioning system. At least three acoustic positioning transmitter-receivers with synchronized networks and different frequencies are arranged at a certain positioning region, and acoustic signals are synchronously transmitted to the mobile terminal by all the acoustic positioning transmitter-receivers through network time synchronization; after the mobile terminal enters the positioning region, the acoustic signals of the at least three acoustic positioning transmitter-receivers are received, and each acoustic positioning transmitter-receiver is identified from the received acoustic signals and corresponding data flows are acquired; a signal transmission time difference between each two acoustic positioning transmitter-receivers is acquired from the data flows; and TDOA (Time Difference of Arrival) calculation is carried out according the position of each acoustic positioning transmitter-receiver and the transmission time difference between each two acoustic positioning transmitter-receivers so as to determine the position of the mobile terminal in the positioning region. According to the technical scheme provided by the invention, the positioning cost of the positioning region is reduced and the positioning precision and reliability of the mobile terminal are improved.

Description

Mobile terminal locating method, audiolocation transceiver, mobile terminal and system

Technical field

The present invention relates to mobile terminal field of locating technology, particularly relate to a kind of mobile terminal locating method, audiolocation transceiver, mobile terminal and system.

Background technology

Along with the develop rapidly of global satellite positioning, geographical information system(GIS) and Internet technology, the quick increase of data service and multi-media business, network of communication and the rapid of mobile terminal device are popularized, and people also grow with each passing day for the demand of indoor location-based service. accurate indoor location-based service, it is possible to realize managing efficiently to available space and stock's material, it is possible to for police, firefighter, health care worker navigates specific indoor task. therefore, indoor positioning, namely realizes location, position in indoor environment, has broad application prospects, just progressively become the research focus in multiple subject field. because gps satellite signal is from being transmitted into ground, signal is decayed, and cannot receive the hotbed that indoor reference useful signal, the precise positioning of last one kilometer can be supplied accurately to become indoor positioning technologies performance in indoor. the more common indoor wireless location technology of current industry mainly comprises WiFi, iBeacon class bluetooth, RFID (RF identification), UWB (ultra broadband), LED light, ZigBee and ultrasonic wave, wherein supports that the localization method of mobile Internet mobile phone terminal has the positioning means such as WiFi, BlueTooth, LED light. WiFi, the general subnetwork side of the principle of BlueTooth (bluetooth) and ZigBee location technology and emitting side, but all utilize signal intensity attenuation degree to realize location, the maximum problem of these two kinds of location technologies is the impact that signal is often subject to various factors in environment, such as the stop of wall, reflection and diffraction, personnel walk about, time, weather etc., cause the drift of signal, result in signal cannot correctly be received, positioning precision is the highest also can only reach 1m, which results in the reproducibility of these indoor positioning products low, especially ZigBee location technology also needs a large amount of sensor network consistings, thus have impact on the expansion of whole indoor positioning product. RFID positioning principle is exactly by the multiple positioning signal source of indoor deployment or signal for locating label, thus utilize the intensity similar with outdoor positioning or time-delay calculation mode indoor user to be positioned, but the method for this kind of location needs to dispose a large amount of positioning signal sources, location cannot be realized in the place not disposing positioning signal source, so not only make the cost of indoor positioning higher, and the accuracy located is also lower. UWB positioning principle adopts UWB (ultra broadband) pulse signal, TDOA and AOA location algorithm is adopted to be analyzed by label position by multiple sensor, multi-path resolved ability is strong, precision height, positioning precision can reach sub-meter grade, but UWB is difficult to realize in-door covering on a large scale, and mobile phone do not support UWB, location cost is very high. LED light positioning principle is that the light and shade by monitoring optical signal is located, and this kind of technical requirements mobile terminal carrys out the signal intensity of detection light source by camera thus complete location, considerably increases the cost of mobile terminal. and the uncertainty that ultrasonic wave location technology has exactly abandoned hertzian wave and light is brought by indoor environment factor in indoor positioning and high precision problem, utilize the feature that wave velocity is slow, from send have in sound wave to the time period receiving this sound wave one can by the time of mobile phone detection record, thus utilize realize indoor positioning time phase, this kind of localization method solves indoor gps signal problem reliably, and precision can finally reach micron (��m) level along with the time difference.

Consequently, it is desirable to a kind of mobile terminal targeting scheme based on acoustic positioning technology, it is possible to while reducing location cost, it is to increase positioning precision.

Summary of the invention

It is an object of the invention to provide a kind of mobile terminal locating method, audiolocation transceiver, mobile terminal and system, can while reducing location cost, it is to increase the positioning precision of mobile terminal.

The present invention provides a kind of mobile terminal locating method, comprises the following steps:

Dispose at least three Network Synchronization but the different audiolocation transceiver of frequency at certain locating area, and make all audiolocation transceivers synchronously send acoustic signals by the time lock of network;

Described mobile terminal receives the acoustic signals of at least three described audiolocation transceivers after entering described locating area, and identification goes out each audiolocation transceiver and obtains corresponding data stream from all acoustic signals received;

The signal transmission time between each audiolocation transceiver described is obtained poor from described data stream;

Position according to each audiolocation transceiver described and between signal transmission time difference carry out TDOA calculating, to determine the position of described mobile terminal in described locating area.

Further, the sound wave frequency of each audiolocation Transceiver Transmit is 20Hz��100MHz.

Further, all audiolocation transceivers by independent of the gateway equipment outside all audiolocation transceivers or by the gateway deployed with devices that becomes one with arbitrary audiolocation transceiver in same network, and realize the time lock of network.

Further, the step that all audiolocation transceivers synchronously send acoustic signals comprises:

Each audiolocation transceiver separately time synchronizing signal according to described network carry out Network Synchronization;

After synchronous, signal to be launched is comprised identity information and the coding of time stamp information by each audiolocation transceiver;

Signal after encoding is modulated by each audiolocation transceiver, and is translated into simulating signal;

Described simulating signal is played in described locating area by its loud speaker or ultrasonic transducer transmitting by each audiolocation transceiver after amplifying.

Further, at least one the audiolocation transceiver in a location-server or described mobile terminal or each audiolocation transceiver described obtains from described data stream described in signal transmission time between each audiolocation transceiver poor.

Further, after described locating area has disposed audiolocation transceiver described in each, the position of audiolocation transceiver described in each is submitted on described location-server and preserves, or be directly sent to the preservation of described mobile terminal.

Further, when it needs to be determined that during the three-dimensional position of described mobile terminal, it is necessary to dispose at least four described audiolocation transceivers in described locating area, and described mobile terminal receives the acoustic signals that at least four described audiolocation transceivers synchronously send; When it needs to be determined that during the two-dimensional position of described mobile terminal, it is necessary to dispose at least three described audiolocation transceivers in described locating area, and described mobile terminal receives the acoustic signals that at least three described audiolocation transceivers synchronously send.

Further, it is determined that the TDOA calculation procedure of the three-dimensional position of described mobile terminal in described locating area comprises:

If the position of described mobile terminal is (x, y, z), the position of four described audiolocation transceivers that the acoustic signals that described mobile terminal receives is corresponding is respectively (x₁,y₁,z₁)��(x₂,y₂,z₂)��(x₃,y₃,z₃)��(x₄,y₄,z₄);

If it is t that described mobile terminal receives the time of the acoustic signals of described four audiolocation transceivers respectively₁��t₂��t₃��t₄;

The formula of the three-dimensional position then calculating described mobile terminal is as follows:

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2} + {(z - z_{1})}^{2}} - \sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2} + {(z - z_{2})}^{2}} = c (t_{1} - t_{2})

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2} + {(z - z_{1})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2} + {(z - z_{3})}^{2}} = c (t_{1} - t_{3})

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2} + {(z - z_{1})}^{2}} - \sqrt{{(x - x_{4})}^{2} + {(y - y_{4})}^{2} + {(z - z_{4})}^{2}} = c (t_{1} - t_{4})

\sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2} + {(z - z_{2})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2} + {(z - z_{3})}^{2}} = c (t_{2} - t_{3})

\sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2} + {(z - z_{2})}^{2}} - \sqrt{{(x - x_{4})}^{2} + {(y - y_{4})}^{2} + {(z - z_{4})}^{2}} = c (t_{2} - t_{4})

\sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2} + {(z - z_{3})}^{2}} - \sqrt{{(x - x_{4})}^{2} + {(y - y_{4})}^{2} + {(z - z_{4})}^{2}} = c (t_{3} - t_{4})

Or, it is determined that the TDOA calculation procedure of the two-dimensional position of described mobile terminal in described locating area comprises:

If the position of described mobile terminal is (x, y), the position of three described audiolocation transceivers that the acoustic signals that described mobile terminal receives is corresponding is respectively (x₁,y₁)��(x₂,y₂)��(x₃,y₃);

If it is t that described mobile terminal receives the time of the acoustic signals of described three audiolocation transceivers respectively₁��t₂��t₃;

The formula of the two-dimensional position then calculating described mobile terminal is as follows:

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2}} - \sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2}} = c (t_{1} - t_{2})

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2}} = c (t_{1} - t_{3})

\sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2}} = c (t_{2} - t_{3})

Wherein above-mentioned various in c be sonic transmissions speed;

Further, described TDOA calculates and completes on location-server, or completes on the mobile terminal, or completes at least one audiolocation transceiver in each audiolocation transceiver described.

The present invention also provides a kind of audiolocation transceiver, the audiolocation transceiver of frequency different from other at least two is arranged in certain locating area and accesses consolidated network, and launch acoustic signals to mobile terminal synchronization, for the location of auxiliary moving terminal, described audiolocation transceiver comprises:

Network Synchronization module, for accessing consolidated network from the audiolocation transceiver of described other at least two different frequencies and receive the time synchronizing signal of described network, it is achieved from the time lock of synchronously and following each module of the signal of the audiolocation transceiver of described other at least two different frequencies;

Coding module, for comprising identity information and the coding of time stamp information to acoustic signals to be launched;

Signal madulation module, for being modulated to the frequency of launch requirements by the acoustic signals after coding;

DAC module, for transferring the acoustic signals after modulation to simulating signal;

Acoustic power amplification module, for carrying out power magnification by described simulating signal;

Loud speaker or ultrasonic transducer, for being played to described locating area by the signal after amplification.

Further, the network of described Network Synchronization module access is ZigBee network, WiFi network, blueteeth network or any cable network possessing time lock function.

Further, the frequency of the acoustic signals after the modulation of described signal madulation module is 20Hz��100MHz.

Further, described audiolocation transceiver also comprises decoder module, for, after the data stream that obtains receiving the acoustic signals demodulation of audiolocation transceiver described in each at described mobile terminal, obtaining the signal transmission time between each audiolocation transceiver described from described data stream poor.

Further, described audiolocation transceiver also comprises location Calculation module, for the position according to each audiolocation transceiver described and between signal transmission time difference carry out TDOA calculating, to determine the position of described mobile terminal in described locating area, and described position is fed back to described mobile terminal.

The present invention also provides a kind of mobile terminal, comprising:

Acoustic Signal Acquisition module, for gathering at least three Network Synchronization but the acoustic signals of the different audiolocation Transceiver Transmit of frequency that certain locating area disposes;

Signal receiving module, for all acoustic signals collected are carried out demodulation, obtains the data stream in the identity information of each audiolocation transceiver corresponding to all acoustic signals and all acoustic signals;

Position display module, for showing the described mobile terminal currently position in described locating area.

Further, described mobile terminal also comprises decoder module, for the data stream transmitted according to described signal receiving module, obtains the signal transmission time between each audiolocation transceiver described poor.

Further, described mobile terminal also comprises locating module, TDOA calculating is carried out for the position according to each audiolocation transceiver described and described signal transmission time difference, obtain the position of described mobile terminal in described locating area, or described signal transmission time difference is transferred to location-server, so that corresponding audiolocation transceiver carries out TDOA calculating in described location-server or each audiolocation transceiver described, obtain the position of described mobile terminal in described locating area.

Further, described position display module is also for storing and show the map of described locating area, and is played up on the map being displayed in described locating area the position of the described mobile terminal obtained in described locating area.

Further, the time difference precision of described Acoustic Signal Acquisition module acquires signal is 1 �� s��1ms.

Further, described mobile terminal is handheld device or wearing equipment.

The present invention also provides a kind of mobile terminal location system, comprising:

At least three the audiolocation transceivers being deployed in certain locating area, all audiolocation transceivers access consolidated network, Network Synchronization but frequency is different, and synchronously send acoustic signals by the time synchronizing signal of network;

Gateway equipment, for all audiolocation transceivers are linked in consolidated network, and the time synchronizing signal to network described in all audiolocation Transceiver Transmit;

Mobile terminal, for receiving the acoustic signals of at least three audiolocation transceivers after entering described locating area, and identification goes out each audiolocation transceiver and obtains corresponding data stream from all acoustic signals received;

Location-server, connect described gateway equipment, it is poor that at least one audiolocation transceiver for configuring in self or described mobile terminal or each audiolocation transceiver described obtains the signal transmission time between each audiolocation transceiver described from described data stream, and carry out TDOA calculating at least one the audiolocation transceiver configured in self or described mobile terminal or each audiolocation transceiver described according to the position of each audiolocation transceiver and described signal transmission time difference, to obtain the position of described mobile terminal in described locating area.

Further, described gateway equipment be independent of all audiolocation transceivers outside gateway equipment or become one with arbitrary described audiolocation transceiver.

Further, described location-server comprises:

Decoder module, poor for the signal transmission time obtained from described data stream between each audiolocation transceiver described;

Location algorithm module, for the position according to each audiolocation transceiver described and between signal transmission time difference carry out TDOA calculating, it is determined that the position of described mobile terminal in described locating area;

Engine map module, for storing the map of described locating area, and is rendered on the map of described locating area by the position of described mobile terminal in described locating area, to feed back to described mobile terminal;

Equipment management module, for described gateway equipment, described mobile terminal and all audiolocation transceivers are managed, and at least one the audiolocation transceiver configured in self or described mobile terminal or each audiolocation transceiver described to obtain the signal transmission time between each audiolocation transceiver described from described data stream poor, and at least one the audiolocation transceiver configured in self or described mobile terminal or each audiolocation transceiver described carries out described TDOA calculating.

At least three the above-mentioned audiolocation transceivers being deployed in certain locating area, all audiolocation transceiver networks are synchronous but frequency is different, and synchronously send acoustic signals by the time synchronizing signal of network;

Mobile terminal, for receiving the acoustic signals of at least three described audiolocation transceivers after entering described locating area, and identification goes out each audiolocation transceiver and obtains corresponding data stream from all acoustic signals received;

At least three the audiolocation transceivers being deployed in certain locating area, all audiolocation transceiver access consolidated networks, Network Synchronization but frequency is different, and synchronously send acoustic signals by the time synchronizing signal of network;

Above-mentioned mobile terminal, for receiving the acoustic signals of at least three described audiolocation transceivers after entering described locating area, and identification goes out each audiolocation transceiver and obtains corresponding data stream from the acoustic signals received;

Above-mentioned mobile terminal, for receiving the acoustic signals of at least three described audiolocation transceivers after entering described locating area, and from receive acoustic signals identification go out each audiolocation transceiver and from receive all acoustic signals identification go out each audiolocation transceiver and obtain corresponding data stream;

Compared with prior art, the technical scheme of the present invention has following useful effect:

1, the technical scheme of the present invention may be used for two-dimensional localization and the three-dimensional localization of mobile terminal in certain locating area, in the minimum deployment of described locating area three Network Synchronization but the different audiolocation transceiver of frequency, just finally can accurately orient the two-dimensional position of the mobile terminal being arranged in this region, in the minimum deployment of described locating area four Network Synchronization but the different audiolocation transceiver of frequency, just finally can accurately orient the three-dimensional position of the mobile terminal being arranged in this region, from network is disposed, decrease synchronous gateway equipment, reduce location cost;

2, mobile terminal receives the information of acoustic wave from three or four audiolocation transceivers, the two-dimensional position finally determined according to corresponding signal transmission time difference or three-dimensional position, and its positioning precision can reach a ��m level;

3, acoustic positioning technology is utilized can to avoid the drawback in existing hertzian wave indoor positioning technologies, uncertainty and high precision problem that environmental factors is brought can be solved, and the structure of audiolocation transceiver is relatively simple, low cost of manufacture, have that immunity from interference is strong and the feature of encoding and decoding simple and fast, the location being highly suitable for the limited mobile terminal of computing function, practicality is good, is easy to promote.

Accompanying drawing explanation

Fig. 1 is the mobile terminal locating method schema of the specific embodiment of the invention;

Fig. 2 is the mobile terminal location system structural representation of the specific embodiment of the invention;

Fig. 3 is the structural representation of the audiolocation transceiver of the specific embodiment of the invention;

Fig. 4 is the structural representation of the mobile terminal of the specific embodiment of the invention;

Fig. 5 is the structural representation of the location-server of the specific embodiment of the invention;

Fig. 6 is the method flow diagram carrying out TDOA three-dimensional localization of the specific embodiment of the invention.

Embodiment

For making object, the feature of the present invention become apparent, below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described, but, the present invention can realize by different forms, it should not is just confined to described embodiment.

Please refer to Fig. 1, the present invention provides a kind of mobile terminal locating method, comprises the following steps:

S1, disposes at least three Network Synchronization but the different audiolocation transceiver of frequency at certain locating area, and makes all audiolocation transceivers synchronously send acoustic signals by the time lock of network;

S2, mobile terminal receives the acoustic signals of at least three audiolocation transceivers after entering described locating area, and identification goes out each audiolocation transceiver from all acoustic signals received, and obtains corresponding data stream from described all acoustic signals;

S3, obtains the signal transmission time between each audiolocation transceiver described poor from described data stream;

S4, according to the position of each audiolocation transceiver described and between signal transmission time difference carry out TDOA calculating, it is determined that the position of described mobile terminal in described locating area.

Please refer to Fig. 1 and Fig. 2, in step sl, if needing to be positioned by indoor mobile terminal, can in advance according to interior space size, the interior space is carried out Region dividing, then, when mobile terminal 2 is carried out three-dimensional localization by needs, need in each region (i.e. locating area) deployment at least four Network Synchronization but the different audiolocation transceiver 1 of frequency, locate for the mobile terminal in each region and provide corresponding special service by region for carrying the user of this mobile terminal, i.e. minimum deployment four audiolocation transceiver A in each locating area, B, C, D, can finally obtain the location of mobile terminal 2 in the described locating area in indoor, when the audiolocation transceiver of this deployed in areas more than four, every four audiolocation transceivers can be considered as one group, for obtaining a position coordinate of mobile terminal, finally the position coordinate of the mobile terminal that all groups obtain is averaged, using the three-dimensional position final as mobile terminal, thus carry out the precision improving indoor positioning further. when mobile terminal 2 is carried out two-dimensional localization by needs, need in each regional deployment at least three Network Synchronization but the different audiolocation transceiver 1 of frequency, locate for the mobile terminal in each region and provide corresponding special service by region for carrying the user of this mobile terminal, i.e. minimum deployment three audiolocation transceiver A in each locating area, B, C, can finally obtain the location of mobile terminal 2 in the described locating area in indoor, when the audiolocation transceiver of this deployed in areas more than three, every three audiolocation transceivers can be considered as one group, for obtaining a position coordinate of mobile terminal, finally the position coordinate of the mobile terminal that all groups obtain is averaged, using the two-dimensional position final as mobile terminal, thus carry out the precision improving indoor positioning further. in addition, the indoor positioning of mobile terminal is utilized to provide mobile terminal location Based service (LocationBasedService for user, LBS) business is recommended, such as automatically push businessman shopping center Rigen according to user present position to give a discount and activity information, it may also be useful to indoor navigation helps user to find required article etc. quickly in this region, user is helped to find outlet and elevator etc. fast by the digital map navigation in each region, indoor inside megastore and office building, medical industry utilizes the indoor positioning of mobile terminal carry out critically ill patient and follow the tracks of monitoring, the monitoring of delivery room baby antitheft, valuable medical facilities, towards the emergency evacuation of building, public safety and Post disaster relief etc. in addition, after described locating area has disposed each audiolocation transceiver 1, can the position coordinate of each audiolocation transceiver 1 be submitted on location-server 3 preserve, or be directly sent to enter on the mobile terminal 2 of respective regions preserve, the calculating for follow-up location needs.

In step sl, can certain locating area or a few all audiolocation transceivers 1 closing on regional deployment be all connected on a gateway equipment 4, so that these audiolocation transceivers are deployed in same network by this gateway equipment 4, and realize network time synchronization under the control of the time synchronizing signal (namely controlling the clocksignal that these audiolocation transceivers synchronously work) of gateway equipment 4, synchronously to send acoustic signals to the mobile terminal 2 being in these regions. gateway equipment 4 can be ZigBee gateway equipment, the wireless gateway devices such as WiFi gateway equipment or Bluetooth gateway equipment, can also be the gateway equipment of any cable network possessing time lock function, and gateway equipment 4 can independent of the gateway equipment outside all audiolocation transceivers, can also become one with arbitrary described audiolocation transceiver, therefore after certain locating area or a few individual all audiolocation transceivers closing on regional deployment are connected to gateway equipment 4, ZigBee network can be correspondingly accessed by gateway equipment 4, WiFi network, in blueteeth network or any cable network (Ethernet) possessing time lock function, such that it is able to accept the time synchronizing signal of transmission in this network, realization is enabled with the working hour synchronous, wherein, gateway equipment 4 transmits data and signal etc. with location-server 3 by Internet, therefore in this network, the time synchronizing signal of transmission can be sent by gateway equipment 4 by location-server 3.

In step sl, the sound wave frequency that each audiolocation transceiver 1 that each locating area is disposed is launched is 20Hz��100MHz, the graceful sound of the nature that people's ear can hear can be selected, be equivalent to background music, while bringing hearing enjoying thus to the people in described locating area, the environment in described locating area can not be caused acoustic noises. Preferably, the sound wave frequency that each audiolocation transceiver 1 is launched is 15KHz��23KHz, the acoustic signals of this frequency range is that people's ear cannot be heard, but terminal 2 can be moved receive, therefore can ensure completely not produce sound pollution in described locating area environment, and the use of the acoustic signals of the different frequencies of more than three, also effectively overcome monofrequency coding techniques and produce sound pollution and locate inaccurate defect.

In step sl, the process that all audiolocation transceivers 1 synchronously send acoustic signals comprises:

Time synchronizing signal according to described network carries out Network Synchronization, and namely the follow-up work of all audiolocation transceivers 1 is consistent;

After synchronous, all audiolocation transceivers 1 carry out following operation simultaneously:

Signal to be launched is comprised identity information (ID) and the coding of time stamp; Coded system can use the modes such as m-sequence, and wherein m-sequence is a kind of pseudo-random sequence of current widespread use, is important, the most basic a kind of pseudo-random sequence, and it easily produces, regular strong, has good autocorrelation and good cross correlation;

Signal encoding well carries out signal madulation afterwards, and signal madulation mode can be MSK, FSK, PSK etc., is translated into simulating signal after signal madulation is good;

Described simulating signal is played out by its loud speaker or ultrasonic transducer transmitting after amplifying, and now all audiolocation transceivers launch acoustic signals to described locating area simultaneously.

In step s 2, mobile terminal 2 is after entering described locating area, at least three audiolocations transceiver A, B, C of this deployed in areas can be received for two-dimensional localization by Acoustic Signal Acquisition modules such as its microphones, or the acoustic signals that at least four audiolocations transceiver A, B, C, D receiving this deployed in areas send, and then each acoustic signals received is carried out demodulation, therefrom identification goes out the identity information (i.e. ID) of each audiolocation transceiver, obtains in acoustic signals the data stream information such as time stamp simultaneously.

In step s3, when mobile terminal 2 self has decoding function, directly the data stream information that it obtains can be processed, obtain the signal transmission time difference between each audiolocation transceiver described difference of mobile terminal time used (acoustic signals that namely two audiolocation transceivers send transfer to). When mobile terminal 2 does not possess decoding function, the data stream information transmission that can be obtained is to having a location-server 3 of decoding function or is back to wherein one or more audiolocation transceivers in each audiolocation transceiver described with decoding function, process with the data stream information that it is obtained, obtain the signal transmission time between each audiolocation transceiver described poor. When mobile terminal 2, each audiolocation transceiver 1, location-server all have decoding function, on the one hand, the Administrator of described locating area can configure the decoding priority of these equipment on location-server 3, such as decode resources occupancy according to each equipment carrys out configuration preference level, or it is preferential etc. directly to configure location-server, it is thus possible in time the data stream information that mobile terminal 2 obtains is processed, obtain the signal transmission time between each audiolocation transceiver described poor, to realize the location of mobile terminal fast; On the other hand, the user of mobile terminal 2 can autonomous selective decompression terminal, such as directly choose this mobile terminal 2 processing said data stream, or the data flow obtained by mobile terminal 2 is to corresponding audiolocation transceiver 1 or the enterprising row relax of location-server 3.

In step s 4 which, when mobile terminal 2 self has TDOA position location Calculation ability, the identity information of each audiolocation transceiver that can directly obtain according to it extracts the position coordinate of each audiolocation transceiver described, and the signal transmission time difference between each audiolocation transceiver described obtained in integrating step S3 carries out TDOA calculating, determine the position of described mobile terminal 2, it is simultaneously displayed on its display screen to present to user. and when mobile terminal 2 self does not possess TDOA position location Calculation ability, can by the type of transmission such as WiFi/GPRS by the ID of each audiolocation transceiver identified and between signal transmission time difference be sent to have the location-server 3 of TDOA computing power carry out TDOA calculating, or it is forwarded in each audiolocation transceiver 1 described by described location-server 3 to possess on certain or a few audiolocation transceivers 1 of TDOA computing power, location-server 3 or described audiolocation transceiver 1 obtain the position coordinate of each audiolocation transceiver 1 described according to the ID of each audiolocation transceiver described, and carry out TDOA calculating in conjunction with the signal transmission time difference between each audiolocation transceiver 1, to draw the position coordinate of described mobile terminal 2. wherein, when storing the position coordinate of each audiolocation transceiver in the database of location-server 3, location-server 3 directly calls for self from database or is forwarded to corresponding audiolocation transceiver 1 and uses, when location-server 3 does not store the position coordinate of each audiolocation transceiver, the position coordinate of each audiolocation transceiver is sent to location-server 3 in the lump by mobile terminal 2 while send the ID of each audiolocation transceiver to location-server 3, use for location-server 3 self or it is forwarded to corresponding audiolocation transceiver 1 by location-server 3 further and use.

Wherein, TDOA (TimeDifferenceofArrival, namely time of arrival difference or signal transmission time poor) location technology be one wireless location technology, it arrives the time difference of two base stations (the audiolocation transceiver being equivalent in the present invention) by detection signal, instead of the absolute time arrived determines the position of transfer table (mobile terminal being equivalent in the present invention) to reduce the time lock requirement to base station and transfer table. Adopting three different base stations can measure two TDOA, mobile station is positioned on the intersection point of the hyperbolic line that two TDOA determine.

In step s 4 which, no matter which equipment carries out TDOA calculates the three-dimensional position determining described mobile terminal in described locating area, all needs to perform following step and comprises:

If the position of described mobile terminal 2 is (x, y, z), the position of four audiolocations transceiver A, B, C, D that the acoustic signals that described mobile terminal 2 receives is corresponding is respectively (x₁,y₁,z₁)��(x₂,y₂,z₂)��(x₃,y₃,z₃)��(x₄,y₄,z₄);

If the time of the acoustic signals that described mobile terminal 2 receives described four audiolocations transceiver A, B, C, D respectively is t₁��t₂��t₃��t₄;

Then the formula of the three-dimensional position that TDOA calculates mobile terminal 2 is as follows:

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2} + {(z - z_{1})}^{2}} - \sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2} + {(z - z_{2})}^{2}} = c (t_{1} - t_{2})

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2} + {(z - z_{1})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2} + {(z - z_{3})}^{2}} = c (t_{1} - t_{3})

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2} + {(z - z_{1})}^{2}} - \sqrt{{(x - x_{4})}^{2} + {(y - y_{4})}^{2} + {(z - z_{4})}^{2}} = c (t_{1} - t_{4})

\sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2} + {(z - z_{2})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2} + {(z - z_{3})}^{2}} = c (t_{2} - t_{3})

\sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2} + {(z - z_{2})}^{2}} - \sqrt{{(x - x_{4})}^{2} + {(y - y_{4})}^{2} + {(z - z_{4})}^{2}} = c (t_{2} - t_{4})

\sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2} + {(z - z_{3})}^{2}} - \sqrt{{(x - x_{4})}^{2} + {(y - y_{4})}^{2} + {(z - z_{4})}^{2}} = c (t_{3} - t_{4})

Wherein above-mentioned various in c be the transmission speed of acoustic signals, c=340m/s, chan algorithm, Fang algorithm or Taylor Series Expansion Method etc. is adopted to solve (the x in above-mentioned system of equations, y, z), to obtain the accurate three-dimensional position of mobile terminal 2, the three-dimensional location coordinates calculated can be rendered in the map of described locating area of mobile terminal 2, to present to the user of described mobile terminal 2.

Accordingly, in step s 4 which, no matter which equipment carries out TDOA calculates the two-dimensional position determining described mobile terminal in described locating area, all needs to perform following step and comprises:

Then the formula of the two-dimensional position that TDOA calculates described mobile terminal is as follows:

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2}} - \sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2}} = c (t_{1} - t_{2})

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2}} = c (t_{1} - t_{3})

\sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2}} = c (t_{2} - t_{3})

Wherein above-mentioned various in c be sonic transmissions speed, c=340m/s, chan algorithm, Fang algorithm or Taylor Series Expansion Method etc. is adopted to solve (the x in above-mentioned system of equations, y), to obtain the accurate two-dimensional position of mobile terminal 2, the two-dimensional position coordinate calculated can be rendered in the map of described locating area of mobile terminal 2, to present to the user of described mobile terminal 2. It should be noted that, the two-dimensional localization of mobile terminal 2 can regard the special case of three-dimensional localization as, and it is substantially that z inside all formula in three-dimensional TDOA calculating is set to 0 that TDOA during two-dimensional localization calculates, and formula quantity reduces accordingly.

Further, described mobile terminal 2 has the display interface of described locating area map, after mobile terminal 2 receives the TOA calculation result of its position in described locating area current, himself position is played up by described display interface and is displayed in described locating area map, directly check for user.

Further, its positional information on described locating area map obtained in real time by mobile terminal based on user, it is possible to the personalized services such as realizing route planning, the propelling movement of region guide to visitors, information, position are shared, self-help shopping, article addressing.

Mobile terminal locating method provided by the invention, , it is applicable to the location of the mobile terminal of indoor and outdoors, minimum in certain locating area can only dispose three Network Synchronization but the different audiolocation transceiver of frequency, the time difference utilizing three acoustic signals to arrive mobile terminal accurately orients the two-dimensional position of mobile terminal in this region, or minimum in certain locating area can only dispose four Network Synchronization but the different audiolocation transceiver of frequency, the time difference utilizing four acoustic signals to arrive mobile terminal accurately orients the three-dimensional position of mobile terminal in this region. therefore the technical scheme of the present invention is while solving the uncertainty brought of environmental factors and high precision problem, moreover it is possible to reduces location cost, ensures positioning precision. such as, when the time difference precision that mobile terminal receives the acoustic signals coming from 3 or 4 audiolocation transceivers is 1ms (millisecond), the positioning error of mobile terminal is 1ms*340m/s=0.34m=34cm, when mobile terminal receives from 3 or when the time difference precision of the acoustic signals of 4 audiolocation transceivers is 1 �� s (microsecond), the positioning error of mobile terminal is 1 �� s*340m/s=340 ��m.

Please refer to Fig. 2 and 3, the present invention also provides a kind of audiolocation transceiver 1, and the audiolocation transceiver 1 of frequency different from other at least two is arranged in certain locating area and accesses consolidated network, and to mobile terminal 2 synchronized transmissions acoustic signals, for the location of auxiliary moving terminal 2, comprising:

Network Synchronization module 11, for accessing consolidated network from the audiolocation transceiver of described other at least two different frequencies and receive the time synchronizing signal of described network, it is achieved from the time lock of synchronously and following each module of the signal of the audiolocation transceiver of described other at least three different frequencies;

Coding module 12, for comprising identity information and the coding of time stamp information to acoustic signals to be launched;

Signal madulation module 13, for being modulated to the frequency of launch requirements by the acoustic signals after coding;

DAC module 14, for transferring the acoustic signals after modulation to simulating signal;

Acoustic power amplification module 15, for carrying out power magnification by described simulating signal;

Loud speaker or ultrasonic transducer 16, for being played to described locating area by the signal after amplification.

In the present embodiment, described Network Synchronization module 11 is connected to one independent of the gateway equipment 4 of all audiolocation transceivers together with the Network Synchronization module of other audiolocation transceivers, to access same network with other audiolocation transceivers described, receive the time synchronizing signal from described network. In other embodiments of the invention, described Network Synchronization module 11 can also directly as gateway equipment 4, accept the access of other audiolocation transceivers, to access same network with other audiolocation transceivers described, receive the time synchronizing signal from described network. And the network that Network Synchronization module 11 accesses can be the wireless networks such as ZigBee network, WiFi network, blueteeth network, it is also possible to be any cable network (Ethernet) possessing time lock function.

Described coding module 12 adopts the coded systems such as m-sequence to be encoded by acoustic signals, providing the identity information (i.e. ID information or positional information) of this audiolocation transceiver, while the information such as time stamp, can also improve acoustic signals to guarantee anti-detection, immunity from interference, wherein the coding of coding module 12 and the position of audiolocation transceiver or identity corresponding relation are known by location-server 3 or mobile terminal 2 in advance, thus could in follow-up computation process, the acoustic signals received is decoded by mobile terminal 2 or location-server 3 or corresponding audiolocation transceiver 1, poor with the signal transmission time that can obtain from the data stream that mobile terminal 2 demodulation receives all acoustic signals and obtain between each audiolocation transceiver 1 corresponding, and then make the location-server 3 with TDOA computing power or mobile terminal 2 or corresponding audiolocation transceiver 1 can according to the positional information of each audiolocation transceiver described and between signal transmission time difference carry out TDOA calculating.

Described signal madulation module 13 adopts the modulation systems such as MSK, FSK or PSK by the frequency modulation of acoustic signals to 20Hz��100MHz, 99.5% of signal energy after thus ensureing modulation is limited in the bandwidth of 1.5 times of transfer speed, reduce signal to be disturbed, ensure constant signal envelope property simultaneously. in the present embodiment, Network Synchronization module 11, coding module 12, signal madulation module 13 and DAC module 14 can be realized by function module corresponding in more existing microprocessor chips, these microprocessor chips select the chip of the Network Synchronization function adapting to gateway equipment 4, such as when gateway equipment 4 is ZigBee gateway equipment, microprocessor chip can be TICC2530ZigBee communication microprocessor chip etc., when gateway equipment 4 is WiFi gateway equipment or during Bluetooth gateway equipment, microprocessor chip can select ARMSTM32F107 chip etc.

Optionally, described audiolocation transceiver 1 also comprises decoder module 17, for, after the data stream that obtains receiving the acoustic signals demodulation of audiolocation transceiver described in each at described mobile terminal 2, obtaining the signal transmission time between each audiolocation transceiver 1 described from described data stream poor.

Optionally, described audiolocation transceiver 1 also comprises location Calculation module 18, for the position according to each audiolocation transceiver 1 described and between signal transmission time difference carry out TDOA calculating, to determine the position of described mobile terminal 2 in described locating area, and described position is fed back to described mobile terminal 2. the positional information of each audiolocation transceiver 1 described wherein needed in location Calculation module 18 directly can be provided by the database of location-server 3, can also be obtained by the positional information of each audiolocation transceiver 1 described in storage in location-server 3 transmitting mobile terminal 2, the described signal transmission time difference needed in location Calculation module 18 then obtains from the calculating position (namely separating decoding apparatus) of described signal transmission time difference, such as, if described signal transmission time difference is calculated by the decoder module 17 of this audiolocation transceiver, then location Calculation module 18 obtains from decoder module 17, if described signal transmission time difference is calculated by location-server 3, then location Calculation module 18 obtains from location-server 3, if described signal transmission time difference is calculated by mobile terminal 2, then location Calculation module 18 needs to be obtained from mobile terminal 2 by location-server 3. therefore, when there is when mobile terminal 2 and location-server 3 have at least one the function module being equivalent to above-mentioned decoder module 17 and be equivalent to the function module of above-mentioned location Calculation module 18, above-mentioned decoder module 17 and location Calculation module 18 are all optional modules, not essential, do not affect reaching of the technology of the present invention object.

In addition, also it should be noted that, when needing the mobile terminal to described locating area to carry out three-dimensional localization, a three-dimensional position of localisation of mobile terminals, need four above-mentioned audiolocation transceivers position and between signal transmission time poor, system of equations could be set up, solve described three-dimensional position, it is thus desirable at the above-mentioned audiolocation transceiver of locating area deploy at least four; And when needing the mobile terminal to described locating area to carry out two-dimensional localization, a two-dimensional position of localisation of mobile terminals, need three above-mentioned audiolocation transceivers position and between signal transmission time poor, system of equations could be set up, solve described two-dimensional position, it is thus desirable at the above-mentioned audiolocation transceiver of locating area deploy at least three.

Thus, dispose three or four such audiolocation transceivers at described locating area after, only need to be connected on same gateway equipment, two dimension or the three-dimensional localization of the mobile terminal realized in this locating area can be assisted, then do not need to arrange other a large amount of hardware assist device at described locating area again, location cost is low, is suitable for promoting, is applicable to the location of the mobile terminal of indoor and outdoors.

Please refer to Fig. 2 and 4, the present invention also provides a kind of mobile terminal 2, comprising:

Acoustic Signal Acquisition module 21, for gathering at least three Network Synchronization that certain locating area disposes but the acoustic signals launched of the different audiolocation transceiver 1 of frequency;

Signal receiving module 22, for all acoustic signals collected are carried out demodulation, obtains the data stream in the identity information of each audiolocation transceiver 1 corresponding to all acoustic signals and all acoustic signals;

Position display module 25, for showing the current position in described locating area of described mobile terminal 2.

Optionally, described mobile terminal 2 also comprises decoder module 23, and for the described data stream transmitted according to signal receiving module 22, the signal transmission time obtaining each audiolocation transceiver 1 described is poor.

Optionally, described mobile terminal 2 also comprises locating module 24, TDOA calculating is carried out for the position according to each audiolocation transceiver 1 described and described signal transmission time difference, obtain the position of described mobile terminal 2 in described locating area, or described signal transmission time difference is transferred to location-server 3 so that described location-server 3 or corresponding audiolocation transceiver 1 carry out TDOA calculating, finally to obtain the position of described mobile terminal 2 in described locating area. the positional information of each audiolocation transceiver 1 described wherein needed in locating module 24 directly can be obtained by the storage card of mobile terminal 2, it is also possible to provides by the database of location-server 3. the described signal transmission time difference needed in locating module 24 then obtains from the calculating position of described signal transmission time difference, if such as described signal transmission time difference is calculated by the decoder module 17 of corresponding audiolocation transceiver, then locating module 24 needs indirectly to be obtained from the decoder module 17 of described audiolocation transceiver by location-server 3, if described signal transmission time difference is calculated by location-server 3, then locating module 24 needs to obtain from location-server 3, if described signal transmission time difference is calculated by the decoder module 23 of mobile terminal 2, then locating module 24 directly obtains from decoder module 23. therefore, when there is when all audiolocation transceivers 1 and location-server 3 have at least one the function module being equivalent to above-mentioned decoder module 23 and be equivalent to the function module of above-mentioned locating module 24, above-mentioned decoder module 23 and locating module 24 are all optional modules, not essential, do not affect reaching of the technology of the present invention object, thus can greatly reduce the requirement of the computing power to mobile terminal 2 so that the mobile terminal of some low sides also can realize location.

In the present embodiment, the position display module of described mobile terminal 2 is also for storing and show the map of described locating area, and is played up on the map being displayed in described locating area the position of described mobile terminal 2 in described locating area obtained.

Preferably, described Acoustic Signal Acquisition module 21 can be the recording equipment such as microphone, and the time difference precision of its acquired signal is 1 �� s��1ms.

Described mobile terminal 2 in the present embodiment can be the handheld devices such as smart mobile phone, panel computer, electronic cards, it is possible to thinks the wearing equipment such as intelligent watch, Intelligent bracelet, Intelligent button, intelligent glasses, earphone.

It should be noted that, when needing the mobile terminal 2 to described locating area to carry out three-dimensional localization, a three-dimensional position of localisation of mobile terminals 2, need four above-mentioned audiolocation transceivers 1 position and between signal transmission time poor, system of equations could be set up, solve described three-dimensional position, it is thus desirable to mobile terminal 2 receives the acoustic signals of at least four above-mentioned audiolocation transceivers 1 in locating area; And when needing the mobile terminal 2 to described locating area to carry out two-dimensional localization, a two-dimensional position of localisation of mobile terminals 2, need three above-mentioned audiolocation transceivers 1 position and between signal transmission time poor, system of equations could be set up, solve described two-dimensional position, it is thus desirable to mobile terminal 2 receives the acoustic signals of at least three above-mentioned audiolocation transceivers 1 in locating area.

Thus, user carries above-mentioned mobile terminal when entering into the described locating area being deployed with three or four audiolocation transceivers, namely oneself is obtained in real time at the two-dimensional position of described locating area or three-dimensional position by mobile terminal, thus the further personalized service that the offer of described locating area is provided, such as information recommendation, path planning, region guide to visitors etc., be applicable to the location of the mobile terminal of indoor and outdoors.

Please refer to Fig. 2, the present invention also provides a kind of mobile terminal location system, comprising:

At least three the audiolocation transceivers 1 being deployed in certain locating area (during for two-dimensional localization, at least dispose three audiolocations transceiver A, B, C; During for three-dimensional localization, at least dispose four audiolocations transceiver A, B, C, D), all audiolocation transceivers 1 of described locating area deploy access consolidated network, Network Synchronization but frequency is different, and synchronously send acoustic signals by the time synchronizing signal of network;

Gateway equipment 4, for being linked in consolidated network by all audiolocation transceivers 1 of described locating area deploy, and launches the time synchronizing signal of described network to described all audiolocation transceivers 1;

Mobile terminal 2, (concrete for receiving the acoustic signals of at least three audiolocation transceivers after entering described locating area, when needing mobile terminal 2 is carried out two-dimensional localization, it is necessary to accept the acoustic signals of at least three audiolocations transceiver A, B, C; When needing mobile terminal 2 is carried out three-dimensional localization, need the acoustic signals accepting at least four audiolocations transceiver A, B, C, D), and identification goes out each audiolocation transceiver 1 from the acoustic signals received, from the acoustic signals received, obtain corresponding data stream simultaneously;

Location-server 3, connect described gateway equipment 4, it is poor that at least one audiolocation transceiver 1 for configuring in self or described mobile terminal 2 or each audiolocation transceiver described obtains the signal transmission time between each audiolocation transceiver 1 described from described data stream, and carry out TDOA calculating at least one the audiolocation transceiver 1 configured in self or described mobile terminal 2 or each audiolocation transceiver described according to the position of each audiolocation transceiver 1 described and described signal transmission time difference, to obtain the position of described mobile terminal in described locating area.

In the present embodiment, described gateway equipment 4 can be the gateway equipment of ZigBee gateway equipment, WiFi gateway equipment, Bluetooth gateway equipment or any cable network possessing time lock function, and gateway equipment 4 can be independent of all audiolocation transceivers outside gateway equipment, it is also possible to become one with arbitrary described audiolocation transceiver 1. All audiolocation transceivers that gateway equipment 4 is disposed to described locating area by its establishing network 1 (such as audiolocation transceiver A, B, C of two-dimensional localization or for audiolocation transceiver A, B, C, D of three-dimensional localization) transmission time synchronizing signal, described all audiolocation transceivers synchronously launch acoustic signals to described locating area under the control of this time synchronizing signal. It is connected and Signal transmissions by WiFi or GPRS mode between mobile terminal 2 with location-server 3.

Please refer to Fig. 5, in the present embodiment, described location-server 3 comprises decoder module 30, location algorithm module 31, engine map module 32 and equipment management module 33.

Decoder module 30, poor for the signal transmission time obtained from described data stream between each audiolocation transceiver described;

Described location algorithm module 31 for the position according to each audiolocation transceiver described and between signal transmission time difference carry out TDOA calculating, it is determined that the position of described mobile terminal in described locating area, concrete computation process is as follows:

When mobile terminal 2 is carried out three-dimensional localization by needs, if the position of described mobile terminal 2 is (x, y, z), the position of four audiolocations transceiver A, B, C, D that the acoustic signals that described mobile terminal 2 receives is corresponding is respectively (x₁,y₁,z₁)��(x₂,y₂,z₂)��(x₃,y₃,z₃)��(x₄,y₄,z₄), and set time of acoustic signals that described mobile terminal 2 receives described four audiolocations transceiver A, B, C, D respectively as t₁��t₂��t₃��t₄, then the formula of the three-dimensional position that described location algorithm module 31 calculates mobile terminal 2 is as follows:

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2} + {(z - z_{1})}^{2}} - \sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2} + {(z - z_{2})}^{2}} = c (t_{1} - t_{2})

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2} + {(z - z_{1})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2} + {(z - z_{3})}^{2}} = c (t_{1} - t_{3})

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2} + {(z - z_{1})}^{2}} - \sqrt{{(x - x_{4})}^{2} + {(y - y_{4})}^{2} + {(z - z_{4})}^{2}} = c (t_{1} - t_{4})

\sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2} + {(z - z_{2})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2} + {(z - z_{3})}^{2}} = c (t_{2} - t_{3})

\sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2} + {(z - z_{2})}^{2}} - \sqrt{{(x - x_{4})}^{2} + {(y - y_{4})}^{2} + {(z - z_{4})}^{2}} = c (t_{2} - t_{4})

\sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2} + {(z - z_{3})}^{2}} - \sqrt{{(x - x_{4})}^{2} + {(y - y_{4})}^{2} + {(z - z_{4})}^{2}} = c (t_{3} - t_{4})

Wherein above-mentioned various in c be the transmission speed of acoustic signals, c=340m/s, chan algorithm, Fang algorithm or Taylor Series Expansion Method etc. is adopted to solve (the x in above-mentioned system of equations, y, z), to obtain the three-dimensional position accurately of mobile terminal 2, and when mobile terminal 2 is carried out two-dimensional localization by needs, if the position of described mobile terminal is (x, y), the position of three described audiolocation transceiver A, B, C that the acoustic signals that described mobile terminal receives is corresponding is respectively (x₁,y₁)��(x₂,y₂)��(x₃,y₃), if the time of the described mobile terminal acoustic signals that receives described three audiolocations transceiver A, B, C respectively is t₁��t₂��t₃; Then the formula of the two-dimensional position that described location algorithm module 31 calculates mobile terminal 2 is as follows:

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2}} - \sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2}} = c (t_{1} - t_{2})

\sqrt{{(x - x_{1})}^{2} + {(y - y_{1})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2}} = c (t_{1} - t_{3})

\sqrt{{(x - x_{2})}^{2} + {(y - y_{2})}^{2}} - \sqrt{{(x - x_{3})}^{2} + {(y - y_{3})}^{2}} = c (t_{2} - t_{3})

Wherein above-mentioned various in c be the transmission speed of acoustic signals, c=340m/s, adopts chan algorithm, Fang algorithm or Taylor Series Expansion Method etc. to solve (x, the y) in above-mentioned system of equations, to obtain the two-dimensional position accurately of mobile terminal 2; Hereafter its calculation result is fed back to mobile terminal 2 by location-server 3.

Described engine map module 32 is for storing the map of described locating area, and is rendered on the map of described locating area by the position of the described mobile terminal calculated in described locating area, to feed back to described mobile terminal 2.

Equipment management module 33 is for managing described gateway equipment 4, described mobile terminal 2 and all audiolocation transceivers 1, and at least one the audiolocation transceiver 1 configured in self or described mobile terminal 2 or each audiolocation transceiver 1 described to obtain the signal transmission time between each audiolocation transceiver 1 described from described data stream poor, and at least one the audiolocation transceiver 1 configured in self or described mobile terminal 2 or each audiolocation transceiver 1 described carries out described TDOA calculating.

It should be noted that, in the described locating area station-keeping system of other embodiments of the present invention, the solution Calculative Process obtaining the signal transmission time difference between each audiolocation transceiver 1 described from the data stream that mobile terminal 2 transmits can also calculate in the mobile terminal 2 possessing decoding capability, or can also in any one or more middle calculating possessed in each audiolocation transceiver described in decoding capability. Equally, and according to the position of each audiolocation transceiver described and between the described TDOA that carries out of signal transmission time difference calculate, can also complete in the mobile terminal 2 possessing TDOA computing power, or can also possess in each audiolocation transceiver 1 described in TDOA computing power any one or more in complete. Which equipment in mobile terminal 2, audiolocation transceiver 1, location-server 3 is specifically selected to go the signal transmission time difference calculating between each audiolocation transceiver described and described TDOA to calculate, automatically can configure by the equipment management module 33 of location-server 3, or the user having mobile terminal 2 goes initiatively to select, or the capacity of equipment configure according to the mobile terminal 2 collected, each audiolocation transceiver 1, location-server 3.

Thus, utilize above-mentioned mobile terminal location system, while realizing the real-time described locating area location of mobile terminal, also from network is disposed, decrease synchronous gateway equipment, reduce described locating area location cost, positioning precision can reach um level, the location being highly suitable for the limited mobile terminal of computing function, practicality is good, is easy to promote, the location being applicable to the mobile terminal of indoor and outdoors.

Please refer to Fig. 2 and Fig. 3, the present invention also provides a kind of mobile terminal location system, comprise at least three audiolocation transceivers 1, mobile terminal 2, location-server 3 and gateway equipment 4, compared with the mobile terminal location system described in Fig. 2, its difference is, each audiolocation transceiver that described locating area is disposed includes:

Optionally, described audiolocation transceiver 1 also comprises location Calculation module 18, for the position according to each audiolocation transceiver 1 described and between signal transmission time difference carry out TDOA calculating, to determine that described mobile terminal 2 is in the position of described locating area, and described position is fed back to described mobile terminal 2. the positional information of each audiolocation transceiver 1 described wherein needed in location Calculation module 18 directly can be provided by the database of location-server 3, can also be obtained by the positional information of each audiolocation transceiver 1 described in storage in location-server 3 transmitting mobile terminal 2, the described signal transmission time difference needed in location Calculation module 18 then obtains from the calculating position of described signal transmission time difference, if such as described signal transmission time difference is calculated by the decoder module 17 of this audiolocation transceiver, then location Calculation module 18 obtains from decoder module 17, if described signal transmission time difference is calculated by the decoder module 30 of location-server 3, then location Calculation module 18 obtains from the decoder module 30 of location-server 3, if described signal transmission time difference is calculated by mobile terminal 2, then location Calculation module 18 needs to be obtained from mobile terminal 2 by location-server 3. therefore, when there is when mobile terminal 2 and location-server 3 have at least one the function module being equivalent to above-mentioned decoder module 17 and be equivalent to the function module of above-mentioned location Calculation module 18, above-mentioned decoder module 17 and location Calculation module 18 are all optional modules, not essential, do not affect reaching of the technology of the present invention object.

It should be noted that, when needing the mobile terminal to described locating area to carry out three-dimensional localization, at the audiolocation transceiver that described locating area deploy at least four is above-mentioned, and when needing the mobile terminal to described locating area to carry out two-dimensional localization, it is necessary at the audiolocation transceiver that locating area deploy at least three is above-mentioned.

Thus, use above-mentioned mobile terminal location system, while realizing the real-time described locating area location of mobile terminal, the drawback in existing hertzian wave indoor positioning technologies can be avoided, uncertainty and high precision problem that environmental factors is brought can be solved, and the structure of audiolocation transceiver is relatively simple, low cost of manufacture, have that immunity from interference is strong and the feature of encoding and decoding simple and fast, it is highly suitable for the indoor positioning of the limited mobile terminal of computing function, practicality is good, is easy to promote, is applicable to the location of the mobile terminal of indoor and outdoors.

Please refer to Fig. 2 and Fig. 4, the present invention also provides a kind of mobile terminal location system, comprise at least three audiolocation transceivers 1, mobile terminal 2, location-server 3 and gateway equipment 4, compared with the described locating area station-keeping system shown in Fig. 2, its difference is, mobile terminal 2 comprises with lower module:

Signal receiving module 22, for carrying out demodulation to the acoustic signals collected, to obtain in the identity information of the audiolocation transceiver launching described acoustic signals and described acoustic signals the data stream transmitted;

Position display module 25, current in the position of described locating area for showing described mobile terminal 2.

Further, described position display module 25 is also for storing and show the map of described locating area, and is played up on the map being displayed in described locating area in the position of described locating area by the described mobile terminal 2 obtained.

Optionally, described mobile terminal 2 also comprises locating module 24, TDOA calculating is carried out for the position according to each audiolocation transceiver 1 described and described signal transmission time difference, obtain described mobile terminal 2 in the position of described locating area, or described signal transmission time difference is transferred to location-server 3 so that described location-server 3 or corresponding audiolocation transceiver 1 carry out TDOA calculating, finally to obtain described mobile terminal 2 in the position of described locating area. the positional information of each audiolocation transceiver 1 described wherein needed in locating module 24 directly can be obtained by the storage card of mobile terminal 2, it is also possible to provides by the database of location-server 3. the described signal transmission time difference needed in locating module 24 then obtains from the calculating position (namely separating decoding apparatus) of described signal transmission time difference, if such as described signal transmission time difference is calculated by the decoder module 17 of corresponding audiolocation transceiver, then locating module 24 needs indirectly to be obtained from the decoder module 17 of described audiolocation transceiver by location-server 3, if described signal transmission time difference is calculated by the decoder module 30 of location-server 3, then locating module 24 needs to obtain from the decoder module 30 of location-server 3, if described signal transmission time difference is calculated by the decoder module 23 of mobile terminal 2, then locating module 24 directly obtains from decoder module 23. therefore, when there is when all audiolocation transceivers 1 and location-server 3 have at least one the function module being equivalent to above-mentioned decoder module 23 and be equivalent to the function module of above-mentioned locating module 24, above-mentioned decoder module 23 and locating module 24 are all optional modules, not essential, do not affect reaching of the technology of the present invention object, thus can greatly reduce the requirement of the computing power to mobile terminal 2 so that the mobile terminal of some low sides also can realize described locating area location.

It should be noted that, when needing the mobile terminal to described locating area to carry out three-dimensional localization, it is necessary to mobile terminal 2 receives the acoustic signals of at least four above-mentioned audiolocation transceivers in locating area; And when needing the mobile terminal to described locating area to carry out two-dimensional localization, it is necessary to mobile terminal 2 receives the acoustic signals of at least three above-mentioned audiolocation transceivers in locating area. In addition, when the locating module of mobile terminal 2 and location-server 3 all have location Calculation ability, user oneself can select the calculating position of TDOA as required, or system carries out TDOA calculating preferably by location-server 3 automatically.

Thus, above-mentioned mobile terminal location system is not high to the computing functional requirement of mobile terminal, and described locating area location cost is low, and the positioning precision of mobile terminal can reach um level, and practicality is good, it is easy to promote, it is applicable to the location of the mobile terminal of indoor and outdoors.

Please refer to Fig. 2, Fig. 3 and Fig. 4, the present invention also provides a kind of mobile terminal location system, comprise at least three audiolocation transceivers 1, mobile terminal 2, location-server 3 and gateway equipment 4, compared with the mobile terminal location system shown in Fig. 2, its difference is, each audiolocation transceiver that described locating area is disposed includes:

Network Synchronization module 11, for accessing consolidated network from the audiolocation transceiver of described other at least three different frequencies and receive the time synchronizing signal of described network, it is achieved from the time lock of synchronously and following each module of the signal of the audiolocation transceiver of described other at least three different frequencies;

Loud speaker or ultrasonic transducer 16, for being played to described locating area by the signal after amplification;

And, its mobile terminal 2 comprises with lower module:

Acoustic Signal Acquisition module 21, for gathering at least four Network Synchronization that certain locating area disposes but the acoustic signals launched of the different audiolocation transceiver 1 of frequency;

Further, described position display module 25 is also for storing and show the map of described locating area, and is played up on the map being displayed in described locating area the position of the described mobile terminal 2 obtained in described locating area.

Optionally, described audiolocation transceiver 1 also comprises location Calculation module 18, for the position according to each audiolocation transceiver 1 described and between signal transmission time difference carry out TDOA calculating, to determine the position of described mobile terminal 2 in described locating area, and described position is fed back to described mobile terminal 2.

Optionally, described mobile terminal 2 also comprises locating module 24, TDOA calculating is carried out for the position according to each audiolocation transceiver 1 described and described signal transmission time difference, obtain the position of described mobile terminal 2 in described locating area, or described signal transmission time difference is transferred to location-server 3 so that described location-server 3 or corresponding audiolocation transceiver 1 carry out TDOA calculating, finally to obtain the position of described mobile terminal 2 in described locating area.

It should be noted that, in above-mentioned mobile terminal location system, the solution Calculative Process of the signal transmission time difference between each audiolocation transceiver 1 described is obtained from the data stream that mobile terminal 2 transmits, can calculate in the decoder module 23 of mobile terminal 2 possessing decoding capability, or can also possess in each audiolocation transceiver 1 described in decoding capability any one or more in decoder module 17 calculate, or can also calculate in the decoder module 30 of location-server 3; Equally, and according to the position of each audiolocation transceiver described and between the described TDOA that carries out of signal transmission time difference calculate, can also complete in the locating module 24 of mobile terminal 2 possessing TDOA computing power, or can also possess in each audiolocation transceiver 1 described in TDOA computing power any one or more in location Calculation module 18 in complete, or can also complete in the location algorithm module 31 of location-server 3. Which equipment in mobile terminal 2, audiolocation transceiver 1, location-server 3 is specifically selected to go the signal transmission time difference calculating between each audiolocation transceiver described and described TDOA to calculate, automatically can configure by the equipment management module 33 of location-server 3, or the user having mobile terminal 2 goes initiatively to select, or the capacity of equipment configure according to the mobile terminal 2 collected, each audiolocation transceiver 1, location-server 3.

Please refer to Fig. 6, utilize the flow process of the three-dimensional localization that above-mentioned mobile terminal location system carries out mobile terminal 2 as follows:

1, gateway equipment 4 sends time synchronizing signal;

2, audiolocation transceiver A, B, C, D synchronously open work and synchronously launch acoustic signals to described locating area:

2.1, Network Synchronization module 11 realizes the time lock of the Network Synchronization with other audiolocation transceivers and inner each module;

2.2, acoustic signals to be launched is comprised identity information and the coding of time stamp information by coding module 12;

2.3, the acoustic signals after coding is modulated in the frequency of launch requirements by signal madulation module 13;

2.4, DAC module 14 transfers the acoustic signals after modulation to simulating signal;

2.5, described simulating signal is carried out power magnification by acoustic power amplification module 15;

2.6, the signal after amplification is played to described locating area by loud speaker or ultrasonic transducer 16;

3, mobile terminal 2 receives acoustic signals and obtains corresponding information:

3.1, Acoustic Signal Acquisition module 21 gathers the acoustic signals that audiolocation transceiver A, B, C, D launch;

3.2, the acoustic signals collected is carried out demodulation by signal receiving module 22, to obtain in the ID (i.e. identity information) of audiolocation transceiver A, B, C, D and its acoustic signals the data stream transmitted;

4, described data stream is decoded poor with the signal transmission time obtained between audiolocation transceiver A, B, C, D:

4.1, the data stream that described mobile terminal 2 obtains is decoded by the decoder module 17 of at least one whether system configures audiolocation transceiver A, B, C, D, if then utilizing the decoder module 17 of the audiolocation transceiver of selection to perform step 4.4, if not, then step 4.2 is performed;

4.2, the data stream that described mobile terminal 2 obtains is decoded by the decoder module 30 whether system configures location-server 3, if then utilizing the decoder module 30 of regioselective server 3 to perform 4.4 steps, if not, then performs step 4.3;

4.3, the data stream that described mobile terminal 2 obtains is decoded by the decoder module 23 of system configuration mobile terminal 2;

4.4, utilize the solution decoding apparatus corresponding function module configured the data stream that described mobile terminal 2 obtains to be decoded, and it is poor to calculate the signal transmission time between audiolocation transceiver A, B, C, D;

5, TDOA calculates the current position of mobile terminal 2 in described locating area:

5.1, the location Calculation module 18 whether system configures at least one of audiolocation transceiver A, B, C, D carries out TDOA calculating, if then utilizing the location Calculation module 18 of the audiolocation transceiver of selection to perform step 5.4, if not, then performs step 5.2;

5.2, the location algorithm module 31 whether system configures location-server 3 carries out TDOA calculating, if then utilizing the location algorithm module 31 of location-server 3 to perform step 5.4, if not, then performs step 5.3;

5.3, the locating module 24 of system configuration mobile terminal 2 carries out TDOA calculating;

5.4, utilize the audiolocation transceiver A that the TDOA the configured calculating corresponding function module of equipment obtains according to mobile terminal 2, B, C, the identity information of D, audiolocation transceiver A is obtained from the storer of the database of location-server 3 or mobile terminal 2, B, C, the position coordinate of D, and the audiolocation transceiver A calculated is obtained from the corresponding function module of the solution decoding apparatus configured, B, C, signal transmission time between D is poor, according to audiolocation transceiver A, B, C, the position coordinate of D and between signal transmission time difference carry out TDOA calculating, draw the position of mobile terminal 2,

5.5, the position of the described mobile terminal drawn is played up on the described locating area map being shown to described mobile terminal 2 by the engine map module 32 of location-server 3 or the position display module 25 of mobile terminal 2.

It should be noted that, utilize above-mentioned mobile terminal location system to carry out the two-dimensional localization of described locating area, only needing the acoustic signals receiving two audiolocations transceiver A, B, C, specifically the flow process shown in method flow and Fig. 6 is basically identical.

Thus, above-mentioned mobile terminal location system, decreases synchronous gateway equipment from network is disposed, reduces location cost; And the structure of its audiolocation transceiver disposed is relatively simple, low cost of manufacture, has that immunity from interference is strong and the feature of encoding and decoding simple and fast, simultaneously that the arithmetic capability of mobile terminal is less demanding, practicality is good, is easy to promote, is applicable to the location of the mobile terminal of indoor and outdoors.

Obviously, invention can be carried out various change and modification and not depart from the spirit and scope of the present invention by the technician of this area. Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these change and modification.

Claims

1. a mobile terminal locating method, it is characterised in that, comprise the following steps:

2. mobile terminal locating method as claimed in claim 1, it is characterized in that, all audiolocation transceivers by independent of the gateway equipment outside all audiolocation transceivers or by the gateway deployed with devices that becomes one with arbitrary audiolocation transceiver in same network, and realize the time lock of network.

3. mobile terminal locating method as claimed in claim 2, it is characterised in that, the step that all audiolocation transceivers synchronously send acoustic signals comprises:

4. mobile terminal locating method as claimed in claim 3, it is characterized in that, it is poor that at least one the audiolocation transceiver in a location-server or described mobile terminal or each audiolocation transceiver described obtains the signal transmission time between each audiolocation transceiver described from described data stream.

5. mobile terminal locating method as claimed in claim 4, it is characterized in that, after described locating area has disposed audiolocation transceiver described in each, the position of audiolocation transceiver described in each is submitted on described location-server and preserves, or be directly sent to the preservation of described mobile terminal.

6. mobile terminal locating method as claimed in claim 5, it is characterized in that, when it needs to be determined that during the three-dimensional position of described mobile terminal, need in described locating area, dispose at least four described audiolocation transceivers, and the acoustic signals that described mobile terminal reception at least four described audiolocation transceivers synchronously send; When it needs to be determined that during the two-dimensional position of described mobile terminal, it is necessary to dispose at least three described audiolocation transceivers in described locating area, and described mobile terminal receives the acoustic signals that at least three described audiolocation transceivers synchronously send.

7. mobile terminal locating method as claimed in claim 6, it is characterised in that, it is determined that the TDOA calculation procedure of the three-dimensional position of described mobile terminal in described locating area comprises:

Then the formula of the three-dimensional position that TDOA calculates described mobile terminal is as follows:

Wherein above-mentioned various in c be sonic transmissions speed.

8. mobile terminal locating method as claimed in claim 7, it is characterized in that, described TDOA calculates and completes on location-server, or completes on the mobile terminal, or completes at least one audiolocation transceiver in each audiolocation transceiver described.

9. an audiolocation transceiver, the audiolocation transceiver of frequency different from other at least two is arranged in certain locating area and accesses consolidated network, and launches acoustic signals to mobile terminal synchronization, for the location of auxiliary moving terminal, it is characterized in that, comprising:

10. audiolocation transceiver as claimed in claim 9, it is characterised in that, the network of described Network Synchronization module access is ZigBee network, WiFi network, blueteeth network or any cable network possessing time lock function.

11. audiolocation transceivers as claimed in claim 9, it is characterized in that, described audiolocation transceiver also comprises decoder module, for, after the data stream that obtains receiving the acoustic signals demodulation of audiolocation transceiver described in each at described mobile terminal, obtaining the signal transmission time between each audiolocation transceiver described from described data stream poor.

The 12. audiolocation transceivers as described in claim 9 or 11, it is characterized in that, described audiolocation transceiver also comprises location Calculation module, for the position according to each audiolocation transceiver described and between signal transmission time difference carry out TDOA calculating, to determine the position of described mobile terminal in described locating area, and described position is fed back to described mobile terminal.

13. 1 kinds of mobile terminals, it is characterised in that, comprising:

Position display module, for showing described mobile terminal currently in the position of described locating area.

14. mobile terminals as claimed in claim 13, it is characterised in that, described mobile terminal also comprises decoder module, for the data stream transmitted according to described signal receiving module, obtains the signal transmission time between each audiolocation transceiver described poor.

15. mobile terminals as claimed in claim 13, it is characterized in that, described mobile terminal also comprises locating module, TDOA calculating is carried out for the position according to each audiolocation transceiver described and described signal transmission time difference, obtain the position of described mobile terminal at described locating area, or described signal transmission time difference is transferred to location-server, so that corresponding audiolocation transceiver carries out TDOA calculating in described location-server or each audiolocation transceiver described, obtain the position of described mobile terminal at described locating area.

16. mobile terminals as claimed in claim 13, it is characterized in that, described position display module is also for storing and show the map of described locating area, and is played up on the map being displayed in described locating area in the position of described locating area by the described mobile terminal obtained.

17. mobile terminals as claimed in claim 13, it is characterised in that, the time difference precision of described Acoustic Signal Acquisition module acquires signal is 1 �� s��1ms.

18. mobile terminals as according to any one of claim 13 to 17, it is characterised in that, described mobile terminal is handheld device or wearing equipment.

19. 1 kinds of mobile terminal location systems, it is characterised in that, comprising:

20. mobile terminal location systems as claimed in claim 19, it is characterised in that, described gateway equipment be independent of all audiolocation transceivers outside gateway equipment or become one with arbitrary described audiolocation transceiver.

21. mobile terminal location system as claimed in claim 19, it is characterised in that, described location-server comprises:

Engine map module, for storing the map of described locating area, and is rendered into described mobile terminal in the position of described locating area on the map of described locating area, to feed back to described mobile terminal;

22. 1 kinds of mobile terminal location systems, it is characterised in that, comprising:

Being deployed at least three of certain locating area audiolocation transceiver as according to any one of claim 9 to 12, all audiolocation transceiver networks are synchronous but frequency is different, and synchronously send acoustic signals by the time synchronizing signal of network;

23. mobile terminal location systems as claimed in claim 22, it is characterised in that, described gateway equipment be independent of all audiolocation transceivers outside gateway equipment or become one with arbitrary described audiolocation transceiver.

24. mobile terminal location systems as claimed in claim 22, it is characterised in that, described location-server comprises:

25. 1 kinds of mobile terminal location systems, it is characterised in that, comprising:

Mobile terminal as according to any one of claim 13 to 18, for receiving the acoustic signals of at least three described audiolocation transceivers after entering described locating area, and identification goes out each audiolocation transceiver and obtains corresponding data stream from the acoustic signals received;

26. mobile terminal location systems as claimed in claim 25, it is characterised in that, described gateway equipment be independent of all audiolocation transceivers outside gateway equipment or become one with arbitrary described audiolocation transceiver.

27. mobile terminal location systems as claimed in claim 25, it is characterised in that, described location-server comprises:

28. 1 kinds of mobile terminal location systems, it is characterised in that, comprising:

Mobile terminal as according to any one of claim 13 to 18, for receiving the acoustic signals of at least three described audiolocation transceivers after entering described locating area, and from receive acoustic signals identification go out each audiolocation transceiver and from receive all acoustic signals identification go out each audiolocation transceiver and obtain corresponding data stream;

29. mobile terminal location systems as claimed in claim 28, it is characterised in that, described gateway equipment be independent of all audiolocation transceivers outside gateway equipment or become one with arbitrary described audiolocation transceiver.

30. mobile terminal location systems as claimed in claim 28, it is characterised in that, described location-server comprises: