CN105676183A - Mobile terminal positioning method and system - Google Patents

Mobile terminal positioning method and system Download PDF

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Publication number
CN105676183A
CN105676183A CN201610173724.5A CN201610173724A CN105676183A CN 105676183 A CN105676183 A CN 105676183A CN 201610173724 A CN201610173724 A CN 201610173724A CN 105676183 A CN105676183 A CN 105676183A
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China
Prior art keywords
mobile terminal
acoustic
location
transceiver
transmission time
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CN201610173724.5A
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Chinese (zh)
Inventor
刘千喜
胡琼方
赵振纲
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SHANGHAI COOLFAR IOT TECHNOLOGY Co Ltd
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SHANGHAI COOLFAR IOT TECHNOLOGY Co Ltd
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Priority to CN201610173724.5A priority Critical patent/CN105676183A/en
Publication of CN105676183A publication Critical patent/CN105676183A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention provides a mobile terminal positioning method and system. The method comprises: disposing at least two sound wave positioning transceivers synchronous with a mobile terminal, or at least three sound wave positioning transceivers not required to be synchronous with the mobile terminal in the positioning area of the mobile terminal to receive sound wave signals of the mobile terminal, and to obtain corresponding data flows from the received sound wave signals; obtaining the signal transmission time corresponding to each sound wave positioning transceiver or the signal transmission time difference among the sound wave positioning transceivers from the data flows; and performing TOA (Time Of Arrival) calculation according to the position and signal transmission time of each sound wave positioning transceiver, or performing TDOA (Time Difference Of Arrival) calculation according to the position of each sound wave positioning transceiver and the signal transmission time difference among the sound wave positioning transceivers so as to determine the position of the mobile terminal in the positioning area. The technical scheme can reduce the positioning cost of a mobile terminal, and meanwhile improve the positioning precision and reliability of the mobile terminal.

Description

Mobile terminal locating method and system
Technical field
The present invention relates to mobile terminal positioning technology field, relate in particular to a kind of mobile terminal locating method and system.
Background technology
Along with the develop rapidly of global satellite positioning, GIS-Geographic Information System and Internet technology, data service and manyThe quick increase of media business, the rapid of communication network and mobile terminal device popularized, and people serve for indoor locationDemand also grows with each passing day. Accurate indoor location service, can realize management efficiently to free space and stock's material, canFor police, fire fighter, health care worker have navigated specific indoor task. Therefore, indoor positioning, at indoor ringIn border, realize location, position, have broad application prospects, just progressively become the study hotspot of multiple ambit. Because GPS defendsStar signal is from being transmitted into ground, and signal is decayed, accurately can be for indoor with reference to useful signal, indoor cannot receivingThe precise positioning of latter one kilometer becomes the hotbed of indoor positioning technology performance. The more common indoor wireless of industry location skill at presentArt mainly comprises WiFi, iBeacon class bluetooth, RFID (RF identification), UWB (ultra broadband), LED light, ZigBee and ultrasonic wave,Wherein support the localization method of mobile Internet mobile phone terminal to have the positioning means such as WiFi, BlueTooth, LED light. WiFi,The general subnetwork side of principle and the emitting side of BlueTooth (bluetooth) and ZigBee location technology, but all utilize signal strength signal intensity to declineSubtract degree and realize location, the maximum problem of these two kinds of location technologies is shadows that signal tends to be subject to various factors in environmentRing, as the stopping of wall, reflection with diffraction, personnel walk about, time, weather etc., cause the drift of signal, caused the signal cannotCorrect received, the highest 1m that also can only reach of positioning precision, has so just caused the reproducibility of these indoor positioning products lowUnder, especially ZigBee location technology also needs a large amount of sensor network consistings, thereby has affected whole indoor positioning productExpansion. RFID positioning principle is exactly to pass through at the multiple positioning signal sources of indoor deployment or framing signal label, thereby sharpWith with the similar intensity of outdoor positioning or time-delay calculation mode, indoor user being positioned, but the method for this location needsDispose a large amount of positioning signal sources, cannot realize location in the place of not disposing positioning signal source, so not only make indoorThe cost of location is higher, and the accuracy of location is also lower. UWB positioning principle is to adopt UWB (ultra broadband) pulse signal, byMultiple sensors adopt TDOA and AOA location algorithm to analyze label position, and multi-path resolved ability is strong, precision is high, locationPrecision can reach sub-meter grade, but UWB is difficult to realize indoor covering on a large scale, and mobile phone do not support UWB, and location cost is very high. LEDLight-seeking principle is to locate by the light and shade of monitoring optical signal, and this technical requirement mobile terminal detects light by cameraThereby the signal intensity in source completes location, greatly increase the cost of mobile terminal. And ultrasonic wave location technology has exactly been abandonedThe uncertainty that electromagnetic wave and light are brought by indoor environment factor in indoor positioning and high accuracy problem, utilize SVELSlow feature, from send sound wave to receive in time period of this sound wave, have one can be by the time of mobile phone detection record,Thereby utilize and realize indoor positioning time phase, this localization method has solved indoor gps signal problem, precision reliablyCan be along with the time difference finally reaches mm level.
Therefore, need a kind of mobile terminal targeting scheme based on acoustic location technology, can reduce location costMeanwhile, improve positioning precision.
Summary of the invention
The object of the present invention is to provide a kind of mobile terminal locating method, acoustic location transceiver, mobile terminal and beSystem, can, in reducing location cost, improve the positioning precision of mobile terminal.
The invention provides a kind of mobile terminal locating method, comprise the following steps:
One mobile terminal enters into the backward described locating area transmitting acoustic signals of certain locating area;
The plural acoustic location transceiver being deployed in described locating area receives described acoustic signals, and from instituteState and in acoustic signals, obtain corresponding data flow;
The acoustic signals that obtains described mobile terminal from described data flow transfers to acoustic location transceiver described in eachSignal transmission time or signal transmission time poor;
Carry out TOA calculating according to the position of described each acoustic location transceiver and described signal transmission time, or according toThe poor TDOA of the position of described each acoustic location transceiver and described signal transmission time calculates, to determine that described mobile terminal existsPosition in described locating area.
Further, the frequency of sound wave of described mobile terminal transmitting is 15KHz～23KHz.
Further, according to being deployed in described acoustic location transceiver all in described locating area and described eventually mobileHold whether synchronous, come determine from described data flow, obtain described signal transmission time or signal transmission time poor, if withStep is obtained described signal transmission time from described data flow, if asynchronous, from described data flow, obtains described signalTransmission time difference.
Further, in described locating area, dispose at least three with the described acoustic location of described mobile terminal synchronizationTransceiver, to calculate by described TOA, determines the three-dimensional position of described mobile terminal; In described locating area, dispose at leastTwo with the described acoustic location transceiver of described mobile terminal synchronization, to calculate by described TOA, determine described mobile terminalTwo-dimensional position; In described locating area, dispose at least three described acoustic location transceivers, to calculate by described TDOA,Determine the two-dimensional position of described mobile terminal; In described locating area, dispose at least four described acoustic location transceivers, withCalculate by described TDOA, determine the three-dimensional position of described mobile terminal.
Further, described mobile terminal comprises to the step of described locating area transmitting acoustic signals:
The coding that armed signal is comprised to identity information and timestamp information;
Signal after encoding is modulated, and be translated into analog signal;
Described analog signal is played out by its loudspeaker or ultrasonic transducer transmitting after amplifying.
Further, at least one in a location-server or described mobile terminal or described each acoustic location transceiverIndividual acoustic location transceiver obtains described signal transmission time from described data flow or described signal transmission time is poor.
Further, each described acoustic location transceiver is submitted to described location clothes in the position of described locating areaOn business device, preserve, or be directly sent to described mobile terminal preservation.
Further, determine that described mobile terminal comprises in the TDOA of the three-dimensional position of described locating area calculation procedure:
If the position of described mobile terminal is (x, y, z), receive four described sound of the acoustic signals of described mobile terminalThe position of ripple location transceiver is respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)；
If it is t that the acoustic signals of described mobile terminal transfers to respectively the time of described four acoustic location transceivers1、t2、t3、t4；
It is as follows that TDOA calculates the formula of three-dimensional position of described mobile terminal:
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = c ( t 1 - t 2 )
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 1 - t 3 )
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 1 - t 4 )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 2 - t 3 )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 2 - t 4 )
( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 3 - t 4 )
Or, determine that described mobile terminal comprises in the TDOA of the two-dimensional position of described locating area calculation procedure:
If the position of described mobile terminal is (x, y), receive three described sound waves of the acoustic signals of described mobile terminalThe position of location transceiver is respectively (x1,y1)、(x2,y2)、(x3,y3)；
If it is t that the acoustic signals of described mobile terminal transfers to respectively the time of described three acoustic location transceivers1、t2、t3；
It is as follows that TDOA calculates the formula of two-dimensional position of described mobile terminal:
( x - x 1 ) 2 + ( y - y 1 ) 2 - ( x - x 2 ) 2 + ( y - y 2 ) 2 = c ( t 1 - t 2 )
( x - x 1 ) 2 + ( y - y 1 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 = c ( t 1 - t 3 )
( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 = c ( t 2 - t 3 )
Or, determine that the step that described mobile terminal calculates at the TOA of the three-dimensional position of described locating area comprises:
If the position of described mobile terminal is (x, y, z), receive three of acoustic signals of described mobile terminal with described inThe position of the acoustic location transceiver of mobile terminal synchronization is respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)；
If the time of described mobile terminal transmitting acoustic signals is t, described three acoustic location transceivers receive respectively instituteThe time of stating acoustic signals is t1、t2、t3；
It is as follows that TOA calculates the formula of three-dimensional position of described mobile terminal:
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 = c ( t 1 - t )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = c ( t 2 - t )
( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 3 - t )
Or, determine that described mobile terminal comprises in the TOA of the two-dimensional position of described locating area calculation procedure:
If the position of described mobile terminal is (x, y), receive two acoustic locations of the acoustic signals of described mobile terminalThe position of transceiver is respectively (x1,y1)、(x2,y2)；
If the time of described mobile terminal transmitting acoustic signals is t, described two acoustic location transceivers receive respectively instituteThe time of stating acoustic signals is t1、t2；
It is as follows that TOA calculates the formula of two-dimensional position of described mobile terminal:
( x - x 1 ) 2 + ( y - y 1 ) 2 = c ( t 1 - t )
( x - x 2 ) 2 + ( y - y 2 ) 2 = c ( t 2 - t )
Wherein above-mentioned c in various is sonic transmissions speed;
Further, described TDOA calculates or described TOA calculating completes on location-server, or described eventually mobileOn end, complete, or complete at least one acoustic location transceiver in described each acoustic location transceiver.
The present invention also provides a kind of mobile terminal location system, comprising:
Mobile terminal, for entering after certain locating area, to described locating area transmitting acoustic signals;
Be deployed at least two acoustic location transceivers in described locating area, for receiving described acoustic signals, andFrom described acoustic signals, obtain corresponding data flow;
Location-server, for configuring self or described mobile terminal or described each acoustic location transceiver extremelyThe acoustic signals that a few acoustic location transceiver obtains described mobile terminal from described data flow transfers to sound described in eachSignal transmission time or the signal transmission time of ripple location transceiver are poor, and for configure self or described mobile terminal orAt least one acoustic location transceiver described in person in each acoustic location transceiver, according to the position of each acoustic location transceiverPut and the described signal transmission time poor TDOA of carrying out calculating or according to the position of each acoustic location transceiver and described signalTransmission time is carried out TOA calculating, to obtain the position of described mobile terminal in described locating area.
Further, described mobile terminal location system also comprises gateway device, for by described locating area instituteSome acoustic location transceivers and described mobile terminal are linked in consolidated network, and to described all acoustic locations transmitting-receivingDevice and described mobile terminal send the time synchronizing signal of described network, to realize described all acoustic location transceivers and instituteState the time synchronized of mobile terminal.
Further, described gateway device is the net being independent of outside all acoustic location transceivers and described mobile terminalPass equipment, or become one with arbitrary described acoustic location transceiver, or become one with described mobile terminal.
Further, described location-server comprises:
Decoder module, transfers to sound described in each for obtain the acoustic signals of described mobile terminal from described data flowSignal transmission time or the signal transmission time of ripple location transceiver are poor;
Location algorithm module, for poor according to the position of acoustic location transceiver described in each and described signal transmission timeCarry out TDOA calculating, or carry out TOA meter according to the position of acoustic location transceiver described in each and described signal transmission timeCalculate, to determine the position of described mobile terminal in described locating area;
Engine map module, for storing the map of described locating area, and by described mobile terminal at described positioning areaPosition in territory is rendered on the map of described locating area, to feed back to described mobile terminal;
Device management module, for described mobile terminal and all acoustic location transceivers are managed, and configurationAt least one acoustic location transceiver in self or described mobile terminal or described each acoustic location transceiver is from describedIn data flow, obtain the poor or signal transmission time of described signal transmission time, and configure self or described mobile terminal or instituteAt least one acoustic location transceiver of stating in each acoustic location transceiver carries out described TDOA calculating or described TOA calculating.
Further, described acoustic location transceiver comprises:
Acoustic Signal Acquisition module, for gathering the acoustic signals of the described mobile terminal transmitting in described locating area;
Signal demodulation module, for the acoustic signals collecting is carried out to demodulation, obtains the eventually mobile of described acoustic signalsData flow in identity information and the described acoustic signals of end.
Further, also comprise Network Synchronization module, with described other at least one acoustic location transceivers and described inMobile terminal accesses consolidated network, and receives the time synchronizing signal of described network, realizes and described other at least one sound wavesLocation transceiver and the time synchronized of described mobile terminal and other modules of described acoustic location transceiver insideTime synchronized.
Further, described acoustic location transceiver also comprises decoder module, for passing according to described signal demodulation moduleThe data flow of sending, when the acoustic signals that obtains described mobile terminal transfers to the signal transmission of acoustic location transceiver described in eachBetween or signal transmission time poor.
Further, described acoustic location transceiver also comprises location Calculation module, for according to described each sound waveThe position of location transceiver and described signal transmission time are poor carries out TDOA calculating, or according to described each acoustic location transmitting-receivingThe position of device and described signal transmission time carry out TOA calculating, to obtain the position of described mobile terminal in described locating areaPut and feed back to described mobile terminal.
Further, the time difference precision of described Acoustic Signal Acquisition module collection signal is ms level.
Further, a kind of mobile terminal, comprising:
Coding module, for the coding that armed acoustic signals is comprised to identity information and timestamp information;
Signal modulation module, for being modulated to the acoustic signals after coding the frequency of launch requirements;
DAC module, for transferring the acoustic signals after modulation to analog signal;
Acoustic power amplification module, for carrying out power amplification by described analog signal;
Loudspeaker or ultrasonic transducer, for being played to by the signal after amplifying the locating area that this mobile terminal entersIn;
Position display module, for showing the current position at described locating area of described mobile terminal.
Further, the frequency of the acoustic signals after described signal modulation module modulation is 15KHz～23KHz.
Further, described mobile terminal also comprises synchronization module, for entering after certain locating area, with described locationAt least two audiolocators that region is disposed access consolidated network together, and receive the time synchronizing signal of described network, realNow with the time synchronized of described acoustic location transceiver and described mobile terminal in the time synchronized of other modules.
Further, described mobile terminal also comprises decoder module, for what transmit according to described acoustic location transceiverData flow, the acoustic signals that obtains described mobile terminal transfer to acoustic location transceiver described in each signal transmission time orPerson's signal transmission time is poor.
Further, described mobile terminal also comprises locating module, for according to described each acoustic location transceiverPosition and described signal transmission time are poor carries out TDOA calculating, or according to the position of described each acoustic location transceiver and instituteState signal transmission time and carry out TOA calculating, to 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 will obtainThe position of described mobile terminal in described locating area play up on the map that is presented at described locating area.
Further, described mobile terminal is handheld device or wearing equipment.
Compared with prior art, technical scheme of the present invention has following beneficial effect:
1, technical scheme of the present invention can be for the two-dimensional localization of mobile terminal and three-dimensional localization, at certain locating areaThe acoustic location transceiver of disposing less two or three mobile terminal synchronizations receives the mobile terminal that enters described locating areaThe acoustic signals of transmitting, just can finally accurately be oriented and be arranged in the eventually mobile of described locating area by TOA location CalculationTwo dimension or the three-dimensional position of end, at three or four acoustic location transceivers of the minimum deployment of certain locating area, just can pass throughTDOA location Calculation is finally accurately oriented two-dimensional position or the three-dimensional position of the mobile terminal that is arranged in described locating area, fromOn network design, reduce synchronous gateway equipment, reduced indoor positioning cost;
2,, according to the time precision of the information of acoustic wave of acoustic location transceiver mobile terminal receive, can make eventually mobileThe positioning precision of end reaches mm level;
3, utilize acoustic location technology can avoid the drawback in existing electromagnetic wave indoor positioning technology, can solve environmentThe uncertainty that factor is brought and high accuracy problem, and the structure of acoustic location transceiver is relatively simple, and low cost of manufacture, hasThe feature of the strong and encoding and decoding simple and fast of antijamming capability, is highly suitable for the indoor fixed of the limited mobile terminal of calculation functionPosition, practicality is good, is easy to promote.
Brief description of the drawings
Fig. 1 is the mobile terminal locating method flow chart 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 acoustic location 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 that carries out TDOA three-dimensional localization of the specific embodiment of the invention;
Fig. 7 is the method flow diagram that carries out TOA three-dimensional localization of the specific embodiment of the invention.
Detailed description of the invention
For object of the present invention, feature are become apparent, below in conjunction with accompanying drawing, the specific embodiment of the present invention is doneFurther instruction, but the present invention can realize by different forms, should just not be confined to described embodiment.
Please refer to Fig. 1, the invention provides a kind of mobile terminal locating method, comprise the following steps:
S1, a mobile terminal enters into the backward described locating area transmitting acoustic signals of certain locating area;
S2, the plural acoustic location transceiver being deployed in described locating area receives described acoustic signals, andFrom described acoustic signals, obtain corresponding data flow;
S3, the acoustic signals that obtains described mobile terminal from described data flow transfers to acoustic location transmitting-receiving described in eachSignal transmission time or the signal transmission time of device are poor;
S4, carries out TOA calculating according to the position of described each acoustic location transceiver and described signal transmission time, or rootPosition and the poor TDOA of described signal transmission time according to described each acoustic location transceiver calculate, to determine described mobile terminalPosition in described locating area.
Please refer to Fig. 1 and Fig. 2, in step S1, mobile terminal 2 is as signal transmitting terminal, to locating area broadcast transmissionFrequency of sound wave be 20Hz～100MHz, the natural graceful sound that can select people's ear to hear, is equivalent to background soundHappy, when bringing hearing enjoying to the people in described locating area thus, can not make the environment in described locating areaBecome sound interference. Preferably, the frequency of sound wave that each acoustic location transceiver 1 is launched is 15KHz～23KHz, this frequency rangeAcoustic signals is that people's ear cannot be heard, but the acoustic location transceiver 1 that can be deployed in described locating area receives,Therefore can ensure completely not produce noise pollution in described locating area environment.
In step S1, the process that mobile terminal 2 sends acoustic signals comprises:
The coding that armed signal is comprised to identity information (ID) and timestamp; Coded system can be used m orderThe modes such as row, wherein m sequence is a kind of pseudo-random sequence of current extensive use, is most important, the most basic a kind of pseudorandomSequence, it easily produces, regular strong, has good autocorrelation and good cross correlation;
Signal coding well afterwards carries out signal modulation, and signal modulation system can be MSK, FSK, PSK etc., and signal modulatesAfter be translated into analog signal;
Described analog signal plays out by its loudspeaker or ultrasonic transducer transmitting after amplifying, and now institute is soundRipple location transceiver is launched acoustic signals simultaneously in locating area.
Please refer to Fig. 1 and Fig. 2, in step S2, in the time that needs position indoor moving terminal, basis in advanceInterior space size, carries out region division to the interior space, then in the diverse location in these regions, disposes corresponding sound waveLocation transceiver 1, as signal receiving end, receives and enters the acoustic signals that the mobile terminal 2 of each locating area is launched, with rightMobile terminal 2 carries out subregional precise positioning.
In the time need to determining the position of mobile terminal 2 by TOA location Calculation, need to be by each locating area twoAbove acoustic location transceiver 1 is synchronizeed with mobile terminal 2, and these acoustic location transceivers 1 are all connected with mobile terminal 2To a gateway device 4, thereby make these acoustic location transceivers 1 and mobile terminal 2 be deployed in same by this gateway device 4In a network, and (control the clock of these acoustic location transceiver synchronous workings at the time synchronizing signal of gateway device 4Signal) control under realize network time synchronization, gateway device 4 can be ZigBee gateway device, WIFI gateway device or indigo plantThe wireless gateway devices such as tooth gateway device, can be also the gateway devices of any cable network that possesses time synchronized function, andAnd gateway device 4 can be independent of the gateway device outside all acoustic location transceivers 1 and described mobile terminal 2, or canBecome one with arbitrary described acoustic location transceiver, or can become one with described mobile terminal 2. Gateway device 4Can make all acoustic location transceivers 1 and mobile terminal 2 in locating area access corresponding ZigBee-network, WIFI net simultaneouslyIn the Wi-Fi such as network or blueteeth network or any wired networking that possesses time synchronized function, thus can accept in this networkThe time synchronizing signal of transmission, realization is enabled with the working time synchronous. Gateway device 4 can pass through with location-server 3Internet net transmission data and signal etc., the time synchronizing signal therefore transmitting in this network can be led to by location-server 3Crossing gateway device 4 sends.
Wherein, in locating area, can minimumly arrange two acoustic location transceivers 1 (as arrange acoustic location transceiver A,B) synchronize with mobile terminal 2, carry out the TOA two-dimensional localization for mobile terminal 2; Three acoustic location transceivers 1 can be minimumly set(as acoustic location transceiver A, B, C are set) synchronizes with mobile terminal 2, carrys out the TOA three-dimensional localization for mobile terminal 2; Work as instituteState while disposing three above acoustic location transceivers in locating area, three acoustic location transceivers can be considered as to one group,For obtaining a position coordinates of mobile terminal, finally the position coordinates of all groups of mobile terminals that obtain is averaged,Using as the final position of mobile terminal; In the time disposing plural acoustic location transceiver in described locating area, canEvery two acoustic location transceivers are considered as to one group, for obtaining a position coordinates of mobile terminal, finally all groups are obtainedThe position coordinates of the mobile terminal obtaining is averaged, and using as the final two-dimensional position of mobile terminal, comes thus further to improveThe precision of mobile terminal location.
And in the time need to determining the position of mobile terminal 2 by TDOA location Calculation, need in described locating area threeIndividual above acoustic location transceiver 1 carrys out the acoustic signals of mobile terminal receive 2, can be not complete between these acoustic location transceiversComplete synchronous, also can Complete Synchronization, also can be completely asynchronous, certainly can synchronize with mobile terminal 2, also can be complete with mobile terminal 2Asynchronous, wherein, three acoustic location transceivers 1 (as acoustic location transceiver A, B, C are set) can be minimumly set for movementThe TDOA two-dimensional localization of terminal 2; Can minimumly arrange four acoustic location transceivers 1 (as arrange acoustic location transceiver A, B, C,D) for the TDOA three-dimensional localization of mobile terminal 2, when in described locating area, dispose more than four acoustic location transceiver time,Every four acoustic location transceivers can be considered as to one group, for obtaining a position coordinates of mobile terminal, finally to allThe position coordinates of mobile terminal that group obtains is averaged, using as the final three-dimensional position of mobile terminal; And when described locationWhen the above acoustic location transceiver of three of deployed in areas, every three acoustic location transceivers can be considered as to one group, forObtain a position coordinates of mobile terminal, finally the position coordinates of all groups of mobile terminals that obtain is averaged, to doFor the final two-dimensional position of mobile terminal, carry out thus further to improve the precision of indoor positioning. In addition, room area is dividedAfter, acoustic location transceiver 1 quantity of zones of different and the quantity of synchronizeing with mobile terminal 2 are determined subsequent decoding data flowIn signal transmission time or signal transmission time poor, and definite following adopted TDOA mode is calculated or adopts TOA sideFormula is calculated. Follow-up can be based on mobile terminal 2 the real-time location at described locating area, for carrying the user of this mobile terminalCorresponding special service is provided, and in addition, the indoor positioning of utilizing mobile terminal provides mobile terminal location-based clothes for userBusiness (LocationBasedService, LBS) recommendation business, for example Rigen pushes away automatically according to user present position at the mallSend businessman to give a discount and action message, use indoor navigation to help user to find quickly needed article at described locating areaDeng; Help user to find an exit fast and elevator in megastore and office building the inside by the digital map navigation in indoor each regionDeng; In medical industry, utilize the indoor positioning of mobile terminal to carry out critically ill patient tracking monitoring, delivery room baby antitheft, valuable doctorTreat monitoring of tools; Towards emergency evacuation, public safety and the Post disaster relief etc. of building. In addition dispose at locating area,After good each acoustic location transceiver 1, the position coordinates of each acoustic location transceiver 1 can be submitted to location-server 3Upper preservation, or be directly sent to preservation on the mobile terminal 2 that enters respective regions, need for the calculating of follow-up location.
In step S2, mobile terminal 2 sends after acoustic signals entering certain locating area, in this locating area, disposesAcoustic location transceiver 1 can receive this acoustic signals by Acoustic Signal Acquisition modules such as its microphones, and to receiveAcoustic signals carries out demodulation, therefrom obtains the data flow such as timestamp in the identity information (ID) of mobile terminal 2 and acoustic signalsInformation.
In step S3, in the time that the acoustic location transceiver 1 of this acoustic signals of reception self has decoding function, Ke YizhiConnect the traffic flow information that it the is obtained processing of decoding, the acoustic signals that obtains described mobile terminal transfers to sound described in eachThe signal transmission time of ripple location transceiver (is that acoustic signals starts timing from mobile terminal 2 transmittings, to being transferred to acoustic locationAfter transceiver 1 receives, timing finishes, the duration that this process is used) or signal transmission time poor (be that acoustic signals is from movementTerminal transmission to twice that acoustic location transceiver is used poor). When receiving the acoustic location transceiver 1 of this acoustic signalsThe data stream information transmission that can be obtained when self does not possess decoding function is to a location-server 3 with decoding functionOr be back to and there is the mobile terminal 2 of decoding function or be back to other by location-server 3 by location-server 3Possess the acoustic location transceiver of decoding capability, process with the traffic flow information that it is obtained, obtain described each signalTransmission time or each signal transmission time are poor. When mobile terminal 2, each acoustic location transceiver 1, location-server all haveWhen decoding function, on the one hand, it is preferential that the keeper of locating area can configure the decoding of these equipment on location-server 3Level, for example, carry out configuration preference level according to the decode resources occupancy of each equipment, or directly configure location-server priority scheduling,Thereby the traffic flow information that can obtain acoustic location transceiver 1 is in time processed, while obtaining described each signal transmissionBetween or each signal transmission time poor, to realize fast the location of mobile terminal; On the other hand, the user of mobile terminal 2 canAutonomous selective decompression terminal, for example, directly choose this mobile terminal 2 processing said data streams, or by acoustic location transceiver 1The data flow of obtaining is sent on corresponding acoustic location transceiver 1 or location-server 3 and processes.
In step S4, in the time that the acoustic location transceiver 1 of reception acoustic signals possesses corresponding location Calculation ability, canWith the identity information of each acoustic location transceiver of directly obtaining, and then the position of extracting described each acoustic location transceiverPut coordinate, and described each signal transmission time poor TDOA of the carrying out calculating or the integrating step S3 that in integrating step S3, obtainIn described each signal transmission time of obtaining carry out TOA calculating, determine the position of described mobile terminal 2, show simultaneouslyOn its display screen to present to user. And when receiving self not the possessing accordingly of acoustic location transceiver 1 of acoustic signalsWhen location Calculation ability, described each signal transmission time that can it be obtained in step S3 by gateway device 4 poor orDescribed each signal transmission time is sent to and on the location-server 3 with location Calculation ability, carries out TDOA or TOA calculates, orPoor or described each signal transmission time of described each signal transmission time that person obtains it in step S3 is by described fixedPosition server 3 be forwarded in described each acoustic location transceiver 1, possess corresponding location Calculation ability certain or certain severalOn acoustic location transceiver 1, carry out corresponding TDOA or TOA and calculate, or described each signal that it is obtained in step S3Transmission time difference or described each signal transmission time are forwarded to and are possessed corresponding location Calculation ability by described location-server 3Mobile terminal 3 carry out corresponding TDOA or TOA and calculate, corresponding location computing device can be received according to described each acoustic locationThe ID of hair device obtains the position coordinates of described each acoustic location transceiver 1, and in conjunction with described each signal transmission time poor orDescribed each signal transmission time carries out corresponding TDOA or TOA calculates, to draw the position coordinates of described mobile terminal 2. ItsIn, in the time storing the position coordinates of each acoustic location transceiver in the database of location-server 3, location-server 3 is straightConnect and from database, call for self or be forwarded to corresponding acoustic location transceiver 1 or mobile terminal 2 uses; When fixedWhile not storing the position coordinates of each acoustic location transceiver on the server 3 of position, in mobile terminal 2, store each sound wave fixedPosition transceiver position coordinates time, the position coordinates of each acoustic location transceiver is sent to location-server by mobile terminal 23, self use or be further forwarded to corresponding acoustic location transceiver 1 by location-server 3 for location-server 3Use; In the time all not storing the position coordinates of each acoustic location transceiver on location-server 3 and mobile terminal 2, eachIts ID and position coordinates are all sent to location-server 3 or mobile terminal 2 by acoustic location transceiver.
Wherein, in step S4, calculate and determine that described mobile terminal is in described location no matter which equipment carries out TDOAThe three-dimensional position in region, all needs to carry out following steps and comprises:
If the position of described mobile terminal 2 is (x, y, z), receive four sound waves of the acoustic signals of described mobile terminal 2The position of location transceiver A, B, C, D is respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)；
If it is used that the acoustic signals of described mobile terminal 2 transfers to respectively described four acoustic location transceiver A, B, C, DTime be t1、t2、t3、t4；
The formula of the three-dimensional position of TDOA calculating mobile terminal 2 is as follows:
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = c ( t 1 - t 2 )
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 1 - t 3 )
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 1 - t 4 )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 2 - t 3 )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 2 - t 4 )
( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 3 - t 4 )
The transmission speed that wherein above-mentioned c in various is acoustic signals, c=340m/s, adopts chan algorithm, Fang algorithmOr Taylor Series Expansion Method etc. solves (x, y, the z) in above-mentioned equation group, to obtain the accurate three-dimensional position of mobile terminal 2,The three-dimensional location coordinates calculating can be rendered in the map of described locating area of mobile terminal 2, described in presenting to, movesThe user of moving terminal 2.
Accordingly, in step S4, calculate and determine that described mobile terminal is described fixed no matter which equipment carries out TDOAThe two-dimensional position in region, position, all needs to carry out following steps and comprises:
If the position of described mobile terminal is (x, y), receive three described sound waves of the acoustic signals of described mobile terminalThe position of location transceiver is respectively (x1,y1)、(x2,y2)、(x3,y3)；
If the acoustic signals of described mobile terminal transfers to respectively described three acoustic location transceivers time used and ist1、t2、t3；
It is as follows that TDOA calculates the formula of two-dimensional position of described mobile terminal:
( x - x 1 ) 2 + ( y - y 1 ) 2 - ( x - x 2 ) 2 + ( y - y 2 ) 2 = c ( t 1 - t 2 )
( x - x 1 ) 2 + ( y - y 1 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 = c ( t 1 - t 3 )
( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 = c ( t 2 - t 3 )
Wherein above-mentioned c in various is sonic transmissions speed, c=340m/s, adopt chan algorithm, Fang algorithm orTaylor Series Expansion Method etc. solves (x, the y) in above-mentioned equation group, to obtain the accurate two-dimensional position of mobile terminal 2, calculatesThe two-dimensional position coordinate going out can be rendered in the map of described locating area of mobile terminal 2, described eventually mobile to present toThe user of end 2. It should be noted that, the two-dimensional localization of mobile terminal 2 can be regarded the special case of three-dimensional localization as, when two-dimensional localizationTDOA to calculate be in fact that all formula the inside z during three-dimensional TDOA is calculated is made as 0, formula quantity reduces accordingly.
Wherein, in step S4, calculate and determine that described mobile terminal is at described positioning area no matter which equipment carries out TOAThe three-dimensional position in territory, all needs to carry out following steps and comprises:
If the position of described mobile terminal 2 is (x, y, z), receive three of acoustic signals of described mobile terminal 2 with moveThe synchronous acoustic location transceiver A of moving terminal 2, the position of B, C are respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)；
If the time (being the moment) of described mobile terminal transmitting acoustic signals is t, described three acoustic location transceiver A,The time (being the moment) that B, C receive respectively described acoustic signals is t1、t2、t3; The transmission of described acoustic signals from mobile terminal 2 toThe signal transmission time of acoustic location transceiver A is t1-t; Described acoustic signals transfers to acoustic location transmitting-receiving from mobile terminal 2The signal transmission time of device B is t2-t; The signal that described acoustic signals transfers to acoustic location transceiver C from mobile terminal 2 passesThe defeated time is t3-t；
The formula of the position of TOA calculating mobile terminal 2 is as follows:
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 = c ( t 1 - t )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = c ( t 2 - t )
( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 3 - t )
The transmission speed that wherein above-mentioned c in various is acoustic signals, c=340m/s, adopts least square method, LSE (ginsengExamination point location) algorithm, DFP (change yardstick) algorithm, genetic algorithm or Chan algorithm etc. solve (x, y, the z) in above-mentioned equation group,Thereby can by the coordinate of three acoustic location transceiver A, B, C and separately with the distance of mobile terminal, obtain eventually mobileThe accurate three-dimensional position of end 2, can be rendered into the position coordinates calculating in the map of described locating area afterwards, feeds back toMobile terminal 2.
Accordingly, in step S4, calculate and determine that described mobile terminal is in described location no matter which equipment carries out TOAThe two-dimensional position in region, all needs to carry out following steps and comprises:
If the position of described mobile terminal is (x, y), receive described mobile terminal acoustic signals with mobile terminal 2 withThe position of two acoustic location transceiver A, B of step is respectively (x1,y1)、(x2,y2)；
If the time of described mobile terminal transmitting acoustic signals is t, described two acoustic location transceiver A, B receive respectivelyThe time of described acoustic signals is t1、t2；
It is as follows that TOA calculates the formula of two-dimensional position of described mobile terminal:
( x - x 1 ) 2 + ( y - y 1 ) 2 = c ( t 1 - t )
( x - x 2 ) 2 + ( y - y 2 ) 2 = c ( t 2 - t )
Wherein above-mentioned c in various is sonic transmissions speed, and c=340m/s adopts least square method, (reference point is fixed for LSEPosition) algorithm, DFP (change yardstick) algorithm, genetic algorithm or Chan algorithm etc. solve (x, the y) in above-mentioned equation group, thus canBy the coordinate of acoustic location transceiver A, B and separately with the distance of mobile terminal 2, obtain the accurate two dimension of mobile terminal 2Position, can be rendered into the position coordinates calculating in the map of described locating area afterwards, feeds back to mobile terminal 2, withPresent to the user of described mobile terminal 2. It should be noted that, the two-dimensional localization of mobile terminal 2 can be regarded three-dimensional localization asSpecial case, it is in fact that all formula the inside z during three-dimensional TOA is calculated is made as 0, formula number that TOA when two-dimensional localization calculatesAmount is corresponding to be reduced.
Further, on described mobile terminal 2, there is the display interface of the map of described locating area, when mobile terminal 2 is receivedAfter the TDOA or TOA result of calculation of current its position in described locating area, on described display interface by himselfPlay up in the map that is presented at described locating area position, directly checks for user.
Further, based on user by its of mobile terminal Real-time Obtaining position on the map of described locating areaInformation, can realizing route planning, the personalized clothes such as region guide to visitors, information pushing, position share, self-help shopping, article addressingBusiness.
Mobile terminal locating method provided by the invention, is applicable to the location of the mobile terminal of indoor and outdoors, Neng GouMinimumly in certain locating area can only dispose two acoustic location transceivers of synchronizeing with mobile terminal network, utilize eventually mobileThe transmission time that the acoustic signals of end arrives respectively two acoustic location transceivers is accurately oriented mobile terminal described fixedThe two-dimensional position in region, position, or minimumly in certain locating area can only dispose three sound of synchronizeing with mobile terminal networkRipple location transceiver, utilizes the transmission time of three acoustic location transceivers of acoustic signals arrival of mobile terminal accurately to locateGo out the three-dimensional position of mobile terminal at described locating area, or can minimumly in certain locating area can only dispose threeAcoustic location transceiver, utilizes the acoustic signals of mobile terminal to arrive respectively the transmission time difference of three acoustic location transceiversAccurately orient the two-dimensional position of mobile terminal at described locating area, or in certain locating area minimum can only deploymentFour acoustic location transceivers, utilize the transmission time difference of four acoustic location transceivers of acoustic signals arrival of mobile terminalAccurately orient the three-dimensional position of mobile terminal at described locating area. Therefore technical scheme of the present invention is solving environmental factorWhen the uncertainty of bringing and high accuracy problem, can also reduce location cost, ensure mobile terminal positioning precision. For example,In the time that the time precision of the acoustic signals of acoustic location transceiver mobile terminal receive is 1ms (millisecond), the location of mobile terminalError is 1ms*340m/s=0.34m=34cm.
Please refer to Fig. 2 and 3, acoustic location transceiver 1 of the present invention, installs with other at least one acoustic location transceiversIn certain locating area, receive the acoustic signals that enters mobile terminal transmitting to be positioned in described locating area, for auxiliaryThe location of described mobile terminal 2, can comprise:
Acoustic Signal Acquisition module 12, the sound wave of launching for the described mobile terminal 2 gathering in described locating area letterNumber, preferred, described Acoustic Signal Acquisition module 12 can be the sound pick-up outfits such as microphone, the time difference precision of its collection signalFor ms level;
Signal demodulation module 13, for the acoustic signals collecting is carried out to demodulation, obtains the movement of described acoustic signalsData flow in the identity information of terminal and described acoustic signals.
Optionally, described acoustic location transceiver also comprises Network Synchronization module 11, with described other at least one sound wavesLocation transceiver and described mobile terminal access consolidated network, and receive the time synchronizing signal of described network, realize and instituteState in the time synchronized and described acoustic location transceiver of other at least one acoustic location transceivers and described mobile terminalThe time synchronized of other modules of portion, can make the follow-up data flow that can obtain from signal demodulation module 13 thusThe acoustic signals that obtains described mobile terminal 2 transfers to signal transmission time or the letter of acoustic location transceiver 1 described in eachNumber transmission time difference. Described Network Synchronization module 11 can and be moved with the Network Synchronization module of other acoustic location transceivers 1Moving terminal 2 is connected to the gateway device 4 being independent of outside all acoustic location transceivers 1 and mobile terminal 2 together, same to accessA network, receives the time synchronizing signal from described network. In other embodiments of the invention, described Network Synchronization mouldPiece 11 can also, directly as gateway device 4, be accepted the access of other acoustic location transceivers 1 and mobile terminal 2, with describedOther acoustic location transceivers 1 and mobile terminal 2 access same network, 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, also canTo be any cable network (Ethernet) that possesses time synchronized function.
Optionally, described acoustic location transceiver 1 also comprises decoder module 14, for according to described signal demodulation module 13The data flow transmitting, the acoustic signals that obtains described mobile terminal 2 transfers to its Acoustic Signal Acquisition module 12 and other eachSignal transmission time or the signal transmission time of the Acoustic Signal Acquisition module of described acoustic location transceiver 1 are poor.
Optionally, described acoustic location transceiver 1 also comprises location Calculation module 15, for fixed according to described each sound waveThe position of position transceiver 1 and described signal transmission time are poor carries out TDOA calculating, or according to described each acoustic location transmitting-receivingThe position of device 1 and described signal transmission time carry out TOA calculating, to obtain described mobile terminal 2 in described locating areaPosition, and give described mobile terminal 2 by described position feedback. Described each sound wave wherein needing in location Calculation module 15 is fixedThe positional information of position transceiver 1 can directly provide by the database of location-server 3, also can pass through location-server 3In transmitting mobile terminal 2, the positional information of described each acoustic location transceiver 1 of storage is obtained, in location Calculation module 15Poor or the described signal transmission time of described signal transmission time needing is from the poor or described signal of described signal transmission timeThe calculating location (being decoding device) in transmission time is located to obtain, for example, if the poor or described signal of described signal transmission time passesThe defeated time is calculated by the decoder module 14 of this acoustic location transceiver, and location Calculation module 15 obtains from decoder module 14Get, if the poor or described signal transmission time of described signal transmission time is calculated by location-server 3, location Calculation module15 obtain from location-server 3, if the poor or described signal transmission time of described signal transmission time is calculated by mobile terminal 2Go out, location Calculation module 15 need to be obtained from mobile terminal 2 by location-server 3. Therefore, when mobile terminal 2 and fixedPosition has at least in server 3 one to have and be equivalent to the functional module of above-mentioned decoder module 14 and be equivalent to above-mentioned location meterWhile calculating the functional module of module 15, above-mentioned decoder module 14 and location Calculation module 15 are all optional module, not essential, andDo not affect reaching of the technology of the present invention object.
In addition, also it should be noted that, in the time need to carrying out three-dimensional localization to the mobile terminal in locating area, location is movedA three-dimensional position of moving terminal, need four above-mentioned acoustic location transceivers position and between signal transmission timePoor, or need three with the above-mentioned acoustic location transceiver of mobile terminal synchronization and signal transmission time accordingly, abilitySet up equation group, TODA or TOA solve described three-dimensional position, therefore need in locating area, dispose at least three with mobileTerminal synchronizes or at least four do not require and the above-mentioned acoustic location transceiver of mobile terminal synchronization; And need to be to locationWhen mobile terminal in region carries out two-dimensional localization, a two-dimensional position of localisation of mobile terminals, needs three above-mentioned sound wavesThe position of location transceiver and between signal transmission time poor, or need two with the above-mentioned sound of mobile terminal synchronizationRipple location transceiver and corresponding signal transmission time, could set up equation group, solves described two-dimensional position, therefore need to beIn locating area, dispose at least two with mobile terminal synchronization or at least three do not require above-mentioned with mobile terminal synchronizationAcoustic location transceiver.
Thus, dispose the acoustic location transceiver of two or three and mobile terminal synchronization at described locating area, orDispose three or four at described locating area and do not require and the acoustic location transceiver of mobile terminal synchronization, can assist realizationIn this locating area, launch two dimension or the three-dimensional localization of the mobile terminal of acoustic signals, do not need again in described locating areaArrange the hardware auxiliary equipment that other are a large amount of, location cost is low, is suitable for promoting, and is applicable to the determining of mobile terminal of indoor and outdoorsPosition.
Please refer to Fig. 2 and Fig. 4, mobile terminal 2 of the present invention, can comprise:
Coding module 21, for the coding that armed acoustic signals is comprised to identity information and timestamp information;
Signal modulation module 22, for being modulated to the acoustic signals after coding the frequency of launch requirements;
DAC module 23, for transferring the acoustic signals after modulation to analog signal;
Acoustic power amplification module 24, for carrying out power amplification by described analog signal;
Loudspeaker or ultrasonic transducer 25, for being played to by the signal after amplifying the positioning area that this mobile terminal entersIn territory;
Position display module 28, for showing the current position at described locating area of described mobile terminal 2.
Described coding module 21 adopts the coded systems such as m sequence to encode to acoustic signals, is providing this acoustic locationWhen the information such as identity information (being id information or positional information), timestamp of transceiver, can also improve acoustic signalsTo guarantee anti-detection, antijamming capability, wherein the coding of coding module 21 is corresponding with position or the identity of acoustic location transceiverRelation is known by location-server 3 or mobile terminal 2 in advance, thus could be in follow-up computational process, make eventually mobileThe data flow that end 2 or location-server 3 or corresponding acoustic location transceiver 1 obtain each acoustic location transceiver 1Decode, can obtain each acoustic location transceiver 1 of the acoustic signals that mobile terminal receive 2 launches from data flowBetween the poor or described acoustic signals of signal transmission time while transferring to the signal transmission of described each acoustic location transceiver 1Between, and then make to have location-server 3 or mobile terminal 2 or the corresponding sound wave of TDOA or TOA location Calculation abilityLocation transceiver 1 can according to the positional information of described each acoustic location transceiver and described signal transmission time is poor carries outTDOA calculates, or carries out TOA calculating according to the positional information of described each acoustic location transceiver and described signal transmission time.
Described signal modulation module 22 adopts the modulation systems such as MSK, FSK or PSK that the frequency modulation(PFM) of acoustic signals is arrived20Hz～100MHz, ensures 99.5% band of 1.5 times that is limited in message transmission rate of the signal energy after modulation thusIn wide, reduce signal and be disturbed, ensure constant signal envelope performance simultaneously.
Optionally, described mobile terminal 2 also comprises the net of synchronization module 20 and other at least two acoustic location transceiversNetwork synchronization module is connected to a gateway device 4 together, to access same network, receives the time synchronized letter from described networkNumber, for obtaining and TOA calculating of follow-up described signal transmission time. Synchronization module 20 can with institute in locating areaThere is the Network Synchronization module of acoustic location transceiver 1 to be connected to together and be independent of all acoustic location transceivers 1 and mobile terminal 2Outside gateway device 4, to access same network, receive from the time synchronizing signal of described network. Of the present invention itsIn he embodiment, described synchronization module 20 can also be directly as gateway device 4, accepts all acoustic locations in locating area and receivesThe access of hair device 1, so that mobile terminal 2 and described all acoustic location transceivers 1 are accessed to same network, receives from describedThe time synchronizing signal of network. And the network that synchronization module 20 accesses can be ZigBee-network, WiFi network, blueteeth networkDeng wireless network, it can be also any cable network (Ethernet) that possesses time synchronized function.
In the present embodiment, synchronization module 20, coding module 21, signal modulation module 22 and DAC module 23 can be passed throughIn more existing microprocessor chips, corresponding functional module realizes, and these microprocessor chips can select adaptation gateway to establishThe chip of standby 4 Network Synchronization function, for example, in the time that gateway device 4 is ZigBee gateway device, microprocessor chip can beTICC2530ZigBee communication microprocessor chip etc., in the time that gateway device 4 is WIFI gateway device or Bluetooth gateway equipment,Microprocessor chip can be selected ARMSTM32F107 chip etc.
Optionally, described mobile terminal 2 also comprises decoder module 26, for the institute transmitting according to acoustic location transceiver 1State data flow, obtain poor or described each acoustic location of signal transmission time between described each acoustic location transceiver 1The signal transmission time of transceiver 1 correspondence.
Optionally, described mobile terminal 2 also comprises locating module 27, for according to described each acoustic location transceiver 1Position and described signal transmission time is poor carries out TDOA calculating, or according to the position of described each acoustic location transceiver 1And described signal transmission time carries out TOA calculating, obtain the position of described mobile terminal 2 in described locating area. Wherein fixedThe positional information of described each acoustic location transceiver 1 needing in the module 24 of position can be straight by the storage card of mobile terminal 2Obtain and get, also can be provided by the database of location-server 3. The described signal transmission time that needs in locating module 24 poor orDescribed signal transmission time calculating location poor from described signal transmission time or described signal transmission time (is decoded and is establishedStandby) locate to obtain, if for example described signal transmission time is poor or signal transmission time by the solution of corresponding acoustic location transceiverCode module 14 calculates, and locating module 27 need to be by the indirect decoding from described acoustic location transceiver of location-server 3Module 14 places obtain, if described signal transmission time is poor or signal transmission time is calculated by location-server 3, positioning modulePiece 27 need to obtain from location-server 3, if described signal transmission time is poor or signal transmission time by mobile terminal 2Decoder module 26 calculates, and locating module 24 directly obtains from decoder module 26. Therefore, when all acoustic location transceivers1 and location-server 3 in have at least one have be equivalent to above-mentioned decoder module 26 functional module and be equivalent to above-mentionedWhen the functional module of locating module 27, above-mentioned decoder module 26 and locating module 27 are all optional module, not essential, noAffect reaching of the technology of the present invention object, can greatly reduce thus the requirement of the computing capability to mobile terminal 2, makeThe mobile terminal of low side also can be realized the location in this locating area.
In the present embodiment, the position display module 28 of described mobile terminal 2 is also for storage with show described locating areaMap, and the position of described mobile terminal 2 in described locating area that obtain played up and is presented at described locating areaOn map.
Described mobile terminal 2 in the present embodiment can be the handheld devices such as smart mobile phone, panel computer, electronic cards, alsoCan be the wearing equipment such as intelligent watch, intelligent bracelet, intelligent button, intelligent glasses, earphone.
It should be noted that, in the time need to carrying out three-dimensional localization to the mobile terminal 2 in locating area, localisation of mobile terminalsA three-dimensional position of 2, need four do not require and the position of the acoustic location transceiver 1 that mobile terminal 2 is synchronizeed and betweenSignal transmission time poor, or need three acoustic location transceivers of synchronizeing with mobile terminal 3 and corresponding signal biography thereofThe defeated time, could set up TDOA or TOA equation group, solve described three-dimensional position, therefore need to determining at mobile terminal 2 placesAt least four of the deployed in areas in position do not require the acoustic location transceiver 1 of synchronizeing with mobile terminal 2 or dispose at least three withThe acoustic location transceiver 1 that mobile terminal 2 is synchronous, for the three-dimensional localization of mobile terminal; And need to be to moving in locating areaWhen moving terminal 2 is carried out two-dimensional localization, a two-dimensional position of localisation of mobile terminals 2, needs three not require with mobile terminal 2 sameStep acoustic location transceiver 1 position and between signal transmission time poor, or need two synchronize with mobile terminal 2Position and the corresponding signal transmission time thereof of acoustic location transceiver 1, could set up TDOA or TOA equation group, solveDescribed two-dimensional position therefore need to be disposed at least three and not require and mobile terminal 2 in the locating area at mobile terminal 2 placesSynchronous acoustic location transceiver 1 or at least two acoustic location transceivers 1 of synchronizeing with mobile terminal 2 of deployment, for movingThe two-dimensional localization of moving terminal.
Thus, user carries above-mentioned mobile terminal and enters into that to be deployed with the sound wave of respective numbers and Network Synchronization configuration fixedWhen the locating area of position transceiver, can be by mobile terminal Real-time Obtaining oneself at the two-dimensional position or three of described locating areaDimension position, thus the personalized service that described locating area provides further obtained, for example information recommendation, path planning, districtTerritory guides to visitors etc., are applicable to the location of the mobile terminal of indoor and outdoors.
Therefore, please refer to Fig. 2, the invention provides a kind of mobile terminal location system, comprising:
Mobile terminal 2, for entering after certain locating area, to described locating area transmitting acoustic signals;
At least two acoustic location transceivers 1 that are deployed in described locating area (are at least disposed two acoustic locations receiptsHair device A, B are synchronizeed for TOA two-dimensional localization with mobile terminal 2, or at least dispose three and do not require and synchronize with mobile terminal 2Acoustic location transceiver A, B, C are for TDOA two-dimensional localization; Or at least dispose three acoustic location transceiver A, B, C and movementsTerminal 2 is synchronously for TOA three-dimensional localization, or at least disposes four and do not require the acoustic location transmitting-receiving of synchronizeing with mobile terminal 2Device A, B, C, D are for TDOA three-dimensional localization), for receiving described acoustic signals, and from described acoustic signals, obtain correspondingData flow;
Location-server 3, for configuring self or described mobile terminal 2 or described each acoustic location transceiver 1At least one acoustic location transceiver 1 acoustic signals of obtaining described mobile terminal 2 from described data flow transfer to eachSignal transmission time or the signal transmission time of described acoustic location transceiver 1 are poor, and for configure self or described in moveAt least one acoustic location transceiver 1 in moving terminal 2 or described each acoustic location transceiver 1, according to described each soundThe position of ripple location transceiver 1 and described signal transmission time are poor to carry out TDOA calculating or receives according to described each acoustic locationThe position of hair device 1 and described signal transmission time carry out TOA calculating, to obtain described mobile terminal 2 in described locating areaPosition.
Further, described mobile terminal location system also comprises gateway device 4, for by described locating area instituteSome acoustic location transceivers 1 and described mobile terminal 2 are linked in consolidated network, and receive to described all acoustic locationsHair device 1 and described mobile terminal 2 send the time synchronizing signal of described network, to realize described all acoustic location transceivers1 and the time synchronized of described mobile terminal 2. In the present embodiment, described gateway device 4 can be ZigBee gateway device, WIFIThe wireless gateway devices such as gateway device or Bluetooth gateway equipment can be also any cable networks that possesses time synchronized functionGateway device, and gateway device 4 can be independent of the gateway outside all acoustic location transceivers 1 and described mobile terminal 2Equipment, or can become one with arbitrary described acoustic location transceiver, or can be integrated into one with described mobile terminal 2Body. All acoustic location transceivers 1 that gateway device 4 is disposed to described locating area by its establishing network are (for example, for TOAAcoustic location transceiver A, the B of two-dimensional localization) and mobile terminal 2, or for the acoustic location transceiver A of TOA three-dimensional localization,B, C) and 2 transmission time of mobile terminal synchronizing signal, described all acoustic location transceiver 1 mobile terminals 2 are in this time synchronizedSynchronous under the control of signal. Gateway device 4 can be netted transmission data and signal etc. by Internet with location-server 3, thereforeThe time synchronizing signal transmitting in this network can be sent by gateway device 4 by location-server 3. Mobile terminal 2 and locationBetween server 3, connect with signal and transmit by WIFI or GPRS mode.
Please refer to Fig. 5, in the present embodiment, described location-server 3 comprise decoder module 30, location algorithm module 31,Figure engine modules 32 and device management module 33.
Decoder module 30, transfers to described in each for obtain the acoustic signals of described mobile terminal from described data flowSignal transmission time or the signal transmission time of acoustic location transceiver are poor;
Location algorithm module, for poor according to the position of acoustic location transceiver described in each and described signal transmission timeCarry out TDOA calculating, or carry out TOA meter according to the position of acoustic location transceiver described in each and described signal transmission timeCalculate, to determine the position of described mobile terminal in described locating area, concrete computational process is as follows:
In the time that needs carry out TDOA three-dimensional localization to mobile terminal 2, the position of establishing described mobile terminal 2 is (x, y, z), connectsReceive four described acoustic location transceiver A, B, the C of the acoustic signals of described mobile terminal, the position of D is respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4), and the acoustic signals of establishing described mobile terminal 2 transfers to respectively described four soundThe time of ripple location transceiver A, B, C, D is t1、t2、t3、t4, TDOA calculates the formula of the three-dimensional position of described mobile terminal 2As follows:
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = c ( t 1 - t 2 )
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 1 - t 3 )
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 1 - t 4 )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 2 - t 3 )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 2 - t 4 )
( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 3 - t 4 )
The transmission speed that wherein above-mentioned c in various is acoustic signals, c=340m/s, adopts chan algorithm, Fang algorithmOr Taylor Series Expansion Method etc. solves (x, y, the z) in above-mentioned equation group, to obtain the three-dimensional position accurately of mobile terminal 2Put;
In the time that needs carry out TDOA two-dimensional localization to mobile terminal 2, the position of establishing described mobile terminal 2 is (x, y), receivesThree described acoustic location transceiver A of the acoustic signals of described mobile terminal 2, the position of B, C are respectively (x1,y1)、(x2,y2)、(x3,y3), and the acoustic signals of establishing described mobile terminal 2 transfers to respectively described three acoustic location transceiver A, B, CTime is t1、t2、t3, it is as follows that TDOA calculates the formula of two-dimensional position of described mobile terminal 2:
( x - x 1 ) 2 + ( y - y 1 ) 2 - ( x - x 2 ) 2 + ( y - y 2 ) 2 = c ( t 1 - t 2 )
( x - x 1 ) 2 + ( y - y 1 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 = c ( t 1 - t 3 )
( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 = c ( t 2 - t 3 )
The transmission speed that wherein above-mentioned c in various is acoustic signals, c=340m/s, adopts chan algorithm, Fang algorithmOr Taylor Series Expansion Method etc. solves (x, the y) in above-mentioned equation group, to obtain the two-dimensional position accurately of mobile terminal 2;After this its result of calculation is fed back to mobile terminal 2 by location-server 3;
In the time that needs carry out TOA three-dimensional localization to mobile terminal 2, the position of establishing described mobile terminal 2 is (x, y, z), connectsReceive three acoustic location transceiver A of synchronizeing with described mobile terminal 2 of the acoustic signals of described mobile terminal 2, the position of B, CBe respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3), and establishing described mobile terminal 2, to launch the time of acoustic signals be t, instituteStating the time that three acoustic location transceiver A, B, C receive respectively described acoustic signals is t1、t2、t3, described in TOA calculating, moveThe formula of the three-dimensional position of moving terminal is as follows:
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 = c ( t 1 - t )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = c ( t 2 - t )
( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 3 - t )
The transmission speed that wherein above-mentioned c in various is acoustic signals, c=340m/s, adopts least square method, LSE (ginsengExamination point location) algorithm, DFP (change yardstick) algorithm, genetic algorithm or Chan algorithm etc. solve (x, y, the z) in above-mentioned equation group,Thereby can by the coordinate of three acoustic location transceiver A, B, C and separately with the distance of mobile terminal, obtain eventually mobileThe accurate three-dimensional position of end 2, can be rendered into the position coordinates calculating in the map of described locating area afterwards, feeds back toMobile terminal 2;
In the time that needs carry out TOA two-dimensional localization to mobile terminal 2, the position of establishing described mobile terminal 2 is (x, y), receivesThe position of two acoustic location transceiver A, B of the acoustic signals of described mobile terminal 2 is respectively (x1,y1)、(x2,y2), and establishThe time that described mobile terminal 2 is launched acoustic signals is t, and described two acoustic location transceiver A, B receive respectively described sound waveThe time of signal is t1、t2, it is as follows that TOA calculates the formula of two-dimensional position of described mobile terminal 2:
( x - x 1 ) 2 + ( y - y 1 ) 2 = c ( t 1 - t )
( x - x 2 ) 2 + ( y - y 2 ) 2 = c ( t 2 - t )
Wherein above-mentioned c in various is sonic transmissions speed, and c=340m/s adopts least square method, (reference point is fixed for LSEPosition) algorithm, DFP (change yardstick) algorithm, genetic algorithm or Chan algorithm etc. solve (x, the y) in above-mentioned equation group, thus canBy the coordinate of three acoustic location transceiver A, B, C and separately with the distance of mobile terminal, obtain mobile terminal 2 accuratelyTwo-dimensional position, can be rendered into the position coordinates calculating in the map of described locating area afterwards, feeds back to mobile terminal2；
Described engine map module 32 is for storing the map of described locating area, and by the described mobile terminal calculatingPosition in described locating area is rendered on the map of described locating area, to feed back to described mobile terminal 2.
Device management module 33, for described mobile terminal 2 and all acoustic location transceivers 1 are managed, andConfigure at least one the acoustic location transceiver 1 in self or described mobile terminal 2 or described each acoustic location transceiver 1From described data flow, obtain the poor or signal transmission time of described signal transmission time, and configure self or described mobile terminal2 or described each acoustic location transceiver 1 at least one acoustic location transceiver 1 carry out described TDOA calculating or described inTOA calculates.
It should be noted that, in the mobile terminal location system of other embodiment of the present invention, receive and dispatch from acoustic locationIn the data flow that device 1 transmits, obtain the poor or corresponding signal of signal transmission time between described each acoustic location transceiver 1The solution Calculative Process in transmission time can also calculate in the mobile terminal 2 that possesses decoding capability, or can also possessAny one or more middle calculating in described each acoustic location transceiver 1 of decoding capability. Similarly, according to described eachThe position of acoustic location transceiver 1 and between the poor described TDOA carrying out of signal transmission time calculate, also can possessIn the mobile terminal 2 of TDOA computing capability, complete, or can also possess described each acoustic location of TDOA computing capabilityIn any one or more in transceiver 1, complete; According to the position of described each acoustic location transceiver 1 and accordingly letterThe described TOA that number transmission time carries out calculates, and also can in the mobile terminal 2 that possesses TOA computing capability, complete, or also canComplete with in any one or more in described each acoustic location transceiver 1 that possesses TOA computing capability. Specifically selectWhich equipment in mobile terminal 2, acoustic location transceiver 1, location-server 3 gone described signal transmission time poor or letterThe calculating in number transmission time and described TDOA or TOA calculate, and can automatically be joined by the device management module of location-server 3 33Put, or have the user of mobile terminal 2 to go initiatively to select, or according to mobile terminal 2, each acoustic location transceiver of collecting1, the capacity of equipment configure of location-server 3, should be provided with based on TDOA in the TDOA of configuration or TOA computing equipment and locateThe process chip of method or TOA localization method or PLD, wherein, described process chip can be integratedThe STC89C52RC chip of TDOA/TOA localization method, STC12C5A60S2 chip, TMS320F28027 chip,The existing computing chips such as ATMEGAL128L chip, NANOPAN5375, STM32F103RC, CC2531 chip.
Thus, utilize above-mentioned mobile terminal location system, in realizing the real-time location of mobile terminal, also from networkIn deployment, reduced synchronous gateway equipment, reduced location cost, the positioning precision of mobile terminal can reach μ m level, very suitableFor the indoor positioning of the limited mobile terminal of calculation function, practicality is good, is easy to promote, and is applicable to the movement of indoor and outdoorsThe location of terminal.
Please refer to Fig. 2 and Fig. 3, the present invention also provides a kind of mobile terminal location system, comprises at least two acoustic locationsTransceiver 1, mobile terminal 2 and location-server 3, compared with mobile terminal location system described in Fig. 2, its difference is,Each acoustic location transceiver 1 that locating area is disposed includes:
Acoustic Signal Acquisition module 12, the sound wave of launching for the described mobile terminal 2 gathering in described locating area letterNumber, preferred, described Acoustic Signal Acquisition module 12 can be the sound pick-up outfits such as microphone, the time difference precision of its collection signalFor ms level;
Signal demodulation module 13, for the acoustic signals collecting is carried out to demodulation, obtains the movement of described acoustic signalsData flow in the identity information of terminal and described acoustic signals.
Optionally, described acoustic location transceiver also comprises Network Synchronization module 11, with described other at least one sound wavesLocation transceiver and described mobile terminal access consolidated network by gateway device 4, and receive the time synchronized of described networkSignal, realizes time synchronized and described sound wave with described other at least one acoustic location transceivers and described mobile terminalThe time synchronized of other modules of transceiver inside, location, can make follow-up can obtaining from signal demodulation module 13 thusThe acoustic signals that obtains described mobile terminal 2 in the data flow of getting transfers to the signal of acoustic location transceiver 1 described in each and passesDefeated time or signal transmission time are poor.
Optionally, described acoustic location transceiver 1 also comprises decoder module 14, for according to described signal demodulation module 13The data flow transmitting, the acoustic signals that obtains described mobile terminal 2 transfers to its Acoustic Signal Acquisition module 12 and other eachSignal transmission time or the signal transmission time of the Acoustic Signal Acquisition module of described acoustic location transceiver 1 are poor.
Optionally, described acoustic location transceiver 1 also comprises location Calculation module 15, for fixed according to described each sound waveThe position of position transceiver 1 and described signal transmission time are poor carries out TDOA calculating, or according to described each acoustic location transmitting-receivingThe position of device 1 and described signal transmission time carry out TOA calculating, to obtain described mobile terminal 2 in described locating areaPosition, and give described mobile terminal 2 by described position feedback. Described each sound wave wherein needing in location Calculation module 15 is fixedThe positional information of position transceiver 1 can directly provide by the database of location-server 3, also can pass through location-server 3In transmitting mobile terminal 2, the positional information of described each acoustic location transceiver 1 of storage is obtained, in location Calculation module 15Poor or the described signal transmission time of described signal transmission time needing is from the poor or described signal of described signal transmission timeThe calculating location (being decoding device) in transmission time is located to obtain, for example, if the poor or described signal of described signal transmission time passesThe defeated time is calculated by the decoder module 14 of this acoustic location transceiver, and location Calculation module 15 obtains from decoder module 14Get, if the poor or described signal transmission time of described signal transmission time is calculated by location-server 3, location Calculation module15 obtain from location-server 3, if the poor or described signal transmission time of described signal transmission time is calculated by mobile terminal 2Go out, location Calculation module 15 need to be obtained from mobile terminal 2 by location-server 3. Therefore, when mobile terminal 2 and fixedPosition has at least in server 3 one to have and be equivalent to the functional module of above-mentioned decoder module 14 and be equivalent to above-mentioned location meterWhile calculating the functional module of module 15, above-mentioned decoder module 14 and location Calculation module 15 are all optional module, not essential, andDo not affect reaching of the technology of the present invention object.
In addition, also it should be noted that, in the time need to carrying out three-dimensional localization to the mobile terminal in locating area, location is movedA three-dimensional position of moving terminal, need four above-mentioned acoustic location transceivers position and between signal transmission timePoor, or need three with the above-mentioned acoustic location transceiver of mobile terminal synchronization and signal transmission time accordingly, abilitySet up equation group, TODA or TOA solve described three-dimensional position, therefore need in locating area, dispose at least three with mobileTerminal synchronizes or at least four do not require and the above-mentioned acoustic location transceiver of mobile terminal synchronization; And need to be to locationWhen mobile terminal in region carries out two-dimensional localization, a two-dimensional position of localisation of mobile terminals, needs three above-mentioned sound wavesThe position of location transceiver and between signal transmission time poor, or need two with the above-mentioned sound of mobile terminal synchronizationRipple location transceiver and corresponding signal transmission time, could set up equation group, solves described two-dimensional position, therefore need to beIn locating area, dispose at least two with mobile terminal synchronization or at least three do not require above-mentioned with mobile terminal synchronizationAcoustic location transceiver.
Thus, use above-mentioned mobile terminal location system, in realizing the real-time location of mobile terminal, can avoidDrawback in existing electromagnetic wave indoor positioning technology, can solve uncertainty and high accuracy problem that environmental factor is brought, andAnd the structure of acoustic location transceiver is relatively simple, low cost of manufacture, has antijamming capability strong and encoding and decoding simple and fastFeature, is highly suitable for the indoor positioning of the limited mobile terminal of calculation function, and practicality is good, is easy to promote, and is applicable to indoorLocation with outdoor mobile terminal.
Please refer to Fig. 2 and Fig. 4, the present invention also provides a kind of mobile terminal location system, comprises at least three acoustic locationsTransceiver 1, mobile terminal 2 and location-server 3, compared with the mobile terminal location system shown in Fig. 2, its difference is,Mobile terminal 2 comprises with lower module:
Coding module 21, for the coding that armed acoustic signals is comprised to identity information and timestamp information;
Signal modulation module 22, for being modulated to the acoustic signals after coding the frequency of launch requirements;
DAC module 23, for transferring the acoustic signals after modulation to analog signal;
Acoustic power amplification module 24, for carrying out power amplification by described analog signal;
Loudspeaker or ultrasonic transducer 25, for being played to by the signal after amplifying determining that this mobile terminal 2 entersRegion, position;
Position display module 28, for showing the current position at described locating area of described mobile terminal 2.
Described coding module 21 adopts the coded systems such as m sequence to encode to acoustic signals, is providing this acoustic locationWhen the information such as identity information (being id information or positional information), timestamp of transceiver, can also improve acoustic signalsTo guarantee anti-detection, antijamming capability, wherein the coding of coding module 21 is corresponding with position or the identity of acoustic location transceiverRelation is known by location-server 3 or mobile terminal 2 in advance, thus could be in follow-up computational process, make eventually mobileThe data flow that end 2 or location-server 3 or corresponding acoustic location transceiver 1 obtain each acoustic location transceiver 1Decode, can obtain each acoustic location transceiver 1 of the acoustic signals that mobile terminal receive 2 launches from data flowBetween the poor or described acoustic signals of signal transmission time while transferring to the signal transmission of described each acoustic location transceiver 1Between, and then make to have location-server 3 or mobile terminal 2 or the corresponding sound wave of TDOA or TOA location Calculation abilityLocation transceiver 1 can according to the positional information of described each acoustic location transceiver and described signal transmission time is poor carries outTDOA calculates, or carries out TOA calculating according to the positional information of described each acoustic location transceiver and described signal transmission time.
Described signal modulation module 22 adopts the modulation systems such as MSK, FSK or PSK that the frequency modulation(PFM) of acoustic signals is arrived20Hz～100MHz, ensures 99.5% band of 1.5 times that is limited in message transmission rate of the signal energy after modulation thusIn wide, reduce signal and be disturbed, ensure constant signal envelope performance simultaneously.
Optionally, described mobile terminal 2 also comprises the net of synchronization module 20 and other at least two acoustic location transceiversNetwork synchronization module is connected to a gateway device 4 together, to access same network, receives the time synchronized letter from described networkNumber, for obtaining and TOA calculating of follow-up described signal transmission time. In the present embodiment, synchronization module 20, coding mouldPiece 21, signal modulation module 22 and DAC module 23 can be by corresponding function moulds in more existing microprocessor chipsPiece is realized, and these microprocessor chips can be selected the chip of the Network Synchronization function that adapts to gateway device 4, for example, when gateway is establishedWhile being ZigBee gateway device for 4, microprocessor chip can be TICC2530ZigBee communication microprocessor chip etc., whenWhen gateway device 4 is WIFI gateway device or Bluetooth gateway equipment, microprocessor chip can be selected ARMSTM32F107 chipDeng.
Optionally, described mobile terminal 2 also comprises decoder module 26, for the institute transmitting according to acoustic location transceiver 1State data flow, obtain poor or described each acoustic location of signal transmission time between described each acoustic location transceiver 1The signal transmission time of transceiver 1 correspondence.
Optionally, described mobile terminal 2 also comprises locating module 27, for according to described each acoustic location transceiver 1Position and described signal transmission time is poor carries out TDOA calculating, or according to the position of described each acoustic location transceiver 1And described signal transmission time carries out TOA calculating, obtain the position of described mobile terminal 2 in described locating area. Wherein fixedThe positional information of described each acoustic location transceiver 1 needing in the module 24 of position can be straight by the storage card of mobile terminal 2Obtain and get, also can be provided by the database of location-server 3. The described signal transmission time that needs in locating module 24 poor orDescribed signal transmission time calculating location poor from described signal transmission time or described signal transmission time (is decoded and is establishedStandby) locate to obtain, if for example described signal transmission time is poor or signal transmission time by the solution of corresponding acoustic location transceiverCode module 14 calculates, and locating module 27 need to be by the indirect decoding from described acoustic location transceiver of location-server 3Module 14 places obtain, if described signal transmission time is poor or signal transmission time is calculated by location-server 3, positioning modulePiece 27 need to obtain from location-server 3, if described signal transmission time is poor or signal transmission time by mobile terminal 2Decoder module 26 calculates, and locating module 24 directly obtains from decoder module 26. Therefore, when all acoustic location transceivers1 and location-server 3 in have at least one have be equivalent to above-mentioned decoder module 26 functional module and be equivalent to above-mentionedWhen the functional module of locating module 27, above-mentioned decoder module 26 and locating module 27 are all optional module, not essential, noAffect reaching of the technology of the present invention object, can greatly reduce thus the requirement of the computing capability to mobile terminal 2, makeThe mobile terminal of low side also can be realized the location in locating area.
It should be noted that, in the time need to carrying out three-dimensional localization to the mobile terminal 2 in locating area, localisation of mobile terminalsA three-dimensional position of 2, need four do not require and the position of the acoustic location transceiver 1 that mobile terminal 2 is synchronizeed and betweenSignal transmission time poor, or need three acoustic location transceivers of synchronizeing with mobile terminal 3 and corresponding signal biography thereofThe defeated time, could set up TDOA or TOA equation group, solve described three-dimensional position, therefore need to determining at mobile terminal 2 placesAt least four of the deployed in areas in position do not require the acoustic location transceiver 1 of synchronizeing with mobile terminal 2 or dispose at least three withThe acoustic location transceiver 1 that mobile terminal 2 is synchronous, for the three-dimensional localization of mobile terminal; And need to be to moving in locating areaWhen moving terminal 2 is carried out two-dimensional localization, a two-dimensional position of localisation of mobile terminals 2, needs three not require with mobile terminal 2 sameStep acoustic location transceiver 1 position and between signal transmission time poor, or need two synchronize with mobile terminal 2Position and the corresponding signal transmission time thereof of acoustic location transceiver 1, could set up TDOA or TOA equation group, solveDescribed two-dimensional position therefore need to be disposed at least three and not require and mobile terminal 2 in the locating area at mobile terminal 2 placesSynchronous acoustic location transceiver 1 or at least two acoustic location transceivers 1 of synchronizeing with mobile terminal 2 of deployment, for movingThe two-dimensional localization of moving terminal. In addition, when locating module, acoustic location transceiver 1 and all tools of location-server 3 of mobile terminal 2While having location Calculation ability, user can oneself select the calculating location of TDOA or TOA as required, or system automatic selection of optimalCalculate for carry out TDOA or TOA by location-server 3.
Thus, above-mentioned mobile terminal location system, less demanding to the calculation function of mobile terminal, and location costLow, and the position precision of mobile terminal can reach mm level, and practicality is good, is easy to promote, and is applicable to the eventually mobile of indoor and outdoorsThe location of end.
Please refer to Fig. 2, Fig. 3 and Fig. 4, the present invention also provides a kind of mobile terminal location system, comprises at least three sound wavesLocation transceiver 1, mobile terminal 2 and location-server 3, compared with the mobile terminal location system shown in Fig. 2, its difference existsIn, each acoustic location transceiver that locating area is disposed includes:
Acoustic Signal Acquisition module 12, the sound wave of launching for the described mobile terminal 2 gathering in described locating area letterNumber, preferred, described Acoustic Signal Acquisition module 12 can be the sound pick-up outfits such as microphone, the time difference precision of its collection signalFor ms level;
Signal demodulation module 13, for the acoustic signals collecting is carried out to demodulation, obtains the movement of described acoustic signalsData flow in the identity information of terminal and described acoustic signals;
And its mobile terminal 2 comprises with lower module:
Coding module 21, for the coding that armed acoustic signals is comprised to identity information and timestamp information;
Signal modulation module 22, for being modulated to the acoustic signals after coding the frequency of launch requirements;
DAC module 23, for transferring the acoustic signals after modulation to analog signal;
Acoustic power amplification module 24, for carrying out power amplification by described analog signal;
Loudspeaker or ultrasonic transducer 25, for being played to by the signal after amplifying the positioning area that mobile terminal 2 entersIn territory;
Position display module 28, for showing the current position at described locating area of described mobile terminal 2.
Further, described position display module 25 is also for storing and show the map of described locating area, and will obtainPlay up on the map that is presented at described locating area the position of the described mobile terminal 2 obtaining in described locating area.
Optionally, described acoustic location transceiver also comprises Network Synchronization module 11, with described other at least one sound wavesLocation transceiver and described mobile terminal access consolidated network, and receive the time synchronizing signal of described network, realize and instituteState in the time synchronized and described acoustic location transceiver of other at least one acoustic location transceivers and described mobile terminalThe time synchronized of other modules of portion, can make the follow-up data flow that can obtain from signal demodulation module 13 thusThe acoustic signals that obtains described mobile terminal 2 transfers to signal transmission time or the letter of acoustic location transceiver 1 described in eachNumber transmission time difference.
Optionally, described acoustic location transceiver 1 also comprises decoder module 14, for according to described signal demodulation module 13The data flow transmitting, the acoustic signals that obtains described mobile terminal 2 transfers to its Acoustic Signal Acquisition module 12 and other eachSignal transmission time or the signal transmission time of the Acoustic Signal Acquisition module of described acoustic location transceiver 1 are poor.
Optionally, described acoustic location transceiver 1 also comprises location Calculation module 15, for fixed according to described each sound waveThe position of position transceiver 1 and described signal transmission time are poor carries out TDOA calculating, or according to described each acoustic location transmitting-receivingThe position of device 1 and described signal transmission time carry out TOA calculating, to obtain described mobile terminal 2 in described locating areaPosition, and give described mobile terminal 2 by described position feedback.
Optionally, described mobile terminal 2 also comprises the net of synchronization module 20 and other at least two acoustic location transceiversNetwork synchronization module is connected to a gateway device 4 together, to access same network, receives the time synchronized letter from described networkNumber, for obtaining and TOA calculating of follow-up described signal transmission time. In the present embodiment, synchronization module 20, coding mouldPiece 21, signal modulation module 22 and DAC module 23 can be by corresponding function moulds in more existing microprocessor chipsPiece is realized, and these microprocessor chips can be selected the chip of the Network Synchronization function that adapts to gateway device 4, for example, when gateway is establishedWhile being ZigBee gateway device for 4, microprocessor chip can be TICC2530ZigBee communication microprocessor chip etc., whenWhen gateway device 4 is WIFI gateway device or Bluetooth gateway equipment, microprocessor chip can be selected ARMSTM32F107 chipDeng.
Optionally, described mobile terminal 2 also comprises decoder module 26, for the institute transmitting according to acoustic location transceiver 1State data flow, obtain poor or described each acoustic location of signal transmission time between described each acoustic location transceiver 1The signal transmission time of transceiver 1 correspondence.
Optionally, described mobile terminal 2 also comprises locating module 27, for according to described each acoustic location transceiver 1Position and described signal transmission time is poor carries out TDOA calculating, or according to the position of described each acoustic location transceiver 1And described signal transmission time carries out TOA calculating, 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 data flow transmitting from acoustic location transceiver 1Obtain the solution yardage of the poor or corresponding signal transmission time of signal transmission time between described each acoustic location transceiver 1Calculation process can be calculated, or can also possess decoding energy in the decoder module 26 of mobile terminal 2 that possesses decoding capabilityDecoder module 14 in any one or more in described each acoustic location transceiver 1 of power calculates, or can also beIn the location algorithm module 31 of location-server 3, calculate; Similarly, and according to the position of described each acoustic location transceiver andThe described TDOA that signal transmission time is poor or corresponding signal transmission time carries out between it or TOA calculate, also can bePossess in the locating module 27 of mobile terminal 2 of TDOA or TOA computing capability and complete, or can also possess TDOA or TOAIn location Calculation module 15 in any one or more in described each acoustic location transceiver 1 of computing capability, complete,Or can also in the location algorithm module 31 of location-server 3, complete. Specifically select mobile terminal 2, acoustic location transmitting-receivingWhich equipment in device 1, location-server 3 gone the signal transmission time between described each acoustic location transceiver poor orThe calculating of corresponding signal transmission time and described TDOA or TOA calculate, can be by the device management module of location-server 333 configurations automatically, or have the user of mobile terminal 2 to go initiatively to select, or determine according to the mobile terminal 2 of collecting, each sound waveThe capacity of equipment configure of position transceiver 1, location-server 3.
Please refer to Fig. 6, utilize above-mentioned mobile terminal location system to carry out the flow process of the TDOA three-dimensional localization of mobile terminal 2As follows:
1, the acoustic location transceiver A, B, C, the D that in locating area, dispose open work;
2, mobile terminal 2 is launched acoustic signals to described locating area:
2.1, the coding that coding module 21 comprises identity information and timestamp information to armed acoustic signals;
2.2, signal modulation module 22 is modulated to the acoustic signals after coding in the frequency of launch requirements;
2.3, DAC module 23 transfers the acoustic signals after modulation to analog signal;
2.4, described analog signal is carried out power amplification by acoustic power amplification module 24;
2.5, loudspeaker or ultrasonic transducer 25 are played to the signal after amplifying in described locating area;
3, acoustic location transceiver A, B, C, D receive acoustic signals and obtain corresponding information:
3.1, the Acoustic Signal Acquisition module 12 of acoustic location transceiver A, B, C, D gathers the sound of the transmitting of mobile terminal 2Ripple signal;
3.2, signal demodulation module 13 carries out demodulation to the acoustic signals collecting, and (is body with the ID that obtains mobile terminal 2Part information) with and acoustic signals in the data flow that transmits;
4, the described data flow of decoding is poor to obtain signal transmission time between acoustic location transceiver A, B, C, D:
4.1, whether system configures at least one the decoder module 14 of acoustic location transceiver A, B, C, D to acoustic locationThe data flow that transceiver A, B, C, D obtain is decoded, and if so, utilizes the decoder module 14 of the acoustic location transceiver of selectingExecution step 4.4, if not, performs step 4.2;
4.2, the decoder module 30 whether system configures location-server 3 obtains acoustic location transceiver A, B, C, DData flow is decoded, and if so, utilizes the location algorithm module 31 of selecting to carry out 4.4 steps, if not, performs step 4.3;
4.3, the data flow that the decoder module 23 of system configuration mobile terminal 2 obtains acoustic location transceiver A, B, C, DDecode;
4.4, the corresponding functional module of decoding device of utilizing system to configure is obtained acoustic location transceiver A, B, C, DData flow decode, and it is poor to calculate signal transmission time between acoustic location transceiver A, B, C, D;
5, TDOA calculates the current location of mobile terminal 2 at described locating area:
5.1, whether system configures at least one the location Calculation module 15 of acoustic location transceiver A, B, C, D is carried outTDOA calculates, and if so, utilizes the location Calculation module 15 of the acoustic location transceiver of selecting to perform step 5.4, if not, holdsRow step 5.2;
5.2, whether system configures the location algorithm module 31 of location-server 3 is carried out TDOA calculating, and it is fixed if so, to utilizeThe location algorithm module 31 of position server 3 performs step 5.4, if not, performs step 5.3;
5.3, the locating module 27 row TDOA of system configuration mobile terminal 2 calculate;
5.4, utilize the corresponding functional module of TDOA computing equipment that system configures from the database of location-server 3 orIn the memory of mobile terminal 2, obtain the position coordinates of acoustic location transceiver A, B, C, D, and from configured decoding deviceIt is poor that the corresponding function module place obtains signal transmission time between the acoustic location transceiver A that calculates, B, C, D, according to sound waveThe position coordinates of location transceiver A, B, C, D and between signal transmission time poorly carry out TDOA calculating, draw mobile terminal 2Three-dimensional position in described locating area;
5.5, the engine map module 32 of location-server 3 or the position display module 25 of mobile terminal 2 will drawThe three-dimensional position of described mobile terminal is played up on the map of the described locating area that is shown to described mobile terminal 2.
It should be noted that, utilize above-mentioned mobile terminal location system to carry out the two-dimensional localization of mobile terminal 2, only needThe acoustic signals that receives two acoustic location transceiver A, B, C, the flow process shown in method flow and Fig. 6 is basically identical particularly,Do not repeat them here.
Please refer to Fig. 7, utilize above-mentioned mobile terminal location system to carry out the stream of the interior three-dimensional localization of TOA of mobile terminal 2Journey is as follows:
1, gateway device 4 sends time synchronizing signal;
2, mobile terminal 2 is launched acoustic signals to locating area:
2.1, synchronization module 20 receives described time synchronizing signal, realizes in mobile terminal 2 and described locating area and disposingAcoustic location transceiver A, Network Synchronization (being time synchronized or clock synchronous) and the inner each module of mobile terminal 2 of B, CTime synchronized;
2.2, the coding that coding module 21 comprises identity information and timestamp information to armed acoustic signals;
2.3, signal modulation module 22 is modulated to the acoustic signals after coding in the frequency of launch requirements;
2.4, DAC module 23 transfers the acoustic signals after modulation to analog signal;
2.5, described analog signal is carried out power amplification by acoustic power amplification module 24;
2.6, loudspeaker or ultrasonic transducer 25 are played to the signal after amplifying in described locating area;
3, acoustic location transceiver A, B, C receive acoustic signals and obtain corresponding information:
3.1, Network Synchronization module 11 receives described time synchronizing signal, realizes and mobile terminal 2 and other acoustic locationsThe Network Synchronization (being time synchronized or clock synchronous) of transceiver and the time synchronized of inner each module;
3.2, Acoustic Signal Acquisition module 12 gathers the acoustic signals that mobile terminal 2 is launched;
3.3, signal demodulation module 22 carries out demodulation to the acoustic signals collecting, to obtain the number transmitting in acoustic signalsAccording to stream;
4, decode described data flow to obtain the signal transmission time of acoustic location transceiver A, B, C:
4.1, whether system configures at least one the decoder module 14 of acoustic location transceiver A, B, C is received acoustic locationThe data flow that hair device A, B, C obtain is decoded, and if so, utilizes the decoder module 14 of the acoustic location transceiver of selecting to carry outStep 4.4, if not, performs step 4.2;
4.2, whether system configures the number that the decoder module 30 of location-server 3 obtains acoustic location transceiver A, B, CDecode according to stream, if so, utilize the location algorithm module 31 of selecting to carry out 4.4 steps, if not, perform step 4.3;
4.3, the data that the decoder module 26 of system configuration mobile terminal 2 obtains acoustic location transceiver A, B, C flow toRow decoding;
4.4, the corresponding functional module of decoding device of utilizing system to configure is obtained acoustic location transceiver A, B, CData flow is decoded, and calculates respectively the signal transmission time of acoustic location transceiver A, B, C;
5, TOA calculates the current location of mobile terminal 2 at described locating area:
5.1, whether system configures at least one the location Calculation module 15 of acoustic location transceiver A, B, C is carried out TOACalculate, if so, utilize the location Calculation module 15 of the acoustic location transceiver of selecting to perform step 5.4, if not, carry out stepRapid 5.2;
5.2, whether system configures the location algorithm module 31 of location-server 3 is carried out TOA calculating, and it is fixed if so, to utilizeThe location algorithm module 31 of position server 3 performs step 5.4, if not, performs step 5.3;
5.3, the locating module 27 row TOA of system configuration mobile terminal 2 calculate;
5.4, utilize the corresponding functional module of TOA computing equipment that system configures from the database of location-server 3 orIn the memory of mobile terminal 2, obtain the position coordinates of acoustic location transceiver A, B, C, and from the phase of configured decoding deviceAnswer functional module place the to obtain acoustic location transceiver A calculating, the signal transmission time of B, C, according to acoustic location transceiverThe position coordinates of A, B, C and signal transmission time thereof carry out TOA calculating, draw the position of mobile terminal 2;
5.5, the engine map module 32 of location-server 3 or the position display module 25 of mobile terminal 2 will drawPlay up on the map of the described locating area that is shown to described mobile terminal 2 position of described mobile terminal.
It should be noted that, utilize above-mentioned mobile terminal location system to carry out two-dimensional localization, only need to receive two soundThe acoustic signals of ripple location transceiver A, B, the flow process shown in method flow and Fig. 7 is basically identical particularly, does not repeat them here.
Thus, above-mentioned mobile terminal location system, has reduced synchronous gateway equipment from network design, has reduced locationCost; And the structure of the acoustic location transceiver of its deployment is relatively simple, low cost of manufacture, has antijamming capability by force and compilesThe feature of decoding simple and fast, simultaneously less demanding to the operational capability of mobile terminal, practicality is good, is easy to promote, and is applicable toThe location of the mobile terminal of indoor and outdoors.
Obviously, those skilled in the art can carry out various changes and modification and not depart from spirit of the present invention inventionAnd scope. Like this, if of the present invention these amendment and modification belong to the claims in the present invention and equivalent technologies thereof scope itIn, the present invention be also intended to comprise these change and modification interior.

Claims (23)

1. a mobile terminal locating method, is characterized in that, comprises the following steps:
One mobile terminal enters into the backward described locating area transmitting acoustic signals of certain locating area;
The plural acoustic location transceiver being deployed in described locating area receives described acoustic signals, and from described soundIn ripple signal, obtain corresponding data flow;
The acoustic signals that obtains described mobile terminal from described data flow transfers to the letter of acoustic location transceiver described in eachNumber transmission time or signal transmission time are poor;
Carry out TOA calculating according to the position of described each acoustic location transceiver and described signal transmission time, or according to describedThe poor TDOA of the position of each acoustic location transceiver and described signal transmission time calculates, to determine that described mobile terminal is describedPosition in locating area.
2. mobile terminal locating method as claimed in claim 1, is characterized in that, according to being deployed in institute in described locating areaWhether the described acoustic location transceiver having synchronizes with described mobile terminal, determines and from described data flow, obtains described signalTransmission time or signal transmission time are poor, if synchronous, from described data flow, obtain described signal transmission time, if notSynchronously, from described data flow, obtain described signal transmission time poor.
3. mobile terminal locating method as claimed in claim 2, is characterized in that, in described locating area, disposes at least threeThe described acoustic location transceiver of individual and described mobile terminal synchronization, to calculate by described TOA, determines described mobile terminalThree-dimensional position; In described locating area, dispose at least two with the described acoustic location transceiver of described mobile terminal synchronization,To calculate by described TOA, determine the two-dimensional position of described mobile terminal; Dispose at least three in described locating area described inAcoustic location transceiver, to calculate by described TDOA, determines the two-dimensional position of described mobile terminal; In described locating areaDispose at least four described acoustic location transceivers, to calculate by described TDOA, determine the three-dimensional position of described mobile terminal.
4. mobile terminal locating method as claimed in claim 1, is characterized in that, described mobile terminal is to described locating areaThe step of transmitting acoustic signals comprises:
The coding that armed signal is comprised to identity information and timestamp information;
Signal after encoding is modulated, and be translated into analog signal;
Described analog signal is played out by its loudspeaker or ultrasonic transducer transmitting after amplifying.
5. mobile terminal locating method as claimed in claim 1, is characterized in that, a location-server or described mobile terminalOr at least one acoustic location transceiver in described each acoustic location transceiver obtains described signal from described data flowTransmission time or described signal transmission time are poor.
6. mobile terminal locating method as claimed in claim 5, is characterized in that, each described acoustic location transceiver is existedThe position of described locating area is submitted on described location-server and preserves, or is directly sent to described mobile terminal preservation.
7. mobile terminal locating method as claimed in claim 6, is characterized in that, determines that described mobile terminal is in described locationThe TDOA calculation procedure of the three-dimensional position in region comprises:
If the position of described mobile terminal is (x, y, z), four described sound waves that receive the acoustic signals of described mobile terminal are determinedThe position of position transceiver is respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)；
If it is t that the acoustic signals of described mobile terminal transfers to respectively the time of described four acoustic location transceivers1、t2、t3、t4；
It is as follows that TDOA calculates the formula of three-dimensional position of described mobile terminal:
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = c ( t 1 - t 2 )
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 1 - t 3 )
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 1 - t 4 )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 2 - t 3 )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 2 - t 4 )
( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 - ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = c ( t 3 - t 4 )
Or, determine 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), receive three described acoustic locations of the acoustic signals of described mobile terminalThe position of transceiver is respectively (x1,y1)、(x2,y2)、(x3,y3)；
If it is t that the acoustic signals of described mobile terminal transfers to respectively the time of described three acoustic location transceivers1、t2、t3；
It is as follows that TDOA calculates the formula of two-dimensional position of described mobile terminal:
( x - x 1 ) 2 + ( y - y 1 ) 2 - ( x - x 2 ) 2 + ( y - y 2 ) 2 = c ( t 1 - t 2 )
( x - x 1 ) 2 + ( y - y 1 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 = c ( t 1 - t 3 )
( x - x 2 ) 2 + ( y - y 2 ) 2 - ( x - x 3 ) 2 + ( y - y 3 ) 2 = c ( t 2 - t 3 )
Or, determine that the step of the TOA calculating 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), receive three and described movement of the acoustic signals of described mobile terminalThe position of the acoustic location transceiver of terminal synchronizes is respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)；
If the time of described mobile terminal transmitting acoustic signals is t, described three acoustic location transceivers receive respectively described soundThe time of ripple signal is t1、t2、t3；
It is as follows that TOA calculates the formula of three-dimensional position of described mobile terminal:
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 = c ( t 1 - t )
( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = c ( t 2 - t )
( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = c ( t 3 - t )
Or, determine that the TOA 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), receive two acoustic location transmitting-receivings of the acoustic signals of described mobile terminalThe position of device is respectively (x1,y1)、(x2,y2)；
If the time of described mobile terminal transmitting acoustic signals is t, described two acoustic location transceivers receive respectively described soundThe time of ripple signal is t1、t2；
It is as follows that TOA calculates the formula of two-dimensional position of described mobile terminal:
( x - x 1 ) 2 + ( y - y 1 ) 2 = c ( t 1 - t )
( x - x 2 ) 2 + ( y - y 2 ) 2 = c ( t 2 - t )
Wherein above-mentioned c in various is sonic transmissions speed;
8. mobile terminal locating method as claimed in claim 7, is characterized in that, described TDOA calculates or described TOA calculatesOn location-server, complete, or complete on described mobile terminal, or in described each acoustic location transceiverOn at least one acoustic location transceiver, complete.
9. a mobile terminal location system, is characterized in that, comprising:
Mobile terminal, for entering after certain locating area, to described locating area transmitting acoustic signals;
Be deployed at least two acoustic location transceivers in described locating area, for receiving described acoustic signals, and from instituteState and in acoustic signals, obtain corresponding data flow;
Location-server, for configuring at least one of self or described mobile terminal or described each acoustic location transceiverIt is fixed that the acoustic signals that individual acoustic location transceiver obtains described mobile terminal from described data flow transfers to described in each sound waveSignal transmission time or the signal transmission time of position transceiver are poor, and for configuring self or described mobile terminal or instituteState at least one the acoustic location transceiver in each acoustic location transceiver, according to the position of each acoustic location transceiver andDescribed signal transmission time is poor to carry out TDOA calculating or transmits according to the position of each acoustic location transceiver and described signalTime is carried out TOA calculating, to obtain the position of described mobile terminal in described locating area.
10. mobile terminal location system as claimed in claim 9, is characterized in that, also comprises gateway device, described in inciting somebody to actionAcoustic location transceiver and described mobile terminals all in locating area are linked in consolidated network, and to described allAcoustic location transceiver and described mobile terminal send the time synchronizing signal of described network, fixed to realize described all sound wavesThe time synchronized of position transceiver and described mobile terminal.
11. mobile terminal location systems as claimed in claim 10, is characterized in that, described gateway device is all for being independent ofGateway device outside acoustic location transceiver and described mobile terminal, or be integrated into arbitrary described acoustic location transceiverOne, or become one with described mobile terminal.
12. mobile terminal location systems as claimed in claim 9, is characterized in that, described location-server comprises:
Decoder module, for obtain the acoustic signals of described mobile terminal from described data flow, to transfer to described in each sound wave fixedSignal transmission time or the signal transmission time of position transceiver are poor;
Location algorithm module, for according to the position of acoustic location transceiver described in each and described signal transmission time is poor carries outTDOA calculates, or carries out TOA calculating according to the position of acoustic location transceiver described in each and described signal transmission time, withDetermine the position of described mobile terminal in described locating area;
Engine map module, for storing the map of described locating area, and by described mobile terminal in described locating areaPosition be rendered on the map of described locating area, to feed back to described mobile terminal;
Device management module, for described mobile terminal and all acoustic location transceivers are managed, and configures selfOr at least one acoustic location transceiver in described mobile terminal or described each acoustic location transceiver is from described dataIn stream, obtain the poor or signal transmission time of described signal transmission time, and configure self or described mobile terminal or described eachAt least one acoustic location transceiver in individual acoustic location transceiver carries out described TDOA calculating or described TOA calculates.
13. mobile terminal location systems as claimed in claim 9, is characterized in that, described acoustic location transceiver comprises:
Acoustic Signal Acquisition module, for gathering the acoustic signals of the described mobile terminal transmitting in described locating area;
Signal demodulation module, for the acoustic signals collecting is carried out to demodulation, obtains the mobile terminal of described acoustic signalsData flow in identity information and described acoustic signals.
14. mobile terminal location systems as claimed in claim 13, is characterized in that, described acoustic location transceiver also comprisesNetwork Synchronization module, with described other at least one acoustic location transceivers and described mobile terminal access consolidated network, andReceive the time synchronizing signal of described network, realize and described other at least one acoustic location transceiver and described mobile terminalsTime synchronized and the time synchronized of other modules of described acoustic location transceiver inside.
15. mobile terminal location systems as claimed in claim 13, is characterized in that, described acoustic location transceiver also comprisesDecoder module, for the data flow transmitting according to described signal demodulation module, obtains the acoustic signals transmission of described mobile terminalSignal transmission time or signal transmission time to acoustic location transceiver described in each are poor.
16. mobile terminal location systems as claimed in claim 13, is characterized in that, described acoustic location transceiver also comprisesLocation Calculation module, for according to the position of described each acoustic location transceiver and the poor TDOA that carries out of described signal transmission timeCalculate, or carry out TOA calculating according to the position of described each acoustic location transceiver and described signal transmission time, to obtainThe position of described mobile terminal in described locating area also feeds back to described mobile terminal.
17. mobile terminal location systems as claimed in claim 13, is characterized in that, described Acoustic Signal Acquisition module gathersThe time difference precision of signal is ms level.
18. mobile terminal location systems as described in any one in claim 9 to 17, is characterized in that described mobile terminalComprise:
Coding module, for the coding that armed acoustic signals is comprised to identity information and timestamp information;
Signal modulation module, for being modulated to the acoustic signals after coding the frequency of launch requirements;
DAC module, for transferring the acoustic signals after modulation to analog signal;
Acoustic power amplification module, for carrying out power amplification by described analog signal;
Loudspeaker or ultrasonic transducer, for being played to by the signal after amplifying the locating area that this mobile terminal enters;
Position display module, for showing the current position at described locating area of described mobile terminal.
19. mobile terminal location systems as claimed in claim 18, is characterized in that, described mobile terminal also comprises synchronous mouldPiece, for entering after certain locating area, accesses together with at least two audiolocators disposing same with described locating areaNetwork, and receive the time synchronizing signal of described network, realize with the time synchronized of described acoustic location transceiver and described inThe time synchronized of other modules in mobile terminal.
20. mobile terminal location systems as claimed in claim 18, is characterized in that, described mobile terminal also comprises decoding mouldPiece, for the data flow transmitting according to described acoustic location transceiver, the acoustic signals that obtains described mobile terminal transfers to respectivelySignal transmission time or the signal transmission time of individual described acoustic location transceiver are poor.
21. mobile terminal location systems as claimed in claim 18, is characterized in that, described mobile terminal also comprises positioning modulePiece, for according to the position of described each acoustic location transceiver and described signal transmission time is poor carries out TDOA calculating, orCarry out TOA calculating according to the position of described each acoustic location transceiver and described signal transmission time, to obtain described movementThe position of terminal in described locating area.
22. mobile terminal location systems as claimed in claim 18, is characterized in that, described position display module is also for depositingStore up and show the map of described locating area, and the position in described locating area is played up by the described mobile terminal obtaining aobviousBe shown on the map of described locating area.
23. mobile terminal location systems as claimed in claim 18, is characterized in that, described mobile terminal be handheld device orPerson dresses equipment.
CN201610173724.5A 2016-03-24 2016-03-24 Mobile terminal positioning method and system Pending CN105676183A (en)

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CN108427099A (en) * 2017-02-15 2018-08-21 景斌 For the method for ultrasonic wave indoor positioning, equipment, system and mobile terminal
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CN112697152A (en) * 2020-12-29 2021-04-23 恒玄科技(上海)股份有限公司 Positioning method, electronic device and storage medium
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Application publication date: 20160615