CN106131956A - The localization method of a kind of multiple small-sized movable primary user and device - Google Patents
The localization method of a kind of multiple small-sized movable primary user and device Download PDFInfo
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- CN106131956A CN106131956A CN201610560571.XA CN201610560571A CN106131956A CN 106131956 A CN106131956 A CN 106131956A CN 201610560571 A CN201610560571 A CN 201610560571A CN 106131956 A CN106131956 A CN 106131956A
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- primary user
- user
- positional information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
Abstract
The invention discloses the localization method of a kind of multiple small-sized movable primary user, for multiple synchronization-moving small-sized movable primary users, including: obtain the positional information of whole secondary users corresponding to primary user described in current time；The signal strength values that each described user is able to receive that is determined according to described positional information；Choose the described signal strength values secondary user more than preset signal strength value as the target time user participating in location；The region being made up of described target time user utilize the positional information of barycenter in this region of described positional information calculation to obtain the rough location information of described primary user.This method does not relies on the size of the signal emitted energy of primary user, is independent of whether primary user has signal yet, and is capable of the location to multiple primary users.Additionally, invention additionally discloses the positioner of a kind of small-sized movable primary user, effect is as above.
Description
Technical field
The present invention relates to cognitive radio technology field, particularly relate to the location side of a kind of multiple small-sized movable primary user
Method and device.
Background technology
Along with science and technology progress, the radio spectrum resources that increasing wireless terminal device takies, the most present
Solid-state frequency spectrum distribution principle so that frequency spectrum resource cannot be fully utilized.Presently, for frequency spectrum resource scarcity problem
Maximally effective solution is exactly cognitive radio.The central idea that cognitive radio technology reply frequency spectrum resource utilization rate is low
For: when the primary user taking frequency spectrum resource does not uses frequency spectrum resource, in the case of primary user is not produced harmful interference, can
The frequency spectrum resource being not used by these shelved distributes to need the secondary user of frequency spectrum resource, in order to solve the availability of frequency spectrum
Low, it is achieved the dynamic spectrum resource management of dynamic.
In cognitive radio technology, due to the emitted energy of primary user, the biography of the primary user of movement, especially small-sized movable
The factor such as defeated scope, mobility limits, the difficulty brought for the location of the primary user of movement.Such as, in terms of emitted energy
Speech, the signal emitted energy of the primary user of small-sized movable is minimum, the most only 10mW-50mW so that existing primary user positions
Technology is difficult to accurately perceive the signal energy of the primary user of small-sized movable；It addition, at primary user's switching mode of small-sized movable
Space-time characterisation aspect on for, the signal space-time characterisation of the primary user of small-sized movable is extremely strong.Can arbitrarily close at any time
Or open switch, cause primary user's signal to cut in and out.And primary user's signal is had extremely strong by existing primary user's location technology
Ground dependency, cannot be carried out location in the case of signal cuts in and out；Finally, existing primary user's location technology is mainly pin
One primary user is set, it is impossible to multiple primary users are positioned simultaneously.
When multiple small-sized movable primary users carry out synchronous mobile communication in the way of group, can in region time
User produces considerable influence in terms of using frequency spectrum resource.If the particular location letter of multiple small-sized movable primary user cannot be learnt
Breath, will necessarily distribute dynamic spectrum perception and frequency spectrum and produce large effect, and even cannot realize in this regional extent is steady
Fixed communication reliably.
As can be seen here, when multiple primary users move in the way of being synchronized with the movement, the position of these primary users how is determined
Information is those skilled in the art's problem demanding prompt solutions.
Summary of the invention
It is an object of the invention to provide localization method and the device of a kind of multiple small-sized movable primary user.
For solving above-mentioned technical problem, the present invention provides the localization method of a kind of multiple small-sized movable primary user, for many
Individual synchronization-moving small-sized movable primary user, including:
S10: obtain the positional information of whole users corresponding to primary user described in current time；
S11: determine the signal strength values that each described user is able to receive that according to described positional information；
S12: choose the described signal strength values secondary user more than preset signal strength value as the target time participating in location
User；
S13: the region being made up of described target time user is utilized barycenter in this region of described positional information calculation
Positional information is to obtain the rough location information of described primary user.
Preferably, also include:
S14: the current location of described primary user will be obtained in described rough location information input particle filter algorithm model
Information；
S15: judge whether to start Regulation mechanism；If it is, return step S10；If it does not, enter step S16；
S16: export described current location information using the positioning result as described primary user's epicycle；Enter step S17；
S17: judge whether to receive the information of primary user's stop motion；If it is, terminate, if it does not, enter step
S18；
S18: trigger the current location information of primary user described in described particle filter algorithm model output next round；Return step
Rapid S15.
Preferably, S15 specifically includes: judge that whether the position error obtained is more than presetting error；
If it is, start described Regulation mechanism, if it is not, then do not start described Regulation mechanism.
Preferably, described positional information is specially abscissa value and ordinate value.
A kind of positioner of multiple small-sized movable primary user, for multiple synchronization-moving primary users, including:
Acquiring unit, for obtaining the positional information of whole users corresponding to primary user described in current time；
It is connected cell really, for determining that each described user can according to described positional information with described acquiring unit
The signal strength values received；
Determine that what unit was connected chooses unit with described, be used for choosing described signal strength values more than preset signal strength value
Secondary user as the target time user participating in location；
The first computing unit that unit is connected is chosen, for the region being made up of described target time user is utilized with described
The positional information of the barycenter in this region of described positional information calculation is to obtain the rough location information of described primary user.
Preferably, also include:
The second computing unit being connected with described first computing unit, for by the input particle filter of described rough location information
Ripple algorithm model obtains the current location information of described primary user；
The first judging unit being connected with described second computing unit, is used for judging whether to start Regulation mechanism；If it is,
Start described acquiring unit；
The output unit being connected with described first judging unit, described for output in the case of not starting Regulation mechanism
Current location information is using the positioning result as described primary user's epicycle；
The second judging unit being connected with described output unit, for judging whether to receive the letter of primary user's stop motion
Breath；If it is, startup trigger element；
Described trigger element is also connected with described first judging unit, is used for triggering the output of described particle filter algorithm model
The current location information of primary user described in next round, and trigger described first judging unit.
Preferably, described first judging unit is specifically for judging that whether the position error obtained is more than presetting error；
If it is, start described acquiring unit, if it does not, start described output unit.
Preferably, described positional information is specially abscissa value and ordinate value.
The localization method of multiple small-sized movable primary user provided by the present invention and device, in the range of obtaining primary user
All positional informationes of time user, then filter out the signal strength values received in time user more than preset signal strength value
Target time user, goes out the position of the barycenter in the region that target time user is constituted further according to the positional information calculation of target time user
Information, using this barycenter as the position of primary user, therefore, it is possible to obtain the positional information of primary user.Compared with prior art, originally
Method does not relies on the size of the signal emitted energy of primary user, is independent of whether primary user has signal yet, and is capable of
Location to multiple primary users.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention, the accompanying drawing used required in embodiment will be done simply below
Introduce, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, for ordinary skill people
From the point of view of Yuan, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The flow chart of the localization method of a kind of multiple small-sized movable primary users that Fig. 1 provides for the present invention；
The flow chart of the localization method of another kind multiple small-sized movable primary user that Fig. 2 provides for the present invention；
The structure chart of the positioner of a kind of multiple small-sized movable primary users that Fig. 3 provides for the present invention；
The structure chart of the positioner of another kind multiple small-sized movable primary user that Fig. 4 provides for the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiment wholely.Based on this
Embodiment in invention, those of ordinary skill in the art are not under making creative work premise, and obtained is every other
Embodiment, broadly falls into scope.
The core of the present invention is to provide localization method and the device of a kind of multiple small-sized movable primary user.
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with the accompanying drawings and detailed description of the invention
The present invention is described in further detail.
The flow chart of the localization method of a kind of multiple small-sized movable primary users that Fig. 1 provides for the present invention.As it is shown in figure 1,
For multiple synchronization-moving primary users, including:
S10: obtain the positional information of whole users corresponding to current time primary user.
When synchronization-moving primary user is positioned by needs, first obtain in these primary user regions is whole
The positional information of secondary user.Secondary user is fixing, does not moves, and therefore its positional information also would not change.
S11: determine the signal strength values that each user is able to receive that according to positional information.
Due to the position relationship of primary user and time user, to determine the signal that the secondary user of diverse location is able to receive that strong
Angle value is different, therefore, when after the positional information getting each user it needs to be determined that go out each letter corresponding to user
Number intensity level.It is understood that distance primary user is the nearest, then signal strength values is the biggest, and primary user is the most remote for distance, then signal is strong
Angle value is the least.
S12: choose the signal strength values secondary user more than preset signal strength value as the target time user participating in location.
If using all time users all as the target time user participating in location, then calculating process loaded down with trivial details, therefore, this step
In, simply choose a portion and meet the secondary user of requirement, i.e. target time user and participate in position fixing process.The condition chosen is letter
Number intensity level is more than the secondary user of preset signal strength value.It is to be understood that preset signal strength value can be according to actual feelings
Condition sets, can be different at different application scenarios.
S13: the region being made up of target time user is utilized the positional information of barycenter in this region of positional information calculation
To obtain the rough location information of primary user.
Obtain target time user in step s 12, the most just obtain the region being made up of target time user.In this district
In territory, the positional information calculation of each target time user is utilized to obtain the positional information of barycenter in this region, and the position of this barycenter
Confidence breath is exactly the rough location information of each primary user.In being embodied as, obtain the position letter of each target time user
Breath, then the positional information of the barycenter in the region at place also determines that, the present invention repeats no more.
The localization method of multiple small-sized movable primary users that the present embodiment provides, by the most secondary in the range of obtaining primary user
The positional information of user, then filters out the signal strength values received in time user secondary more than the target of preset signal strength value
User, goes out the positional information of the barycenter in the region that target time user is constituted further according to the positional information calculation of target time user,
Using this barycenter as the position of primary user, therefore, it is possible to obtain the positional information of primary user.Compared with prior art, this method is not
Depend on the size of the signal emitted energy of primary user, be also independent of whether primary user has signal, and be capable of multiple
The location of primary user.
The flow chart of the localization method of another kind multiple small-sized movable primary user that Fig. 2 provides for the present invention.Such as Fig. 2 institute
Show, on the basis of above-described embodiment, be preferably carried out mode as one, also include:
S14: the current location information of primary user will be obtained in rough location information input particle filter algorithm model.
Due in the above-described embodiments, although obtained the rough location information of primary user, but this rough location information
Error relatively big, in order to obtain positioning result more accurately, in step, rough location information is inputted to particle filter
In algorithm model thus obtain the current location information of primary user.Particle filter algorithm has the strongest for the location of mobile object
Adaptability and robustness, but owing to particle filter algorithm is well known to those skilled in the art, therefore, the present invention is specifically
Embodiment repeats no more.
S15: judge whether to start Regulation mechanism.
Result owing to obtaining in above-mentioned steps and may be unsatisfactory for requirement, therefore, in this step, needs to judge whether
Start Regulation mechanism.If it is, return step S10；If it does not, enter step S16.If returning step S10, it is simply that again
Inscribe when determining this, target time user.Being preferably carried out mode as one, S15 specifically includes: judge the position error obtained
Whether more than presetting error；If it is, startup Regulation mechanism, if it is not, then do not start Regulation mechanism.
In the present invention, position error is that step S16 is by the positioning result obtained after particle filter algorithm and primary user position
Difference.In other words, the positioning result that step S16 obtains is an estimated value to primary user position or value of calculation；Therewith
The barycenter physical location obtaining multiple small-sized movable primary user is calculated by the equation of transfer formula of small-sized movable primary user.Can from above
Knowing, both subtract each other can draw position error.
In being embodied as, can set a default error, this default error can weigh the location knot obtained
Whether fruit can export result as epicycle.In step, it is judged that whether the position error obtained is more than presetting error, if location
Error, more than presetting error, illustrates that positioning result is relatively big with true value deviation, i.e. needs to start Regulation mechanism；If position error is little
In or equal to presetting error, illustrate that positioning result and true value deviate less, i.e. need not startup Regulation mechanism, can be entered next
The calculating process of wheel.
S16: output current location information is using the positioning result as primary user's epicycle.Enter step S17.
If need not start Regulation mechanism, then just using the current location information that obtains in step S14 as primary user
The positioning result of epicycle.In being embodied as, particle filter algorithm can export takes turns result more, thus obtains the dynamic of primary user
Positional information.
S17: judge whether to receive the information of primary user's stop motion.If it is, terminate, if it does not, enter step
S18。
S18: trigger the current location information of particle filter algorithm model output next round primary user.Return step S15.
Particle filter algorithm often exports once result, then be required for determining whether to continue to put out the result of next round, and
The foundation judged just is whether to receive the information of primary user's stop motion, once primary user's stop motion, then avoid the need for defeated
Go out result, as long as primary user is also in motion, then be accomplished by exporting each result taken turns accordingly.And often export a result, the most all
Needs determine whether to start Regulation mechanism.
Be preferably carried out mode as one, on the basis of above-described embodiment, positional information be specially abscissa value and
Ordinate value.
It should be noted that the type of positional information has a variety of, not just abscissa value and this kind of shape of ordinate value
Formula.
The structure chart of the positioner of a kind of multiple small-sized movable primary users that Fig. 3 provides for the present invention.As it is shown on figure 3,
The positioner of multiple small-sized movable primary users, for multiple synchronization-moving primary users, including:
Acquiring unit 10 is for obtaining the positional information of whole users corresponding to current time primary user；
It is connected cell 11 really, for determining that each user is able to receive that according to positional information with acquiring unit 10
Signal strength values；
With determine that what unit 11 was connected chooses unit 12, for choose signal strength values more than preset signal strength value time
User is as the target time user participating in location；
With choose the first computing unit 13 that unit 12 is connected, for the region being made up of target time user is utilized position
Information calculates the positional information of the barycenter in this region to obtain the rough location information of primary user.
The structure chart of the positioner of another kind multiple small-sized movable primary user that Fig. 4 provides for the present invention.As one
It is preferably carried out mode, also includes:
The second computing unit 14 being connected with the first computing unit 13, for calculating rough location information input particle filter
Method model obtains the current location information of primary user；
The first judging unit 15 being connected with the second computing unit 14, is used for judging whether to start Regulation mechanism；If it is,
Start acquiring unit 10；
The output unit 16 being connected with the first judging unit 15, current for output in the case of not starting Regulation mechanism
Positional information is using the positioning result as primary user's epicycle；
The second judging unit 17 being connected with output unit 16, for judging whether to receive the letter of primary user's stop motion
Breath；If it is, start trigger element 18；
Trigger element 18 is also connected with the first judging unit 15, is used for triggering particle filter algorithm model output next round master
The current location information of user, and trigger the first judging unit 15.
Being preferably carried out mode as one, the first judging unit 15 is the biggest specifically for judging the position error obtained
In default error；
If it is, start acquiring unit 10, if it does not, start output unit 16.
Being preferably carried out mode as one, positional information is specially abscissa value and ordinate value.
Owing to the embodiment of device part is corresponding with the embodiment of method part, therefore the embodiment of device part please be joined
The embodiment of square method part, repeats no more here.
Localization method and device to multiple small-sized movable primary user small-sized movable primary users provided by the present invention above
It is described in detail.In description, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is
With the difference of other embodiments, between each embodiment, identical similar portion sees mutually.Open for embodiment
Device for, owing to it corresponds to the method disclosed in Example, thus describe fairly simple, relevant part sees method
Part illustrates.It should be pointed out that, for those skilled in the art, before without departing from the principle of the invention
Putting, it is also possible to the present invention is carried out some improvement and modification, these improve and modify the guarantor also falling into the claims in the present invention
In the range of protecting.
Professional further appreciates that, in conjunction with the unit of each example that the embodiments described herein describes
And algorithm steps, it is possible to electronic hardware, computer software or the two be implemented in combination in, in order to clearly demonstrate hardware and
The interchangeability of software, the most generally describes composition and the step of each example according to function.These
Function performs with hardware or software mode actually, depends on application-specific and the design constraint of technical scheme.Specialty
Technical staff specifically should can be used for using different methods to realize described function to each, but this realization should not
Think beyond the scope of this invention.
The method described in conjunction with the embodiments described herein or the step of algorithm can direct hardware, processor be held
The software module of row, or the combination of the two implements.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, depositor, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Claims (8)
1. the localization method of multiple small-sized movable primary users, for multiple synchronization-moving primary users, it is characterised in that bag
Include:
S10: obtain the positional information of whole users corresponding to primary user described in current time；
S11: determine the signal strength values that each described user is able to receive that according to described positional information；
S12: choose the described signal strength values secondary user more than preset signal strength value as the target time user participating in location；
S13: the region being made up of described target time user is utilized the position of barycenter in this region of described positional information calculation
Information is to obtain the rough location information of described primary user.
The localization method of multiple small-sized movable primary user the most according to claim 1, it is characterised in that also include:
S14: the current location information of described primary user will be obtained in described rough location information input particle filter algorithm model；
S15: judge whether to start Regulation mechanism；If it is, return step S10；If it does not, enter step S16；
S16: export described current location information using the positioning result as described primary user's epicycle；
S17: judge whether to receive the information of primary user's stop motion；If it is, terminate, if it does not, enter step S18；
S18: trigger the current location information of primary user described in described particle filter algorithm model output next round；Return step
S15。
The localization method of multiple small-sized movable primary user the most according to claim 2, it is characterised in that S15 specifically includes:
Judge that whether the position error obtained is more than presetting error；
If it is, start described Regulation mechanism, if it is not, then do not start described Regulation mechanism.
The localization method of multiple small-sized movable primary user the most according to claim 3, it is characterised in that described positional information
It is specially abscissa value and ordinate value.
5. the positioner of multiple small-sized movable primary users, for multiple synchronization-moving primary users, it is characterised in that bag
Include:
Acquiring unit, for obtaining the positional information of whole users corresponding to primary user described in current time；
It is connected cell really, for determining that each described user is able to receive that according to described positional information with described acquiring unit
The signal strength values arrived；
Determine that what unit was connected chooses unit with described, for choose described signal strength values more than preset signal strength value time
User is as the target time user participating in location；
The first computing unit that unit is connected is chosen with described, described for the region being made up of described target time user is utilized
The positional information of the barycenter in this region of positional information calculation is to obtain the rough location information of described primary user.
The positioner of multiple small-sized movable primary user the most according to claim 5, it is characterised in that also include:
The second computing unit being connected with described first computing unit, for calculating described rough location information input particle filter
Method model obtains the current location information of described primary user；
The first judging unit being connected with described second computing unit, is used for judging whether to start Regulation mechanism；If it is, start
Described acquiring unit；
The output unit being connected with described first judging unit, for export in the case of not starting Regulation mechanism described currently
Positional information is using the positioning result as described primary user's epicycle；
The second judging unit being connected with described output unit, for judging whether to receive the information of primary user's stop motion；
If it is, startup trigger element；
Described trigger element is also connected with described first judging unit, is used for triggering described particle filter algorithm model and exports next
Take turns the current location information of described primary user, and trigger described first judging unit.
The positioner of multiple small-sized movable primary user the most according to claim 6, it is characterised in that described first judges
Unit is specifically for judging that whether the position error obtained is more than presetting error；
If it is, start described acquiring unit, if it does not, start described output unit.
The positioner of multiple small-sized movable primary user the most according to claim 7, it is characterised in that described positional information
It is specially abscissa value and ordinate value.
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| CN201610560571.XA CN106131956A (en) | 2016-07-14 | 2016-07-14 | The localization method of a kind of multiple small-sized movable primary user and device |
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