CN106535128A - Multipoint positioning method and device - Google Patents
Multipoint positioning method and device Download PDFInfo
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- CN106535128A CN106535128A CN201611035658.1A CN201611035658A CN106535128A CN 106535128 A CN106535128 A CN 106535128A CN 201611035658 A CN201611035658 A CN 201611035658A CN 106535128 A CN106535128 A CN 106535128A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/24—Radio transmission systems, i.e. using radiation field for communication between two or more posts
- H04B7/26—Radio transmission systems, i.e. using radiation field for communication between two or more posts at least one of which is mobile
- H04B7/2603—Arrangements for wireless physical layer control
- H04B7/2606—Arrangements for base station coverage control, e.g. by using relays in tunnels
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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
- H04W4/029—Location-based management or tracking services
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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
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a multipoint positioning method and device. The method comprises: receiving the reception time points which are transmitted from M base stations and when each of the M base stations receives the target information transmitted by a target device, and the location information of each of the M base stations at the reception time points, wherein the location of each of the base stations varies with time and the M is an integer equal to or greater than 3; determining the location of the target device based on the reception time point of each of the base stations and the location information of each of the base stations at the reception time point. In this way, a new multipoint positioning method is provided that can be used for base stations with movable locations.
Description
Technical field
The present invention relates to wireless communication technology field, more particularly to a kind of multipoint positioning method and device.
Background technology
The mode of multipoint positioning is existing frequently-used for the monitoring means to airborne vehicle, it is possible to use on air route, airport
In scene monitoring, can solve the problems, such as that these airport monitorings are inefficient by this multipoint positioning mode, while can carry
The safety of high aircraft and vehicle in airdrome scene.And this multipoint positioning mode can be with expanded application at sea naval vessel
In, it is possible to achieve zone location and monitoring are carried out to targets such as helicopter, personal aircraft, yachts.
Inventor has found that existing electronic equipment has following defect：
In prior art, this multipoint positioning mode is only applicable to the situation that each base station is fixed base stations, i.e., existing skill
In art, the position of each base station does not change over time, and the position coordinateses of each base station are known.But it is real
In the operating process of border, the position of not all of base station is all fixed, for the base station that position can be moved, also without corresponding
Multipoint positioning method.
The content of the invention
The present invention provides a kind of multipoint positioning method and device, a kind of can be used for the base station that position can be moved to provide
New multipoint positioning method.
First aspect present invention provides a kind of multipoint positioning method, including：
The time of reception of the target information of each base station reception target device transmission that M base station sends is received, with
And in the time of reception, the positional information of each base station；Wherein, the position of each base station change over time
And change, the M is the integer more than or equal to 3；
It is true in the positional information of the time of reception according to time of reception of each base station and each described base station
The position of the fixed target device.
Optionally, the time of reception and each described base station according to each base station is in the time of reception
Positional information determines the position of the target device, including：
In the time of reception, determine the first moment, and determination at first of each base station of the first moment
Confidence ceases；
Based on first moment and the first position information, the position of the target device is determined.
Optionally, the position for determining the target device, including：
The target device is obtained to the first distance of first base station, wherein described first base station is the M base
Any one base station in standing；
The target device is obtained to M-1 second distance of the M-1 base station in addition to first base station；
Obtain M-1 range difference between first distance and the M-1 second distance；
It is determined that the nearest extreme point of range coordinate origin, the pole on the curved surface formed by the M-1 range difference
Position coordinateses of the value point for the target device.
Optionally, it is described to determine the nearest pole of range coordinate origin on the curved surface formed by the M-1 range difference
Value point, including：
An initial point is determined on the curved surface, and the initial point is moved to the extreme point with the first moving step length
To the first coordinate points；
Judge whether the difference between first coordinate points and the initial point meets pre-conditioned；
When the difference between first coordinate points and the initial point meets described pre-conditioned, determine that described first sits
Punctuate is the extreme point.
Optionally, methods described also includes：
When the difference between first coordinate points and the initial point is unsatisfactory for described pre-conditioned, by default amendment
Value is modified the second coordinate points of acquisition to first coordinate points；
Second coordinate points are made to move to the 3rd coordinate points with the second moving step length to the extreme point；
Judge whether the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned；
When the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned, described is determined
Three coordinate points are the extreme point.
Second aspect present invention provides a kind of multi-point positioning device, including：
Receiver module, receives the target information that target device sends for receiving each described base station that M base station sends
The time of reception, and in the time of reception, the positional information of each base station；Wherein, the position of each base station
Change over time and change, the M is the integer more than or equal to 3；
Determining module, for the time of reception according to each base station and each described base station in the time of reception
Positional information, determine the position of the target device.
Optionally, the determining module specifically for：
In the time of reception, determine the first moment, and determination at first of each base station of the first moment
Confidence ceases；
Based on first moment and the first position information, the position of the target device is determined.
Optionally, the determining module specifically for：
The target device is obtained to the first distance of first base station, wherein described first base station is the M base
Any one base station in standing；
The target device is obtained to M-1 second distance of the M-1 base station in addition to first base station；
Obtain M-1 range difference between first distance and the M-1 second distance；
It is determined that the nearest extreme point of range coordinate origin, the pole on the curved surface formed by the M-1 range difference
Position coordinateses of the value point for the target device.
Optionally, the determining module is additionally operable to：
An initial point is determined on the curved surface, and the initial point is moved to the extreme point with the first moving step length
To the first coordinate points；
Judge whether the difference between first coordinate points and the initial point meets pre-conditioned；
When the difference between first coordinate points and the initial point meets described pre-conditioned, determine that described first sits
Punctuate is the extreme point.
Optionally, the determining module is additionally operable to：
When the difference between first coordinate points and the initial point is unsatisfactory for described pre-conditioned, by default amendment
Value is modified the second coordinate points of acquisition to first coordinate points；And make second coordinate points with the second moving step length to institute
State extreme point and move to the 3rd coordinate points；
Judge whether the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned；
When the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned, described is determined
Three coordinate points are the extreme point.
Technical scheme in the embodiment of the present invention has the advantages that：
In embodiments of the present invention, the change over time of the position of M base stations and change, receive M base station
Each the described base station sent receives the time of reception of the target information that target device sends, and in the time of reception, each
The positional information of the base station；And the time of reception according to each base station and each described base station are in the time of reception
Positional information, determine the position of the target device.A kind of position that can be used for is provided by such mode to move
The new multipoint positioning method of base station, immobilizes relative to the position of base station in prior art and each base station position information
Known situation, the scheme of the offer of the application have universality.
Description of the drawings
Flow charts of the Fig. 1 for a kind of multipoint positioning method in one embodiment of the invention；
Structure charts of the Fig. 2 for a kind of multipoint location system in one embodiment of the invention；
The point mark and mesh of the target device that Fig. 3 is obtained for a kind of multipoint positioning method that provided by one embodiment of the invention
The comparison diagram of the true point mark of marking device；
Structure charts of the Fig. 4 for a kind of multi-point positioning device in one embodiment of the invention；
Structure charts of the Fig. 5 for a kind of multipoint location system in one embodiment of the invention.
Specific embodiment
The present invention provides a kind of multipoint positioning method and device, a kind of can be used for the base station that position can be moved to provide
New multipoint positioning method.
The general thought of the technical scheme in the embodiment of the present invention is as follows：
In embodiments of the present invention, the change over time of the position of M base stations and change.Receive M base station to send out
Each the described base station sent receives the time of reception of the target information that target device sends, and in the time of reception, each
The positional information of the base station；And the time of reception according to each base station and each described base station are in the time of reception
Positional information, determine the position of the target device.A kind of position that can be used for is provided by such mode to move
The new multipoint positioning method of base station.
In order to be better understood from above-mentioned technical proposal, below by accompanying drawing and specific embodiment to technical solution of the present invention
It is described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to technical solution of the present invention
Detailed description, rather than the restriction to technical solution of the present invention, in the case where not conflicting, the embodiment of the present invention and enforcement
Technical characteristic in example can be mutually combined.
Refer to shown in Fig. 1, be a kind of flow chart of the multipoint positioning method in one embodiment of the invention.The method bag
Include：
Step 101：Receive the reception of the target information of each base station reception target device transmission that M base station sends
Moment, and in the time of reception, the positional information of each base station；Wherein, the position of each base station with when
Between change and change, the M is the integer more than or equal to 3；
Step 102：According to time of reception of each base station and each described base station in the position of the time of reception
Confidence breath determines the position of the target device.
Optionally, the multipoint positioning method that the present invention is provided can be applied in the scene monitorings such as air route, airport, Neng Goujian
Aircraft, vehicle etc. are surveyed in the position of detection zone to improve safety.Further, it is also possible to expanded application naval vessel formation at sea
In, realization carries out zone location and monitoring to targets such as helicopter, personal aircraft, yachts.In different application scenarios, target sets
Standby and base station is different, such as, during at sea naval vessel is formed into columns, base station can be each naval vessel, and target device can be gone straight up to
The equipment such as machine, yacht.
Optionally, in actual mechanical process, in whole multipoint location system, comprising equipment can have a lot, please
With reference to shown in Fig. 2, it is the structure chart of multipoint location system.In figure, the M for obtaining the target information of target device transmission is individual
Base station, for the central processing station of processing data, and other auxiliary equipments such as reference device, inquiry base station, Data-Link set
It is standby etc..Coordinated between them.For example inquire that base station can receive the request signal of central processing station and by the request signal
Each target device is sent to, the target information of oneself is sent to into each base station after target device receives request signal.
Reference device can be used as the object of reference of whole multipoint location system.Data chain device for transmitting data information can for example be
Wireless Telecom Equipment etc..Central processing station can carry out the target device that data processing output are obtained after data processing
Trace information.
Before execution step 101, time synchronized between each equipment being related to can be controlled.Concrete implementation mode
Can be that time synchronized is realized by modes such as satellite time transfer, gps time synchronizations.
After time synchronized being realized between each equipment, start execution step 101, that is, receive the every of M base station transmission
The individual base station receives the time of reception of the target information that target device sends, and in the time of reception, each described base
The positional information stood.
Optionally, if target device does not actively outwardly send the target information of oneself, in this case, can arrange
Inquiry base station, periodically sends a request signal to target device by the inquiry base station, when target device receive it is described
After request signal, start to send its own target information to each base station.Certainly, referred to herein as target device to each base
The target information for sending of standing can be the species of target device, model etc. all can characterize the information of target device.
Certainly, the frequency of the target information that target device sends can be set according to practical situation, for example, can arrange
Inquiry base station sends request signal to target device 2 times for example per second with certain cycle, so target device can be with the week
Phase sends the target information of target device to each base station.
Afterwards, M base station can receive the target information sent by target device, and the position being located due to each base station is not
Together, the distance certainly from target device is also different, so each base station receives the target information of target device transmission
Time is also different.For example, No. 1 base station distance target device is distant, then it receives the target information of target device transmission
Time be probably 00:08s, and No. 2 base station distance target devices are closer, then it receives the target of target device transmission
The time of information is probably 00:05s.
While M base station receives the target information that target device sends, each base station can be recorded and receive target
The time of reception of the target information that equipment sends, simultaneously as the position of each base station is time dependent, so each
Base station can be in the positional information of time of reception acquisition base station itself.For example, No. 1 base station receives the mesh that target device sends
The time of mark information is 00:08s, No. 1 base station can be by 00:08s is recorded, while No. 1 base station can be 00:08s obtains No. 1
The positional information that base station oneself is presently in, such as No. 1 base station is 00:It is (X to be located at coordinate during 08s1,Y1,Z1) position at.
Again for example, the time that No. 2 base stations receive the target information of target device transmission is probably 00:05s, then No. 2 base stations can be with
By 00:05 records, while No. 2 base stations can be 00:The positional information that No. 2 base stations oneself are presently in is obtained during 05s, for example
No. 2 base stations are 00:It is (X to be located at coordinate during 05s2,Y2,Z2) position at.
And then, each base station can be connect by the time of reception of the target information of reception target device transmission and described
Time receiving carves the positional information transmission data processing centre such as central processing station of each base station itself and is for further processing.Please after
Continuous to understand with reference to Fig. 2, the time of reception of the target information for receiving target device transmission has been recorded and described in each base station
Then the time of reception and each base station positional information of itself are passed through by the time of reception each base station positional information of itself
Data chain device sends a center processor, is for further processing by central processing station.
After execution of step 101, start execution step 102, i.e., according to time of reception of each base station and
Itself positional information of each described base station in the time of reception determines the position of the target device.
Optionally, referred to herein as according to time of reception of each base station and each described base station in the time of reception
Positional information determine that the mode of the position of the target device can determine for the first moment in the time of reception, and
It is determined that in the first position information of each base station of the first moment, being believed based on first moment and the first position
Breath, determines the position of the target device.
As target device can send information with some cycles to base station, then each base station inherently repeatedly receives
To the target information that target device sends.For example, target device sends information with the frequency of 2 times per second to base station.For example, for
The information that target device is sent for the first time, No. 1 base station is 00:The target information that 08s is received, while No. 1 base station is 00:
It is (X that 08s gets the position coordinateses of No. 1 base station itself1,Y1,Z1), for the information that target device sends for second, No. 1 base
Station is 00:The target information that 07s is received, while No. 1 base station is 00:07s gets the position coordinateses of itself for (X1’,
Y1’,Z1’)。
For other base stations are also same mode, understand for convenience, refer to shown in table 1.
Table 1
The time of reception of 1,2, No. 3 base stations when the target information of target device transmission is received every time is have recorded in table 1
And in the position coordinateses of each base station of the time of reception.The situation of three base stations is only listed in table, is to manage for convenience
Solution, but it is not limited to the situation of three base stations.
Afterwards, determined for the first moment in all of time of reception, one of which preferably mode can first may be used
Using by the identical moment time of reception as the first moment in each base station, can for the portion of base stations for not having first moment
With by way of Mathematical Fitting or interpolation method obtains the first moment of the portion of base stations.For example, can be with according to table 1
It is 00 to find out that there is the time of reception No. 2 base stations and No. 3 base stations:The situation of 05s, it is possible to determine 00:05s was the first moment.
But No. 1 base station does not have the time of reception for 00:The situation of 05s, it is possible to by Mathematical Fitting method or mathematical interpolation
In the time of reception 00 of No. 1 base station:08、00:07、00:It is 00 that No. 1 base station is estimated in 06 data in the time of reception:05s's
Situation, for example, can be 00 in given data:08、00:07、00:06 3 moment and at three moment No. 1 base station
Positional information in the case of by fitting process obtain mathematic graph estimate No. 1 base station 00:Positional information during 05s.Example
Such as estimate 00:During 05s, the first position information of No. 1 base station is (X1,Y1,Z1).By such mode, can be described
The first moment such as 00 is determined in the time of reception:05s, and determine in the first position of each base station of the first moment
Information, such as 00:05s, the first position information of No. 1 base station is (X1,Y1,Z1), the first position information of No. 2 base stations is
(X2,Y2,Z2), the first position information of No. 3 base stations is (X3,Y3,Z3)。
Certainly, determine that there be other modes at the first moment in all of time of reception, such as in all receptions
A moment is arbitrarily determined in quarter as the first moment, then, for the portion of base stations for not having first moment, can be adopted
Obtained for the first moment similar to the mode of above-mentioned mathematical interpolation or fitting.
Description by more than is as can be seen that the method for the multipoint positioning of present invention offer can be used for fixed base stations
Situation, the positional information for being each acquisition in each base station is fixed value.In may naturally be used for M base station, portion of base stations is
Fixed base stations, are partly the situations of the base station of position movement.Can be also used for the feelings of the base station of M base station Jun Shi positions movement
Condition.
By above-mentioned step, it may be determined that when going out for the first moment, and the first of each base station of the first moment
Positional information.First moment and the first position information is then based on, the position of target device is determined.
The possible implementation method for determining target device position is described below.
Optionally, the mode of above-mentioned determination target device position can obtain the target device to first base station
First distance, wherein described first base station are any one base station in the M base station；The target device is obtained to except institute
State M-1 second distance of M-1 base station outside first base station；First distance is obtained with the M-1 second distance
Between M-1 range difference；It is determined that the nearest extreme value of range coordinate origin on the curved surface formed by the M-1 range difference
Point, the extreme point are the position coordinateses of the target device.
Optionally, it is described obtain it is described first distance and the M-1 second distance between M-1 range difference it
Before, distinguish label can to first M base station, such as No. 1 base station, No. 2 base stations are until M base stations.The order of label can be with
Arbitrary, i.e., in M base station it is concrete which as No. 1 base station, which is not limited as No. 2 base stations.When each base
After the sequential calibration stood is good, start to obtain target device distance of each base station and to the 1st base station in the M base station
Apart from difference function, specific acquisition modes can, by Theoretical Calculation, can also be certainly the side by computer simulation
Formula.
For example, it can be assumed that the position coordinateses of target device are (x, y, z), it is determined that during the first moment such as first
Carve as 00:05s, and in the case of first moment, the first position information of each base station, then target can be obtained
Position coordinateses to No. 1 base station, No. 2 base stations, No. 3 base stations distance.
Such as target device can pass through to the distance of No. 2 base stationsTo represent.
And target device can pass through to the distance of No. 1 base stationTo represent, then mesh
Marking device can be represented by following formula to No. 2 base stations and to the range difference of No. 1 base station：
Likewise, target device can pass through to the distance of No. 3 base stationsTo represent.That
Target device to No. 3 base stations with can be represented by following formula to the distance between No. 1 base station difference：
Equally, target device to the i+1 base station in M base station with to the distance between the 1st base station difference can be,
Wherein, i is the integer from 1 to M-1.Therefore such range difference is total M-1.It is succinct for description,
This differs and one lists.
After M-1 range difference is got, it is determined that range coordinate is former on the curved surface formed by the M-1 range difference
The nearest extreme point of point, the extreme point is the position coordinateses of the target device.
Optionally, it is determined that the mode of the curved surface formed by the M-1 range difference can be by above-mentioned M-1 range difference
Obtained by steepest descent method
Determine that F (x, y, z) forms a curved surface in space coordinates.
Optionally, the mode of the curved surface that the above-mentioned determination M-1 range difference is formed is can also be except steepest descent method
Outside alternate manner such as computer simulation etc., the present invention do not make specific restriction.
Afterwards, determine the nearest extreme point of range coordinate origin on the curved surface, the extreme point is the target device
Position coordinateses.The possible implementation for determining the nearest extreme point of range coordinate origin on curved surface is described below.
Optionally, an initial point is determined on the curved surface, and make the initial point with the first moving step length to the pole
Value point moves to the first coordinate points；Judge whether the difference between first coordinate points and the initial point meets pre-conditioned；
When the difference between first coordinate points and the initial point meets described pre-conditioned, determine first coordinate points for institute
State extreme point.
As a example by following citing will continue to determine the curved surface that F (x, y, z) is formed above by steepest descent method.It is optional
, an initial point (x is determined in the domain of definition of F (x, y, z)0,y0,z0), so this initial point must be positioned at the curved surface
On, the initial point is made afterwards with the first moving step length progressively moves to the first coordinate points (x1,y1,z1)。
For the possible acquisition modes of the first moving step length are, it is possible to use formula (3) deforms and obtains, specially：
OrderWherein, T represents transposed matrix, with initial point (x0,y0,z0) approximate as solving
Value, direction of the gradient direction that acquisition F (x, y, z) is put at this i.e. to extreme point movement is：G=(g10,g20,g30)T, its
In
Assume the first moving step length with λ to represent.Mobile mode can be moved for initial point transverse and longitudinal coordinate respectively,
I.e.
Like this, the new coordinate points for obtaining i.e. the first coordinate points (x1,y1,z1) it is exactly extreme point.Specifically, by (x1,
y1,z1) bring above-mentioned formula (8) into, then contain variable λ in F, the acquisition modes of the first moving step length λ can be,
OrderThen obtain：
By such mode, it is possible to obtain first moving step length λ corresponding with initial point.Explanation is needed exist for,
For the acquisition modes of above-mentioned first moving step length are not limited to aforesaid way, can also obtain by another way, for example thing
The moving step length first set in advance, concrete implementation is the mode present invention be not construed as limiting.
When determining an initial point on the curved surface, and the initial point is made to move to the extreme point with the first moving step length
After moving the first coordinate points, judge whether the difference between first coordinate points and the initial point meets pre-conditioned.
Optionally, it is above-mentioned it is pre-conditioned be system general requirement error factor, the specific error factor of different equipment
It is different.Can be default specific value, or the exact value by calculating acquisition.When first coordinate points with it is described
When difference between initial point meets described pre-conditioned, determine that first coordinate points are the extreme point.Like this, it is described
Extreme point is exactly the position coordinateses of target device.
Optionally, judge whether the difference between first coordinate points and the initial point meets pre-conditioned one of which
Mode can be the first coordinate points (x1,y1,z1) and initial point (x0,y0,z0) poor x1-x0=e1,y1-y0=e2,z1-z0=e3,
And e1、e2、e3Be smaller than systematic error factors, then the difference between first coordinate points and the initial point just meets pre-
If condition.Alternatively possible implementation can be | δ x |+| δ y |+| δ z |≤ε, wherein, δ x=x1-x0, δ y=y1-y0、δz
=z1-z0, ε is systematic error factors.When difference satisfaction | δ x |+| δ y |+| the δ z | between the first coordinate points and initial point are during≤ε, generation
Table meets pre-conditioned.
Optionally, when the difference between first coordinate points and the initial point is unsatisfactory for described pre-conditioned, pass through
Preset correction value is modified the second coordinate points of acquisition to first coordinate points；And second coordinate points are made with the second movement
Step-length moves to the 3rd coordinate points to the extreme point.Continue afterwards to judge the 3rd coordinate points and second coordinate points it
Between difference whether meet described pre-conditioned；When the difference between the 3rd coordinate points and second coordinate points meets described pre-
If during condition, determining that the 3rd coordinate points are the extreme point.
Optionally, above-mentioned preset correction value can be rule of thumb value set in advance, or by calculate obtain
Exact value.It is described below by calculating the method for obtaining the correction value.
Make fi(x, y, z)=Ri+1-R1, Taylor expansion is carried out at initial point to which then and ignores dividing for more than second order
Amount, obtains K Δs=h+ ε, wherein：
Weighted least-square solution Δ=(K is obtained by above-mentioned formulaTQ-1K)KTQ-1(h+ ε), wherein, RM,1For target device
To m-th base station and the observation of the range difference to the 1st base station, Ri+1-R1Be target device to i-th base station with to the 1st
The actual value of the range difference of base station, wherein, i is the integer from 1 to M-1.K is measurement coefficient, error factors of the ε for system, and Q is
The covariance matrix of time difference is received, the covariance matrix can pass through Q=c2ABA is obtained, and wherein, c is the light velocity, and A is diagonal
Matrix, the matrix element on its diagonal are respectively R3,1 2, R4,1 2, until RM,1 2, B is also diagonal matrix, the square on its diagonal
Array element is respectively δ3,1 2, δ4,1 2, until δM,1 2.Wherein, δM,1Measure with the radial distance to the 1st base station for m-th base station
Error amount.Weighted least-square solution Δ can be used as above-mentioned correction value.
So when the difference between the first coordinate points and initial point is unsatisfactory for pre-conditioned, for example gone up by preset correction value
Δ is stated, first coordinate points are modified, obtain the second coordinate points, the mode of amendment can make first coordinate points
(x1,y1,z1) transverse and longitudinal coordinate be individually subtracted correction value Δ, to obtain the second coordinate points (x2,y2,z2).Getting the second seat
After punctuate, in addition it is also necessary to determine the second moving step length.When second coordinate points move to the 3rd coordinate with the second moving step length
Point (x3,y3,z3) when, judge whether the difference between the 3rd coordinate points and second coordinate points meets pre-conditioned again,
If it is satisfied, then it is determined that the 3rd coordinate points are the position of the extreme point, i.e. target device.
Optionally, the second moving step length of above-mentioned acquisition mode can be similar with the mode of the first moving step length of above-mentioned acquisition.
I.e. with the second coordinate points (x2,y2,z2) initial point is replaced as an approximation of solution, with the 3rd coordinate points (x3,y3,z3) replace
First coordinate points (x1,y1,z1), obtainConcrete g10’,g20’,g30' recurring formula (5)-(7) acquisition, λ ' weights
Multiple formula (9) is obtained.
Optionally, judge whether the difference between the 3rd coordinate points and second coordinate points meets pre-conditioned side
Formula can also and above-mentioned to judge between the first coordinate points and initial point whether difference meets pre-conditioned mode similar.Only need to
By the 3rd coordinate points (x3,y3,z3) replace above-mentioned first coordinate points (x1,y1,z1), by the second coordinate points (x2,y2,z2) replace just
Initial point (x0,y0,z0).It is succinct for description, will not be described here.
Optionally, if the difference between the 3rd coordinate points and second coordinate points be still unsatisfactory for it is pre-conditioned,
So continue to be modified the 3rd coordinate points, the acquisition modes of correction value can be with the mode phase of above-mentioned acquisition correction value
Together, only need to be by the 3rd coordinate points (x3,y3,z3) replace initial point (x0,y0,z0), to fi(x, y, z)=Ri+1-R1In the 3rd coordinate
Taylor expansion the first weighted least-square solution is obtained at point.First weighted least-square solution is exactly to the 3rd coordinate
The first correction value that point is modified, obtains 4-coordinate point by first correction value to the 3rd coordinate points amendment, again
Judge whether the difference between 4-coordinate point and the 3rd coordinate points meets pre-conditioned.Pre-conditioned seat is met until getting
Till punctuate.The purpose for taking aforesaid way is, in order to obtain the exact position of target device.
It should be noted that after completing above-mentioned all steps, the target location for getting is coordinate points, if
Want to get target if the movement locus in a period of time, in addition it is also necessary to obtain the second moment different from the first moment,
And in the second position information residing for described each base station of second moment itself.And it is based on second moment and second
Confidence ceases, and determines another position coordinates of target device.When obtain not in the same time under, multiple position coordinateses of target device
When, it is possible to obtain the motion track of target device.Refer to shown in Fig. 3, for the one kind provided by one embodiment of the invention
The point mark of the target device that multipoint positioning method is obtained and the comparison diagram of the true point mark of target device.Formed by real point in figure
Track represents the true point mark of target device, represents the motion track of base station by the track that dotted line is formed, the rail formed by circle
Mark represents the point mark of the target device obtained by the multipoint positioning method, and wherein target device can be helicopter, yacht, car
Wait equipment, as seen from Figure 3, the target device obtained by the multipoint positioning method point mark it is true with target device
Point mark coincide well.
Description by more than, it can be seen that in the technical scheme of the application, the position of M base stations with when
Between change and change.Receive the reception of the target information of each base station reception target device transmission that M base station sends
Moment, and in the time of reception, the positional information of each base station；And according to time of reception of each base station with
And each described base station determines the position of the target device in the positional information of the time of reception.By such mode
A kind of new multipoint positioning method of the base station that can be used for position movement is provided.It is solid relative to the position of base station in prior art
Fixed constant and situation known to each base station position information, the scheme of the offer of the application have universality.
Based on same inventive concept, second aspect present invention provides a kind of multi-point positioning device, and its structure chart refer to
Shown in Fig. 4, the device includes：
Receiver module 201, receives the target letter that target device sends for receiving each described base station that M base station sends
The time of reception of breath, and in the time of reception, the positional information of each base station；Wherein, the position of each base station
Put change over time and change, the M is the integer more than or equal to 3；
Determining module 202, for the time of reception according to each base station and each described base station in the reception
The positional information at moment, determines the position of the target device.
Optionally, determining module 202 specifically for：Determined for the first moment in the time of reception, and determine described
The first position information of each base station of the first moment；Based on first moment and the first position information, institute is determined
State the position of target device.
Optionally, determining module 202 specifically for：The target device is obtained to the first distance of first base station, its
Described in first base station be any one base station in the M base station；The target device is obtained to except first base
M-1 second distance of M-1 base station outside standing；Obtain M-1 between first distance and the M-1 second distance
Range difference；It is determined that the nearest extreme point of range coordinate origin, the extreme value on the curved surface formed by the M-1 range difference
Position coordinateses of the point for the target device.
Optionally, determining module 202 is additionally operable to：An initial point is determined on the curved surface, and makes the initial point with
One moving step length moves to the first coordinate points to the extreme point；Judge the difference between first coordinate points and the initial point
Whether meet pre-conditioned；When the difference between first coordinate points and the initial point meets described pre-conditioned, it is determined that
First coordinate points are the extreme point.
Optionally, determining module 202 is additionally operable to：When the difference between first coordinate points and the initial point is unsatisfactory for institute
When stating pre-conditioned, the second coordinate points of acquisition are modified by preset correction value to first coordinate points；And make described
Two coordinate points move to the 3rd coordinate points with the second moving step length to the extreme point；
Judge whether the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned；
When the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned, described is determined
Three coordinate points are the extreme point.
Optionally, the multi-point positioning device is for example integrated in aforesaid central treating stations.
Multi-point positioning device in the present embodiment is based under same design with the multipoint positioning method shown in earlier figures 1-3
Invention, by aforementioned to multipoint positioning method and its detailed description of version, those skilled in the art can be clearly
Understand the implementation process of multi-point positioning device in the present embodiment, thus it is succinct for description, will not be described here.
Based on same inventive concept, third aspect present invention provides a kind of multipoint location system, refer to shown in Fig. 5,
For a kind of structure chart of multipoint location system provided in an embodiment of the present invention, the system includes：
Receptor 301, receives the target information that target device sends for receiving each described base station that M base station sends
The time of reception, and in the time of reception, the positional information of each base station；Wherein, the position of each base station
Change over time and change, the M is the integer more than or equal to 3；
Processor 302, for the time of reception according to each base station and each described base station in the reception
The positional information at quarter, determines the position of the target device.
Optionally, processor 302 specifically for：Determined for the first moment in the time of reception, and determine described the
The first position information of each base station of one moment；Based on first moment and the first position information, it is determined that described
The position of target device.
Optionally, processor 302 specifically for：The target device is obtained to the first distance of first base station, wherein
First base station is any one base station in the M base station；The target device is obtained to except first base station
M-1 second distance of M-1 outer base station；Obtain M-1 between first distance and the M-1 second distance it is individual away from
Deviation；It is determined that the nearest extreme point of range coordinate origin, the extreme point on the curved surface formed by the M-1 range difference
For the position coordinateses of the target device.
Optionally, processor 302 is additionally operable to：An initial point is determined on the curved surface, and makes the initial point with first
Moving step length moves to the first coordinate points to the extreme point；Judge that the difference between first coordinate points and the initial point is
It is no to meet pre-conditioned；When the difference between first coordinate points and the initial point meets described pre-conditioned, institute is determined
The first coordinate points are stated for the extreme point.
Optionally, processor 302 is additionally operable to：Described in being unsatisfactory for when the difference between first coordinate points and the initial point
When pre-conditioned, the second coordinate points of acquisition are modified by preset correction value to first coordinate points；And make described second
Coordinate points move to the 3rd coordinate points with the second moving step length to the extreme point；
Judge whether the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned；
When the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned, described is determined
Three coordinate points are the extreme point.
Optionally, processor 302 can be general central processing unit (CPU) or ASIC (English：
Application Specific Integrated Circuit, referred to as：ASIC), can be that one or more are used for controlling journey
The integrated circuit that sequence is performed, can be using field programmable gate array (English：Field Programmable Gate
Array, referred to as：FPGA the hardware circuit) developed, can be baseband processor.
Optionally, multipoint location system provided in an embodiment of the present invention can also include memorizer, such as read only memory
(English：Read Only Memory, referred to as：ROM), random access memory (English：Random Access Memory, letter
Claim：RAM one or more) and in disk memory.If random access memory, can be with static RAM
It can also be dynamic random access memory.
Multi-point positioning device in the present embodiment is based under same design with the multipoint positioning method shown in earlier figures 1-3
Invention, by aforementioned to multipoint positioning method and its detailed description of version, those skilled in the art can be clearly
Understand the implementation process of multipoint location system in the present embodiment, thus it is succinct for description, will not be described here.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can adopt complete hardware embodiment, complete software embodiment or with reference to the reality in terms of software and hardware
Apply the form of example.And, the present invention can be using the computer for wherein including computer usable program code at one or more
The shape of the computer program implemented in usable storage medium (including but not limited to disk memory and optical memory etc.)
Formula.
The present invention be with reference to method according to embodiments of the present invention, equipment (system), and computer program flow process
Figure and/or block diagram are describing.It should be understood that can be by computer program instructions flowchart and/or each stream in block diagram
The combination of journey and/or square frame and flow chart and/or the flow process in block diagram and/or square frame.These computer programs can be provided
The processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of specifying in present one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory is produced to be included referring to
Make the manufacture of device, the command device realize in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or
The function of specifying in multiple square frames.
These computer program instructions can be also loaded in computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented process, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow process of flow chart or multiple flow processs and/or block diagram one
The step of function of specifying in individual square frame or multiple square frames.
Obviously, those skilled in the art can carry out the essence of various changes and modification without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (10)
1. a kind of multipoint positioning method, including：
Receive the time of reception of the target information of each base station reception target device transmission that M base station sends, Yi Ji
The time of reception, the positional information of each base station；Wherein, the change over time of the position of each base station and become
Change, the M is the integer more than or equal to 3；
According to time of reception of each base station and each described base station in the positional information of the time of reception, institute is determined
State the position of target device.
2. the method for claim 1, it is characterised in that time of reception according to each base station and each
Positional information of the base station in the time of reception determines the position of the target device, including：
Determined for the first moment in the time of reception, and determine the first position letter in each base station of the first moment
Breath；
Based on first moment and the first position information, the position of the target device is determined.
3. method as claimed in claim 2, it is characterised in that the position of the determination target device, including：
The target device is obtained to the first distance of first base station, during wherein described first base station is the M base station
Any one base station；
The target device is obtained to M-1 second distance of the M-1 base station in addition to first base station；
Obtain M-1 range difference between first distance and the M-1 second distance；
It is determined that the nearest extreme point of range coordinate origin, the extreme point on the curved surface formed by the M-1 range difference
For the position coordinateses of the target device.
4. method as claimed in claim 3, it is characterised in that the curved surface that the determination is formed by the M-1 range difference
The nearest extreme point of upper range coordinate origin, including：
An initial point is determined on the curved surface, and makes the initial point progressively move to the first coordinate with the first moving step length
Point；
Judge whether the difference between first coordinate points and the initial point meets pre-conditioned；
When the difference between first coordinate points and the initial point meets described pre-conditioned, first coordinate points are determined
For the extreme point.
5. method as claimed in claim 4, it is characterised in that methods described also includes：
When the difference between first coordinate points and the initial point is unsatisfactory for described pre-conditioned, by preset correction value pair
First coordinate points are modified the second coordinate points of acquisition；And second coordinate points is progressively moved with the second moving step length
To the 3rd coordinate points；
Judge whether the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned；
When the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned, the 3rd seat is determined
Punctuate is the extreme point.
6. a kind of multi-point positioning device, including：
Receiver module, for receiving connecing for the target information of each base station reception target device transmission that M base station sends
Time receiving carves, and in the time of reception, the positional information of each base station；Wherein, the position of each base station with
The change of time and change, the M is the integer more than or equal to 3；
Determining module, for the time of reception according to each base station and each described base station in the position of the time of reception
Confidence ceases, and determines the position of the target device.
7. device as claimed in claim 6, it is characterised in that the determining module specifically for：
Determined for the first moment in the time of reception, and determine the first position letter in each base station of the first moment
Breath；
Based on first moment and the first position information, the position of the target device is determined.
8. device as claimed in claim 7, it is characterised in that the determining module specifically for：
The target device is obtained to the first distance of first base station, during wherein described first base station is the M base station
Any one base station；
The target device is obtained to M-1 second distance of the M-1 base station in addition to first base station；
Obtain M-1 range difference between first distance and the M-1 second distance；
It is determined that the nearest extreme point of range coordinate origin, the extreme point on the curved surface formed by the M-1 range difference
For the position coordinateses of the target device.
9. device as claimed in claim 8, it is characterised in that the determining module is additionally operable to：
An initial point is determined on the curved surface, and makes the initial point move to the first moving step length to the extreme point
One coordinate points；
Judge whether the difference between first coordinate points and the initial point meets pre-conditioned；
When the difference between first coordinate points and the initial point meets described pre-conditioned, first coordinate points are determined
For the extreme point.
10. device as claimed in claim 9, it is characterised in that the determining module is additionally operable to：
When the difference between first coordinate points and the initial point is unsatisfactory for described pre-conditioned, by preset correction value pair
First coordinate points are modified the second coordinate points of acquisition；And make second coordinate points with the second moving step length to the pole
Value point moves to the 3rd coordinate points；
Judge whether the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned；
When the difference between the 3rd coordinate points and second coordinate points meets described pre-conditioned, the 3rd seat is determined
Punctuate is the extreme point.
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