CN106792516B - 3-D positioning method based on radio communication base station - Google Patents

3-D positioning method based on radio communication base station Download PDF

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Publication number
CN106792516B
CN106792516B CN201611095350.6A CN201611095350A CN106792516B CN 106792516 B CN106792516 B CN 106792516B CN 201611095350 A CN201611095350 A CN 201611095350A CN 106792516 B CN106792516 B CN 106792516B
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base station
target
mobile terminal
bss
coordinate
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CN106792516A (en
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黄靖
姜文
佟铮
胡晓勇
唐星
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Wuhan University of Technology WUT
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • 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
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination

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

Abstract

The invention discloses a kind of 3-D positioning method based on radio communication base station, steps are as follows: 1) obtain base station BS coordinate, calculate mobile terminal MT to base station propagation time；2) one is chosen from all base station BSs be set to BS for target BS1, other base stations are set to BSi；3) other base station BSs are calculatediTo target BS BS1Range difference Dbbi1, and screen other base station BSsi, update other base station BSs after calculating mobile terminal MT to screeningiPropagation time；4) α-TDOA algorithm is run, the coordinate (x, y, z) of mobile terminal MT is obtained.The present invention expresses the relationship between measured value and actual value by introducing weighted factor, and algorithm for design is calculated and optimized.Test result shows that lower integration algorithm computation complexity proposed by the present invention, fast convergence rate, efficiency are higher, and final calculated terminal location coordinate accuracy is high.

Description

3-D positioning method based on radio communication base station
Technical field
The present invention relates to mobile communication locating technology fields, in particular to a kind of three-dimensional localization based on radio communication base station Method.
Background technique
As location-based application emerges one after another, oneself warp of location-based service becomes the important composition portion of mobile value-added service Point, it is with a wide range of applications in mobile communication field, therefore provide the own warp of location-based service as research using base station and answer Use hot spot.In recent years with the rapid development of mobile communications network, more mobile terminals are linked into mobile communications network, more next More base stations are established, and are almost spread over each corner in the world, are provided communication service for terminal user, it is achieved that The precise positioning of mobile terminal has become increasingly important.
Most basic location technology is the location technology based on base station in mobile communications network.Mobile communication locating technology exists There are mainly three types of current common, i.e. Cell-ID positioning mode, TDOA or AOA positioning mode, A-GPS positioning mode.Influence positioning accuracy Principal element have: (1) influence of the multipath transmisstion to positioning accuracy；(2) NLOS (non line of sight) propagates the influence to positioning accuracy, NLOS propagation is the main reason for influencing various cicada nest network positions precision；(3) influence of the multi-access inference to positioning measurement；(4) The influence of base station number and position distribution to positioning；(5) data etc. of same position redundant measurement.
Cell-ID positioning mode is the position of the cicada nest connected according to mobile terminal to be indicated to the position of user, The precision of the localization method is lower, and positioning accuracy difference is big；The basic principle of TDOA or AOA positioning mode is by measuring electric wave Propagation time or the propagation time difference of multiple base stations are traveled to from mobile terminal to determine the specific location of target terminal, positioning accurate Degree is higher than former positioning mode, it is contemplated that the factors such as measurement, noise will cause error the case where sighting distance and non line of sight；A-GPS Positioning mode is on the basis of GPS positioning technology, and network transmits auxiliary data by wireless communication, it is one kind ten Divide quick localization method, has many advantages, such as that positioning accuracy is high, locating speed is fast, its shortcoming is that technical difficulty is big, Bu Nengyou Effect solves indoor orientation problem.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, propose a kind of fast convergence rate, time complexity it is low, The high 3-D positioning method based on radio communication base station of accuracy.Include the following steps:.
1) obtain base station BS coordinate, calculate mobile terminal MT to base station propagation time；
2) one is chosen from all base station BSs be set to BS for target BS1, other base stations are set to BSi, i is oneself greater than 1 So number；
3) other base station BSs are calculatediTo target BS BS1Range difference Dbbi1, and screen other base station BSsi, update and calculate Other base station BSs after mobile terminal MT to screeningiPropagation time；
4) α-TDOA algorithm is run, the coordinate (x, y, z) of mobile terminal MT is obtained；The operational formula of the α-TDOA are as follows:
Wherein,
In above formula, α is weighted factor, α ∈ (0,1), AiFor the first parameter；BiFor the second parameter, CiFor third parameter；Si For the 4th parameter, (X1,Y1,Z1) it is target BS BS1Coordinate, (Xi,Yi,Zi) it is i-th of other base station BSiCoordinate；τiFor Mobile terminal MT is to other base station BSsiWith target BS BS1Propagation time difference；V is signal velocity, takes 3*108m/s。
Preferably, k-NN sorting algorithm is used in the step 3), with other base station BSsiTo target BS BS1Range difference Dbbi1It is screened as judgment criteria, a base station is only retained in every class.
Preferably, other base station BSs in the step 3)iTo target BS BS1Range difference Dbbi1Calculation formula are as follows:
Preferably, after the step 4) further include:
5) α optimization algorithm is run, the value of iteration optimization weighted factor is updated and calculated according to the weighted factor after optimization Obtain the coordinate (x, y, z) of mobile terminal MT.
Preferably, the number of iterations of the optimization weighted factor be greater than 5 times, give up after each iteration optimization more than 1 or Value of the person less than 0.
Preferably, the formula of the α optimization algorithm are as follows:
L=ν τi
Wherein: L is intermediate ginseng Number, Dmbi1For mobile terminal MT and reach target BS BS1, other base station BSsiRange difference.
The method for being accurately positioned mobile terminal based on base station that the present invention provides a kind of, brings forward one kind in complexity High-accuracy high-efficiency rate positioning under environment.In this method, it is contemplated that sighting distance and the simultaneous communication environments of non line of sight situation, By the relationship introduced between weighted factor expression measured value and actual value, algorithm for design is calculated and is optimized.Additionally, it is contemplated that Number to base station is more, in order to improve calculating speed and guarantee accuracy, carries out sort operation to base station first, was calculating Cheng Zhong, the measured value that one of those is only chosen in the base station in same class participate in calculating.Test result shows proposed by the present invention Integration algorithm computation complexity is lower, fast convergence rate, efficiency are higher, and final calculated terminal location coordinate accuracy is high.
The present invention has following outstanding feature compared with prior art:
1. using matrix operation form calculus end coordinates and optimization algorithm, compared with the prior art, speed faster, when Between complexity it is lower；
2. the optimization algorithm thinking that the present invention designs to improve setting accuracy is novel, fast convergence rate, each iteration Give up to its weighted factor value that should belong to range is unsatisfactory for, effectively prevent influence of the larger measured value of error to result, Greatly improve optimization efficiency；
3. using k-NN sorting algorithm, classify according to the distance between base station and target BS, remove redundant site, Speed is faster；Experiment shows that the setting accuracy after classifying is higher.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Fig. 2 is sample data table.
Fig. 3 is simulation result table 1.
Fig. 4 is simulation result table 2.
Fig. 5 is number of base stations in error 5m about positioning accuracy curve graph.
Fig. 6 is error 5m inner iteration number about positioning accuracy curve graph.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
A kind of 3-D positioning method based on radio communication base station of the present invention refers to TDOA algorithm.
TDOA is synchronous with clock
Signal arrival time difference (Time Difference of Arrival, TDOA) refers to same mobile terminal The time difference of arrival different base station (Base Station) BS for the signal that (Mobile Terminal) MT is issued.Such measurement It is synchronous with the clock of base station BS that the acquisition of value is not required for mobile terminal MT, and requires nothing more than all base station BS clocks and synchronize, therefore Positioning is reduced to a certain extent implements complexity and computation complexity.Oneself have correlative study the result shows that, based on TDOA's Location algorithm has the advantages such as strong antijamming capability, computational accuracy height, and many in cicada nest communication network, WLAN indoor positioning etc. It is widely used in positioning field.Assuming that emitting respectively from mobile terminal MT to base in time t there are two identical signal Stand BS1With BS2, and oneself knows mobile terminal MT and base station BS1Distance be D1, with base station BS2Distance be D2, ε is transmitting terminal With the clock synchronous error of receiving end, then base station BS1With base station BS2The signal time received is poor are as follows:
According to above formula it is found that TDOA algorithm synchronizes the clock of Transmitting and Receiving End does not require, reduce time error variable, There is certain optimization to developing algorithm model.
α-TDOA algorithm
Comprehensively consider sighting distance and non line of sight situation, measurement, noise equal error, discovery error shows as the reflection of data Bigger than normal, the fact that always cause positive error based on it of measured value, with reference to location efficiency and accuracy, it is proposed that α-TDOA algorithm model.Random initializtion weighted factor (0 < α < 1) first, so that: α v τi=Di-D1.Therefore
Di 2=(α ν τi+D1)2=α2ν2τi 2+2αντiD1+D1 2
It can be obtained by shifting to
Wherein i=2,3 ..., N, is subtracted with above formula
It is available:
Wherein i=3,4 ... N, it is known that MT and BSiCoordinate be (x, y, z) and (X respectivelyi,Yi,Zi),It is unfolded available:
Di 2=Xi 2-2Xix+x2+Yi 2-2Yiy+y2+Zi 2-2Ziz+z2
Above formula result is substituted into (2):
Wherein i=3,4 ... N, we rewrite formula above are as follows:
Si+Aix+Biy+CiZ=0
Wherein:
And
Above-mentioned N-2 equation is write as to the form of matrix:
Thereby eliminate D1, then the coordinate (x, y, z) of MT can be obtained by following mode:
Number of base stations required for the present invention is at least 5.
As shown in Figure 1, a kind of specific steps of the 3-D positioning method based on radio communication base station of the present invention are as follows:
1) base station BS coordinate is obtained, the propagation time of mobile terminal MT to base station B is calculated, as TOA measured value.
2) one is chosen from all base station BSs be set to BS for target BS1, other base stations are set to BSi, i is oneself greater than 1 So number.
3) other base station BSs are calculatediTo target BS BS1Range difference Dbbi1, and screen other base station BSsi, update TOA and survey Magnitude simultaneously calculates other base station BSs after mobile terminal MT to screeningiPropagation time.
Using k-NN sorting algorithm, with other base station BSsiTo target BS BS1Range difference Dbbi1It is carried out as judgment criteria It screens, only retains a base station in every class.Dbbi1Calculation formula are as follows:
4) α-TDOA algorithm is run, the coordinate (x, y, z) of mobile terminal MT is obtained；The operational formula of the α-TDOA are as follows:
Wherein,
In above formula, α is weighted factor, α ∈ (0,1), AiFor the first parameter；BiFor the second parameter, CiFor third parameter；Si For the 4th parameter, (X1,Y1,Z1) it is target BS BS1Coordinate, (Xi,Yi,Zi) it is i-th of other base station BSiCoordinate；τiFor Mobile terminal MT is to other base station BSsiWith target BS BS1Propagation time difference；V is signal velocity, takes 3*108m/s。
5) α optimization algorithm is run, the value of iteration optimization weighted factor is updated and calculated according to the weighted factor after optimization Obtain the coordinate (x, y, z) of mobile terminal MT.
The number of iterations for optimizing weighted factor is to give up after each iteration optimization more than 1 or less than 0 greater than 5 times Value.
The formula of α optimization algorithm are as follows:
L=ν τi
Wherein: L is intermediate ginseng Number, Dmbi1For mobile terminal MT and reach target BS BS1, other base station BSsiRange difference.
Required minimum number of base stations is five in the present invention.
Emulation experiment
Emulation data obtain in personal PC environment below, wherein operating system: Win64, processor: Intel Duo I5-6300HQ 2.3GHz, memory 8GB, simulation software are matlab R2015a 64.Our measurement knots from real data The propagation time for reading mobile terminal MT to base station BS in fruit file is TOA measured value, wherein base station distribution range for 1000 × 1000 meters (sample data table is as follows), emulation is successively executed according to localization method flow chart, 2 sample data table institute of result figure Show:
Fig. 3 is simulation result table 1, and error range indicates calculated mobile terminal MT position coordinates and reality eventually in Fig. 3 Euclidean distance between end position coordinate.Accuracy is defined as (position coordinates of calculated mobile terminal MT and respective reality Mobile terminal MT number of the Euclidean distance within the scope of allowable error between the position coordinates of border)/all mobile terminal MT number Mesh.Given base station BS is classified by its position coordinates, removes extra base station BS data.According to this paper algorithm model, There is the measured value P of 5 base station BSs that can orient end coordinates, more base station BS measured values are used to improve the accurate of positioning Degree.The table shows: within the scope of same allowable error, with the increase for the number of base stations for participating in calculating, accuracy is also therewith It improves.For part sample when participating in locating base station and reaching certain amount without accuracy data, this is by calculating by k-NN in table After method classification, the remaining number of base stations after screening is less than caused by number listed in table.
Fig. 4 is simulation result table 2, passes through 5 tests in figure, the results showed that within the scope of same allowable error, with adding The accuracy of the increase of weight factor α the number of iterations, calculated terminal location coordinate is also higher；It can also be extracted by data in table Following important information out: after the number of iterations is more than 5 times, under conditions of allowable error is 5 meters, be commonly available 95% with On accuracy.
Fig. 5 be in error 5m number of base stations about positioning accuracy curve graph, in Fig. 5 the results show that sample1- In sample5, end error range is within 5m, the relationship of accuracy and locating base station number: sample1, locating base station number When being 5, accuracy is minimum, is 33.09%；With the increase of base station number, accuracy is in rising trend, when locating base station number is 13 When, accuracy tends towards stability, and is 98.73%；Highest accuracy is more than 99%；Sample2, when locating base station number is 5, accuracy Minimum is 29.75%；With the increase of base station number, accuracy is in rising trend, and when locating base station number is 19, accuracy is most Height is 97.42%；Sample3, when locating base station number is 5, accuracy is minimum, is 12.23%；With the increase of base station number, just True rate is in rising trend, and when locating base station number is 23, accuracy highest is 87.77%；Sample4, locating base station number are 5 When, accuracy is minimum, is 16.93%；With the increase of base station number, accuracy is in rising trend, when locating base station number is 29, Accuracy highest is 93.93%；Sample5, when locating base station number is 5, accuracy is minimum, is 51.7%；With base station number Increase, accuracy is in rising trend, and when locating base station number is 15, accuracy highest is 99%.
Fig. 6 is error 5m inner iteration number about positioning accuracy curve graph, in Fig. 6 the results show that sample1- In sample5, end error range is within 5m, the relationship of accuracy and the number of iterations, on the whole, after convergence rate is first fast Slowly, respectively: sample1, iteration 1 time, accuracy 91.45%；After 5 iteration, accuracy tends towards stability, and approaches 99%；Sample2, iteration 1 time, accuracy 84.67%；Increase with the number of iterations, accuracy is in rising trend, up to 98%；Sample3, iteration 1 time, accuracy 90%；After 5 iteration, accuracy tends towards stability, close to 99%； Sample4, iteration 1 time, accuracy 83.21%；Increasing with the number of iterations, accuracy is in rising trend, and up to 98%； Sample5, iteration 1 time, accuracy 66.5%；After 5 iteration, accuracy tends towards stability, close to 99%.
The content being not described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.

Claims (6)

1. a kind of 3-D positioning method based on radio communication base station, which comprises the steps of:
1) obtain base station BS coordinate, calculate mobile terminal MT to base station propagation time；
2) one is chosen from all base station BSs be set to BS for target BS1, other base stations are set to BSi, i is the nature greater than 1 Number；
3) other base station BSs are calculatediTo target BS BS1Range difference Dbbi1, and screen other base station BSsi, update and calculate movement Other base station BSs after terminal MT to screeningiPropagation time；
4) α-TDOA algorithm is run, the coordinate (x, y, z) of mobile terminal MT is obtained；The operational formula of the α-TDOA are as follows:
Wherein,
In above formula, α is weighted factor, α ∈ (0,1), AiFor the first parameter；BiFor the second parameter, CiFor third parameter；SiIt is the 4th Parameter, (X1,Y1,Z1) it is target BS BS1Coordinate, (Xi,Yi,Zi) it is i-th of other base station BSiCoordinate；τiIt is mobile whole Hold MT to other base station BSsiWith target BS BS1Propagation time difference；V is signal velocity, takes 3*108m/s；N is greater than Integer equal to 5.
2. the 3-D positioning method according to claim 1 based on radio communication base station, it is characterised in that: the step 3) It is middle to use k-NN sorting algorithm, with other base station BSsiTo target BS BS1Range difference Dbbi1It is sieved as judgment criteria It selects, only retains a base station in every class.
3. the 3-D positioning method according to claim 2 based on radio communication base station, it is characterised in that: its in the step 3) His base station BSiTo target BS BS1Range difference Dbbi1Calculation formula are as follows:
4. the 3-D positioning method according to claim 1 based on radio communication base station, it is characterised in that: the step 4) Later further include:
5) α optimization algorithm is run, the value of iteration optimization weighted factor, according to the weighted factor after optimization, update is calculated The coordinate (x, y, z) of mobile terminal MT.
5. the 3-D positioning method according to claim 4 based on radio communication base station, it is characterised in that: the optimization adds The number of iterations of weight factor α is to give up the value more than 1 or less than 0 after each iteration optimization greater than 5 times.
6. the 3-D positioning method according to claim 4 based on radio communication base station, it is characterised in that: the α optimization The formula of algorithm are as follows:
L=ν τi
Wherein: L is intermediate parameters, Dmbi1For mobile terminal MT and reach target BS BS1, other base station BSsiRange difference.
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