CN106932755A - Alignment system - Google Patents
Alignment system Download PDFInfo
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- CN106932755A CN106932755A CN201710200315.4A CN201710200315A CN106932755A CN 106932755 A CN106932755 A CN 106932755A CN 201710200315 A CN201710200315 A CN 201710200315A CN 106932755 A CN106932755 A CN 106932755A
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- base station
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- timing
- alignment system
- distance measuring
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—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
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a kind of method of measurement base distance between sites, device, equipment and alignment system based on the distance-finding method.Methods described triggers the first timing module and starts timing and triggering transmitting ranging signals module transmitting distance measuring signal using synchronizing signal；The second timing module is triggered using synchronizing signal start timing；The first timing module is triggered using distance measuring signal and the second timing module stops timing；And since timing being triggered by synchronizing signal, to by time interval, second timing module of distance measuring signal triggering stopping timing, timing obtains distance first base station and the second base station to the time interval for being stopped timing by distance measuring signal triggering since being triggered by synchronizing signal using the first timing module.Method the invention also discloses coordinate system is set up in alignment system using base distance between sites.According to technical scheme disclosed by the invention, the manpower and materials cost of measurement can be saved, improve positioning precision.
Description
Technical field
This disclosure relates to radio communication, more specifically, this disclosure relates to finding range and positioning field.
Background technology
Short distance, high precision wireless indoor positioning technologies are very wide in urban compact region and indoor closing space application
It is general.Indoor locating system generally needs to lay base station in area to be targeted, to position the target location in area to be targeted.It is existing
The location algorithm commonly used in indoor positioning technologies has arrival time TOA is positioned and reaching time-difference TDOA is positioned etc., above-mentioned algorithm
During solving target position, it is required for being based on using base station the coordinate position of certain preferred coordinates system, so as to resolve mesh
Mark the position relative to the preferred coordinates system.This was accomplished by alignment system before being positioned, and pre-build coordinate system, and survey
Measure each base station coordinate in the coordinate system.
Used the existing method for setting up coordinate system and measurement base station location more and surveyed by total powerstation, laser range finder etc.
Measuring appratus carry out the mode of manual measurement.The human cost that the mode of manual measurement expends is huge, and is limited to the laying of base station
Environment, further, since the measurement error of instrument, human error etc. influence, the precision of this kind of method measurement base station location is poor.Base
The degree of accuracy of station location, can have a strong impact on degree of accuracy when being positioned to the carrying out of target.Therefore, the side of manual measurement base station location
Method cannot meet high accuracy, the indoor locating system of high accuracy.Therefore, low human cost is studied, the foundation of high accuracy is sat
The method of mark system and measurement base station location becomes the problem of this area researcher's urgent need to resolve.
The content of the invention
The invention discloses a kind of alignment system, the alignment system include first base station, the second base station, the 3rd base station and
Device to be positioned.Wherein, first base station, the second base station and the 3rd base station include antenna and timing module.First base station, second
The timing module of any two base station receives synchronizing signal and starts meter under synchronizing signal triggering in base station and the 3rd base station
When, at least one of which base station includes transmitting ranging signals module and multi-port module, and transmitting ranging signals module receives synchronous
Signal and produce distance measuring signal under synchronizing signal triggering, multi-port module receives distance measuring signal and distance measuring signal is divided into two
Road, the timing module transmitted all the way to one of base station stops timing with triggering timing module, separately leads up to described
The antenna transmitting of one of base station, antenna reception another road distance measuring signal of another base station, and another base station
Timing module stops timing under another road distance measuring signal triggering.Device to be positioned and first base station, the second base station and the
Framing signal is propagated between three base stations.Wherein, alignment system is by device to be positioned and first base station, the second base station and the 3rd base
The framing signal propagated between standing is opened resolving the positional information of device to be positioned and the timing module by any two base station
The time of beginning timing and stopping timing calculating the distance between any two base station.
The beneficial effects of the invention are as follows, stop timing using distance measuring signal triggering timing module, obtain transmitting ranging signals
Module is launched the response time of distance measuring signal, and this response time is used to resolve the distance between the position of two base stations, can
To obtain the range measurement of high accuracy, high accuracy.So as to the range measurement between base station be used in alignment system, to obtain more
Positioning precision high.
Brief description of the drawings
Fig. 1 provides the schematic diagram that equipment 100 is obtained according to the distance of an embodiment of the present invention；
Fig. 2 provides the schematic diagram according to the range unit 200 of an embodiment of the present invention；
Fig. 3 provides a kind of schematic diagram of internal structure 300 of base station BS 1 in embodiment illustrated in fig. 2；
Fig. 4 provides the schematic diagram of another internal structure 400 of base station BS 1 in embodiment illustrated in fig. 2；
The flow chart of distance-finding method 500 between the base station that Fig. 5 is given according to an embodiment of the present invention；
Fig. 6 provides the work schedule schematic diagram of distance-finding method 500 shown in Fig. 5；
Fig. 7 provides the schematic diagram according to the alignment system 700 of an embodiment of the present invention；
Fig. 8 provides the schematic diagram according to the establishment of coordinate system method 800 of an embodiment of the present invention.
Specific embodiment
Specific embodiment of the invention is described more fully below, it should be noted that the embodiments described herein is served only for citing
Illustrate, be not intended to limit the invention.In the following description, in order to provide thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that：This hair need not be carried out using these specific details
It is bright.In other instances, in order to avoid obscuring the present invention, known circuit, material or method are not specifically described.
Throughout the specification, meaning is referred to " one embodiment ", " embodiment ", " example " or " example "
：Special characteristic, structure or the characteristic described with reference to the embodiment or example are comprised at least one embodiment of the invention.
Therefore, phrase " in one embodiment ", " in embodiment ", " example " for occurring in each place of entire disclosure
Or " example " is not necessarily all referring to same embodiment or example.Furthermore, it is possible to any appropriate combination and or sub-portfolio will be specific
Feature, structure or property combination in one or more embodiments or example.Additionally, those of ordinary skill in the art should manage
Solution, diagram is provided to descriptive purpose provided herein, and diagram is not necessarily drawn to scale.It should be appreciated that working as
Claim " element " " being connected to " or during " coupled " to another element, it can be directly connected or coupled to another element or can be with
There is intermediary element.Conversely, when element " being directly connected to " or " being directly coupled to " another element is claimed, in the absence of cental element
Part.Identical reference indicates identical element.Term "and/or" used herein includes what one or more correlations were listed
Any and all combination of project.
Fig. 1 provides the schematic diagram that equipment 100 is obtained according to the distance of an embodiment of the present invention.As shown in figure 1, the distance
Acquisition equipment 100 exemplarily includes range unit, isochronous controller SC and message handler CP, and wherein range unit includes
Base station BS 1 and base station BS 2.In one embodiment, the base station BS 1 and base station BS 2 are geographically fixed.Isochronous controller
SC is respectively to base station BS 1 and BS2 transmission synchronizing signals SYN.Isochronous controller SC passes through Wireline in one embodiment
LIN1 and LIN2 connection base station BS1 and base station BS 2, with to base station BS 1 and the synchronous signal transmission SYN of base station BS 2.The synchronous letter
Number SYN can be the two paths of signals that same signal is divided into, or the unlike signal with known time relation.Wireline
Type can be determined according to the type of synchronizing signal SYN, for example, synchronizing signal SYN be optical signal, then Wireline be light
It is fine；Synchronizing signal SYN is data signal, then Wireline is netting twine；Synchronizing signal SYN is ultra-broadband signal, then Wireline
It is coaxial line or twisted-pair feeder.
Biographies of the synchronizing signal SYN in Wireline can be determined according to the length of Wireline apart from acquisition equipment 100
The defeated time, and then show that synchronizing signal SYN reaches the moment of base station BS 1 and BS2.In another embodiment, synchronizing signal SYN
Transmission time in Wireline can not also be determined by the length of Wireline, but isochronous controller SC is to base station
After transmitting synchronizing signal SYN, at the same time base station, or is spaced a time delay for systemic presupposition, to isochronous controller SC
Transmitting return path signal, moment and the moment for receiving return path signal that isochronous controller SC passes through record transmitting synchronizing signal SYN,
And the time delay of systemic presupposition determines transmission times of the synchronizing signal SYN in Wireline, and then draw synchronizing signal
SYN reaches the moment of base station BS 1 and BS2.
Base station BS 1 launches distance measuring signal after receiving synchronizing signal SYN to base station BS 2, and the distance measuring signal can be super
Broadband signal.Message handler CP is using the moment of the transmitting distance measuring signal of base station BS 1, the moment of the reception distance measuring signal of base station BS 2
And distance measuring signal spread speed in space determines the distance between base station BS 1 and base station BS 2.Those skilled in the art
It should be understood that the distance between two base stations can be understood as the distance between the position of two base stations, and described information processor
CP is functional module, and it can be integrated into base station BS 1, BS2 or isochronous controller SC, also can individually be set up.
Fig. 2 provides the schematic diagram according to the range unit 200 of an embodiment of the present invention, and range unit 200 is exemplarily
Including base station BS 1 and base station BS 2.In one embodiment, the base station BS 1 and base station BS 2 are geographically fixed.Wherein,
Base station BS 1 includes transmitting ranging signals module 201, the first timing module 202, multi-port module 203 and first antenna 204；
Base station BS 2 includes the second timing module 205 and the second antenna 206.Base station BS 1 and base station BS 2 pass through in one embodiment
Wireline receives synchronizing signal SYN.
The transmitting ranging signals module 201 of base station BS 1 receives synchronizing signal SYN by internal connection line road L1, and same
Distance measuring signal Si is produced under the triggering of step signal SYN；First timing module 202 of base station BS 1 is connect by internal connection line road L2
Synchronizing signal SYN is received, and starts timing under the triggering of synchronizing signal SYN.The range finding letter that transmitting ranging signals module 201 is produced
Number Si is transmitted to multi-port module 203 by internal connection line road L3.The multi-port module 203 includes 1 port, 2 ports and 3
Port, 1 port is connected by internal connection line road L3 with transmitting ranging signals module 201, and 2 ports pass through internal connection line road
L4 is connected with first antenna 204, and 3 ports are connected by internal connection line road L5 with the first timing module 202.Multiterminal mouth mold
The distance measuring signal Si that block 203 will be received from 1 port is divided into two-way, is transmitted to through internal connection line road L4 from 2 ports all the way
One antenna 204, is concurrently incident upon base station BS 2；Transmitted to the first timing module 202 through internal connection line road L5 from 3 ports all the way, and
Trigger the first timing module 202 and stop timing.
Second timing module 205 of base station BS 2 receives synchronizing signal SYN by internal connection line road L6, and in synchronous letter
Start timing under the triggering of number SYN.The distance measuring signal Si of the reception transmitting of base station BS 1 of the second antenna 206 of base station BS 2, and via
Internal connection line road L7 is transmitted to the second timing module 205, and triggers the stopping timing of the second timing module 205.
Transmission time of the signal internally on connection line L1 to L7 is, it is known that can have various in embodiment illustrated in fig. 2
Implementation, for example, the parameter of internal connection line road L1 to L7 be, it is known that the parameter include internal connection line road length,
Signaling rate, transmission time of the signal internally on circuit can be tried to achieve using above-mentioned parameter.
Want to realize precision distance measurement, it is necessary to the accurate x time for knowing distance measuring signal Si.In one embodiment, survey
It is ultra-broadband signal away from signal Si, corresponding, the transmitting ranging signals module 201 in base station BS 1 is ultra-broadband signal transmitting
Module.Ultra-broadband signal transmitter module 201 is triggered from by synchronizing signal SYN, and one is needed to the real distance measuring signal Si that launches
Response time Δ T, and ultra-broadband ranging signal emission module 201 is the ultra-wide produced using analog device such as avalanche diode
Band distance measuring signal, the response time Δ T that it launches distance measuring signal Si every time may be different, therefore, range unit cannot be known super
The correct time of the transmitting distance measuring signal of wide band ranging signal transmitter module 201 Si, and can not be by the response time of advance measurement
The accurate response time Δ T for obtaining transmitting distance measuring signal Si when real realization is found range.The range unit 200 that the present embodiment is given
Transmitting ranging signals module 201 is triggered by synchronizing signal SYN and launches distance measuring signal Si, and trigger the first timing module 202 and opened
Beginning timing, and stop timing using triggering the first timing modules 202 of distance measuring signal Si all the way.Range unit 200 is counted using first
When module timing time and internal connection line road transmission time can calculate transmitting ranging signals module 201 transmitting range finding
The response time Δ T of signal Si, such that it is able to accurately learn the x time of the transmitting distance measuring signal of base station BS 1 Si, and then is used for
Resolve the distance between base station BS 1 and base station BS 2.
Fig. 3 provides a kind of schematic diagram of internal structure 300 of base station BS 1 in embodiment illustrated in fig. 2.Embodiment illustrated in fig. 3 is given
A kind of implementation method of the multi-port module 203 in embodiment illustrated in fig. 2 in base station BS 1 is gone out.As shown in figure 3, multiterminal mouth mold
Block 203 is realized by circulator 303.The circulator 303 includes 1 port, 2 ports and 3 ports, 1 port connection distance measuring signal hair
Penetrate the port of module 301,2 connection first antenna 304,3 port and connect the first timing module 302.Transmitting ranging signals module 301 is produced
Raw distance measuring signal Si, most can launch to space via first antenna 304, and sub-fraction can be leaked to via 3 ports
First timing module 302.Generally, the isolation of circulator 303 be 20~30dB, due to distance measuring signal Si transmission power compared with
Greatly, timing is stopped by remaining to triggering the first timing module 302 after the decay of 20~30dB, so as to realize the function of multiport.
Fig. 4 provides the schematic diagram of another internal structure 400 of base station BS 1 in embodiment illustrated in fig. 2.Embodiment illustrated in fig. 4
Give a kind of implementation method of the multi-port module 203 in embodiment illustrated in fig. 2 in base station BS 1.As shown in figure 4, multiport
Module 203 is realized by RF switch 403.The RF switch 403 includes 1 port, 2 ports and 3 ports, the connection range finding of 1 port
The port of signal emission module 401,2 connection first antenna 404,3 port connects the first timing module 402.When RF switch 403 is closed
When closing 1 and 2 port, the distance measuring signal Si that transmitting ranging signals module 401 is produced most understands via first antenna 404
To space, sub-fraction can leak to the first timing module 402 via 3 ports for transmitting.Generally, the isolation of RF switch 403
It is 40dB, because the transmission power of distance measuring signal Si is larger, stops by remaining to the first timing module 402 of triggering after the decay of 40dB
Only timing, so as to realize the function of multiport.
In one embodiment, the base station BS 1 that can launch distance measuring signal can also be used for receiving the survey of other Base Transmitters
Away from signal.Now, when by the use of the RF switch 402 in embodiment illustrated in fig. 4 as multi-port module 202, by RF switch
402 2 ports are connected with 3 ports.
Additionally, it will be appreciated by those skilled in the art that distance measuring structure 200 shown in Fig. 2 can be used in alignment system, base station
BS1 and base station BS 2 can be used for positioning.More than embodiment in disclosed base station for find range part-structure, and not public affairs
Open dependency structure when it realizes positioning function, but where structure needed for realizing positioning function is not emphasis of the invention,
And have various known implementations in this area, therefore, do not make detailed elaboration in the present invention.
The flow chart of distance-finding method 500 between the base station that Fig. 5 is given according to an embodiment of the present invention.Fig. 6 is to be surveyed shown in Fig. 5
Away from the work schedule schematic diagram of method 500.Between the base station shown in Fig. 5 being described in detail with reference to the range unit 200 shown in Fig. 2
Following steps in distance-finding method 500：
Step 501：Transmitting ranging signals module 201 using synchronizing signal SYN triggering base station BSs 1 launches distance measuring signal
Si, triggering moment is tr；The first timing module 202 using synchronizing signal SYN triggering base station BSs 1 starts timing, triggering moment
It is tc1.And transmitting ranging signals module 201 is triggered from by synchronizing signal SYN, there is response time Δ to transmitting distance measuring signal Si
T。
Step 502：The second timing module 205 using synchronizing signal SYN triggering base station BSs 2 starts timing, triggering moment
It is tc2.
It can be identical signal to be used to trigger base station BS 1 and the synchronizing signal of base station BS 2 in step 501 and step 502
Can be unlike signal, there is known sequential relationship when only requiring that it reaches base station BS 1 and base station BS 2.The synchronizing signal
Can be produced by isochronous controller, and transmitted through Wireline, using the parameter of Wireline, such as length, type
Deng, the Wireline transmission time of synchronizing signal is obtained, and then determination synchronizing signal reaches the sequential of base station BS 1 and base station BS 2
Relation.
It should also be understood by those skilled in the art that after synchronizing signal reaches base station BS 1 and base station BS 2, need to also be respectively through base
The stand internal connection line road L1 of BS1, L2, the internal connection line road L5 of base station BS 2 gets to and triggers the range finding letter of base station BS 1
Second timing module 205 of number transmitter module 201, the first timing module 202 of base station BS 1 and base station BS 2.The internal connection
The parameter of circuit is, it is known that the internal connection line road transmission time of synchronizing signal can be measured in advance.Base station is reached using synchronizing signal
The internal connection line road transmission time of the sequential and synchronizing signal of BS1 and base station BS 2, can obtain synchronizing signal triggering station
Second timing module 205 of the transmitting ranging signals module 201 of BS1, the first timing module 202 of base station BS 1 and base station BS 2
Triggering moment tr, tc1 and tc2.
Step 503：Using distance measuring signal Si trigger respectively base station BS 1 the first timing module 202 and base station BS 2 second
Timing module 205 stops timing.Wherein, the first timing module 202 of base station BS 1 timing since being triggered by synchronizing signal SYN,
To being T1 by the time interval of distance measuring signal Si triggering stopping timing, the second timing module 205 of base station BS 2 is from by synchronizing signal
SYN triggering start timing, to by distance measuring signal Si triggering stop timing time interval be T2.
Wherein, the distance measuring signal Si that the transmitting ranging signals module 201 of base station BS 1 is produced is transmitted through internal connection line road L3
To multi-port module 203, and be divided into two-way through multi-port module 203, all the way through the internal connection line road L5 of base station BS 1 transmit to
First timing module 202, module 202 stops timing when first in terms of triggering；Passed through the internal connection line road L4 of base station BS 1 all the way
First antenna 204 is transported to, space is radiated to by first antenna 204, and received by the second antenna 206 of base station BS 2, then through base
The stand internal connection line road of BS2 is transmitted to the second timing module 205 of base station BS 2, to trigger in terms of the second timing module 205 stops
When.When distance measuring signal Si transmits the line transmission to the first timing module 202 via the internal connection line road L3 and L5 of base station BS 1
Between be designated as Trc, distance measuring signal Si is passed via the circuit that the internal connection line road L3 and L4 of base station BS 1 are transmitted to first antenna 204
The defeated time is designated as Tra；Distance measuring signal Si propagates to the second antenna 206 of base station BS 2 via the first antenna 204 of base station BS 1
Space propagation time is designated as Td；Distance measuring signal Si via base station BS 2 the second antenna 206 through base station BS 2 internal connection line road
L7 is transmitted to the line transmission time of the second timing module 205 and is designated as Tac.Wherein, line transmission time Trc, Tra and Tac be
Can in advance be measured according to the parameter on internal connection line road, it is as known.
Step 504：Using base station BS 1 the first timing module 202 since by synchronizing signal SYN triggering start timing to be tested
Stop the time interval T1 of timing away from signal Si triggerings, the second timing module 205 of base station BS 2 is triggered from by synchronizing signal SYN
Start timing and obtain the position of base station BS 1 and the institute of base station BS 2 to the time interval T2 for being stopped timing by distance measuring signal Si triggerings
Apart from d12 between position.In one embodiment, it is described apart from d12 it is to be understood that the first antenna 204 of base station BS 1 is arrived
Distance between the second antenna 206 of base station BS 2.
Wherein, distance-finding method 500 can also include, the transmitting ranging signals module of base station BS 1 is triggered using synchronizing signal
201st, triggering moment tr, tc1 and tc2 of the second timing module 205 of the first timing module 202 of base station BS 1 and base station BS 2,
And line transmission time Trc, Tra and Tac carrys out distance between calculation base station BS1 positions and the position of base station BS 2
d12.It is described to be represented by formula (1) apart from d12.
D12=[T2- (tr-tc2)-Δ T-Tra-Tac] c (1)
Wherein, c is the speed that distance measuring signal Si is propagated in space, and Δ T is that transmitting ranging signals module 201 launches range finding
The response time of signal Si, Δ T can be represented by formula (2).
Δ T=T1-Trc- (tr-tc1) (2)
Then formula (3) is represented by between the position of base station BS 1 and the position of base station BS 2 apart from d12.
D12=[T2-T1+Trc-Tra-Tac- (tc1-tc2)] c (3)
It will be appreciated by those skilled in the art that in the present embodiment, for the distance between accurate calculation base station, taking into full account
The line transmission time that signal is transmitted on inside of base station connection line, in other embodiments, in order to simplify system complex
Degree, when internal connection line road transmission time is much smaller than space propagation time of the signal between base station, also negligible part or complete
Portion's inside of base station connection line transmission time.
Fig. 7 provides the schematic diagram according to the alignment system 700 of an embodiment of the present invention.As shown in fig. 7, alignment system
700 exemplarily include base station BS 1, base station BS 2, base station BS 3 and device MS to be positioned.In one embodiment, the base
Stand BS1, base station BS 2 and base station BS 3 can be fixed geographically, and device MS to be positioned is moveable.Alignment system 700 is also
Isochronous controller SC can be included, to realize the synchronization of base station BS 1, base station BS 2, base station BS 3.In one embodiment, it is synchronous
Controller SC connects base station BS1, base station BS 2 and base station BS 3 by Wireline LIN1, LIN2 and LIN3 respectively, with to base
Stand BS1, base station BS 2 and the synchronous signal transmission SYN of base station BS 3.
Alignment system 700 includes two patterns, i.e. distance measurement mode and station-keeping mode at work.When the work of alignment system 700
Make in distance measurement mode, by the mutually transmitting-receiving distance measuring signal Si between base station, to obtain the range information between any two base station.
The distance measuring signal Si is referred to as the feature of distance measuring signal, its different distance measuring signal received and dispatched between can representing different base station.Its
In, the range finding between each two base station can utilize any embodiment shown in Fig. 1 to Fig. 6 to realize.Those skilled in the art should manage
Solution, alignment system 700 shown in Fig. 7 may include and quote the content of Fig. 1 to embodiment illustrated in fig. 6, of the invention without running counter to
Spirit.In the embodiment shown in fig. 7, alignment system 700 includes three base stations, in order to realize range finding work(between each two base station
Can, then each base station in alignment system 700 includes antenna and timing module, and alignment system 700 comprises at least two
Base station with transmitting ranging signals module and multi-port module.
When alignment system 700 is in station-keeping mode, device MS to be positioned and base station BS 1, base station BS 2 and base station BS 3 it
Between propagate framing signal Sp, the distance measuring signal Sp is referred to as the feature of framing signal, wherein may include a framing signal
Or multiple identical or different framing signals.In one embodiment, framing signal Sp is launched to each base by device MS to be positioned
Stand, alignment system 700 is believed by the position that the temporal information that framing signal Sp reaches each locating base station resolves device MS to be positioned
Breath.Wherein, location algorithm can use TDOA (Time of Arrival, reaching time-difference) algorithm, and this location algorithm is ability
Domain known technology, is not added with repeating herein.
The distance measurement mode and station-keeping mode of alignment system 700 can carry out simultaneously can also timesharing carry out.In an implementation
In example, the distance measurement mode of alignment system 700 and station-keeping mode timesharing are carried out, i.e., alignment system 700 is respectively distance measurement mode and determines
Bit pattern distributes default different time sections.In one embodiment, alignment system 700 first works in distance measurement mode, then works
In station-keeping mode, and distance between each base station that will be measured is used in the positional information for resolve device MS to be positioned.Now, find range
Signal Si and framing signal Sp are provided to each base station within the different time periods, thus each base station can be category by the residing period
It is that distance measuring signal Si or framing signal Sp are distinguish between to the signal for receiving in distance measurement mode or station-keeping mode.At this point
When working condition under, distance measuring signal Si and framing signal Sp can be identical signal form, and without being added in itself to signal
Differentiation information.In one embodiment, distance measuring signal Si and framing signal Sp is the ultra-broadband signal of similar frequency bands.In timesharing work
In the alignment system 700 of work, either device MS to be positioned launches framing signal Sp, and base station receives framing signal Sp；Or base
Transmitting framing signal of standing Sp, device MS to be positioned receive framing signal Sp, all without influence alignment system 700 to framing signal Sp
With the differentiation of distance measuring signal Si.
In one embodiment, the distance measurement mode and station-keeping mode of alignment system 700 are carried out simultaneously, at this point it is possible to fixed
Position signal Sp and distance measuring signal Si signals increase diacritic information in itself.In one embodiment, alignment system 700 is positioning
Frequency range signal Sp different with distance measuring signal Si distribution, for example, ultra-broadband signals of the framing signal Sp for 3G-6G, distance measuring signal
Si for 7G-10G ultra-broadband signal, and for example, framing signal Sp for 7G-10G ultra-broadband signal, distance measuring signal Si be 3G-
The ultra-broadband signal of 6G.At this time, it may be necessary to be that base station and device MS to be positioned configure corresponding transmitting path and/or receiving path.
In another embodiment, alignment system 700 is believed by way of modulation for framing signal Sp and distance measuring signal Si adds identity
Breath, the modulation system can be pulse position modulation.At this time, it may be necessary to be base station and the corresponding modulation of device MS to be positioned configurations
Circuit and/or demodulator circuit.
In one embodiment, in order to improve the degree of accuracy of range finding, can be using repeatedly transmitting-receiving range finding between each two base station
Signal, so that the mode of the average repeatedly distance measuring signal flight time of measurement is realized.For example, can allow in alignment system 700
Each base station there is the function of transmitting-receiving distance measuring signal, base station BS 1 is first to base station BS 2 and the transmitting distance measuring signal of base station BS 3；So
Afterwards, base station BS 2 is to base station BS 1 and the transmitting distance measuring signal of base station BS 3；Subsequently, base station BS 3 is sent out to base station BS 1 and base station BS 2 again
Penetrate distance measuring signal.In the manner described above, the transmission of distance measuring signal twice has all been carried out between each two base station, and then by being averaged
Mode, improve range accuracy.
Fig. 8 provides the schematic diagram according to the establishment of coordinate system method 800 of an embodiment of the present invention.Embodiment illustrated in fig. 8
Establishment of coordinate system method 800 can be used in the alignment system 700 shown in Fig. 7.Embodiment illustrated in fig. 8 exemplarily includes base station
BS1, base station BS 2, base station BS 3 and device MS to be positioned, the base station BS 1, base station BS 2, base station BS 3 are geographically to fix
, device MS to be positioned is moveable.Above-mentioned base station and device MS to be positioned constitute alignment system, and the alignment system is also
Isochronous controller can be included, with synchronous each base station.Alignment system between by after distance measurement mode, measuring each two base station away from
From, the distance between base station BS 1 and BS2 is represented with a, and the distance between base station BS 1 and BS3 is represented with b, between base station BS 2 and BS3 away from
Represented from c.Now base station BS 1, base station BS 2, the position relative to each other of base station BS 3 are and understand, therefore, it can with a certain
The reference point related to base station location is origin of coordinates o, sets up coordinate system xoy, and base station BS 1, base station BS 2, base station BS 3 are being sat
Relative position in mark system is known.Embodiment illustrated in fig. 8 exemplarily with base station BS 1 be origin of coordinates o, with base station BS 1
With the line direction of base station BS 3 as x-axis, coordinate system xoy has been obtained.Now, coordinate of the base station BS 1 in coordinate system xoy is
(0,0), coordinate of the base station BS 3 in coordinate system xoy is (b, 0), and coordinate of the base station BS 2 in coordinate system xoy is
Alignment system is being treated when positioner MS is positioned, it is necessary to be existed using base station BS 1, base station BS 2, base station BS 3
Coordinate in coordinate system xoy, so as to obtain coordinates of the device MS to be positioned in coordinate system xoy.When alignment system is positioned at a certain
When in specific environment, for example alignment system is in indoor environment, if it is seat to be intended to a certain specified reference point in indoor environment
Mark origin o', sets up coordinate system x'o'y', and determines coordinates of the device MS to be positioned in coordinate system x'o'y', then need to sit
Mark system xoy, is mapped in coordinate system x'o'y'.
The present embodiment exemplarily provides a kind of coordinate system mapping method, and the alignment system in embodiment illustrated in fig. 8 is in
Indoor environment, the oblique line portion in Fig. 8 is the section of indoor wall, and the indoor wall is orthogonal straight wall.
For the ease of coordinate system xoy is mapped in coordinate system x'o'y', can be during base station to be laid, basis sets in reference chamber
Apply.In the embodiment shown in fig. 8, base station BS 1 and base station BS 3 are laid on indoor wall, then the x-axis in coordinate system xoy with
X' axles in coordinate system x'o'y' are parallel, and y-axis in coordinate system xoy is parallel with the y' axles in coordinate system x'o'y'.If ignoring
The influence of base station shape in itself, can be overlapped with two coordinate systems of Approximate Equivalent, if shape can not be ignored in itself for base station, be needed in advance
The geomery of base station is measured, and is applied to the mapping of coordinate system.
It will be appreciated by those skilled in the art that in coordinate system mapping process, be not limited to wall as reference, can be with
Using in environment any one physics fixed is nominal as reference, which kind of demarcation thing is selected as reference, by wanting dress to be positioned
Put during which reference frame MS is mapped to and determine.
It will be appreciated by those skilled in the art that what is set up in the embodiment shown in fig. 8 is planar two dimensional coordinate system, then it is assumed that
Three base stations are in identical level height.In other embodiments, if 3 d space coordinate system to be set up, need to introduce another
One base station, and the distance between the base station and base station BS 1, base station BS 2 and base station BS 3 is measured, so as to be sat in a space three-dimensional
In mark system, each base station position relative to each other is uniquely determined.
Using transmitting-receiving distance measuring signal measurement base distance between sites between the utilization base station, and coordinate is set up using base distance between sites
The method of system is solved in the prior art by the way of manual measurement is carried out by measuring instruments such as total powerstation, laser range finders
When setting up coordinate system, human cost is huge, be limited to laying environment and the measurement error due to instrument, the human error of base station
Deng influence, the poor problem of the precision that causes.
As the above mentioned, although have illustrated and described the preferred embodiments of the present invention, but without departing substantially from this hair
In the case of bright spirit and scope, many changes can be carried out.Thus, the scope of the present invention is not by the open institute of preferred embodiment
Limitation.But, the present invention should be determined entirely by reference to following claims.
Claims (9)
1. a kind of alignment system, including：
First base station, the second base station and the 3rd base station, including antenna and timing module, wherein, first base station, the second base station and
Any two is configured as in 3rd base station：Two timing modules of base station receive synchronizing signal and under synchronizing signal triggering
Start timing, at least one of which base station includes transmitting ranging signals module and multi-port module, the transmitting ranging signals mould
Block receives synchronizing signal and distance measuring signal is produced under synchronizing signal triggering, and the multi-port module receives distance measuring signal and will survey
It is divided into two-way away from signal, the timing module transmitted all the way to one of base station stops timing with triggering timing module, separately
The antenna transmitting of one of base station is led up to, the antenna of another base station receives another road distance measuring signal, and
The timing module of another base station stops timing under another road distance measuring signal triggering；
Framing signal is propagated between device to be positioned, with first base station, the second base station and the 3rd base station；
Wherein, alignment system is believed by the positioning propagated between device to be positioned and first base station, the second base station and the 3rd base station
Number resolve the positional information of device to be positioned and timing started by the timing module of any two base station and stop timing
Time calculates the distance between any two base station.
2. alignment system as claimed in claim 1, wherein, device to be positioned launches framing signal, first base station, the second base station
Framing signal is received with the 3rd base station, alignment system receives framing signal according to first base station, the second base station and the 3rd base station
Temporal information is resolving the positional information of device to be positioned.
3. alignment system as claimed in claim 2, wherein, framing signal and distance measuring signal are provided in different periods
One base station, the second base station and the 3rd base station.
4. alignment system as claimed in claim 1, wherein, first base station, the second base station and the 3rd Base Transmitter framing signal,
Device to be positioned receives framing signal, and alignment system is undetermined to obtain according to the temporal information that device to be positioned receives framing signal
The positional information of position device.
5. alignment system as claimed in claim 4, wherein, first base station, the second base station and the 3rd base station respectively include one
Transmitting ranging signals module, the distance measuring signal of transmitting ranging signals module transmitting is used to resolving between any two base station
Distance, transmitting ranging signals module also launches the framing signal for obtaining the positional information of device to be positioned.
6. alignment system as claimed in claim 5, framing signal and distance measuring signal are provided to be positioned in different periods
Device.
7. alignment system as claimed in claim 6, wherein, framing signal and distance measuring signal are UWB signal.
8. alignment system as claimed in claim 1, wherein, alignment system is resolved by the moment that framing signal is received
The position signalling of device to be positioned.
9. alignment system as claimed in claim 1, wherein, alignment system resolves the position of device to be positioned by TDOA algorithms
Confidence number.
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