CN106937378B - Inhibit the localization method and mobile station of non-market value - Google Patents
Inhibit the localization method and mobile station of non-market value Download PDFInfo
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- CN106937378B CN106937378B CN201511016873.2A CN201511016873A CN106937378B CN 106937378 B CN106937378 B CN 106937378B CN 201511016873 A CN201511016873 A CN 201511016873A CN 106937378 B CN106937378 B CN 106937378B
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- mobile station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of localization methods and mobile station for inhibiting non-market value, are related to wireless location technology field.Localization method therein includes: the location coordinate information and multiple groups propagation time measured value that mobile station obtains three base stations, wherein per group propagation time measured value includes the propagation time between mobile station and each base station；Mobile station determines the error between the corresponding non line of sight of per group propagation time measured value and sighting distance based on the location coordinate information of geometric distance the constraint relationship and each base station between mobile station and each base station；Mobile station is chosen so that the smallest group propagation time measured value of error between non line of sight and sighting distance is used for mobile position estimation.Geometrical-restriction relation to be met under line-of-sight propagation environment based on mobile station and base station is obtained multiple groups measured value and filters out the measured value propagated closest to LOS, effectively reduces NLOS bring measurement error, and do not need to sample in advance, more efficient.
Description
Technical field
The present invention relates to wireless positioning field, in particular to a kind of localization method and mobile station for inhibiting non-market value.
Background technique
In wireless network positioning, irrational channel circumstance will lead to signal non line of sight (NLOS) propagation.How to reduce
NLOS propagates bring measurement error, is the key that improve wireless location accuracy,
The existing common method for eliminating NLOS error is to identify null method, and judgement gained measurement data is based on prior information
No packet NLOS error, and by the methods of reconstruct weighting elimination, such method early period needs sampled data, and calculates complexity
Response time is slow.
Summary of the invention
A technical problem to be solved by this invention is: how more efficiently to reduce NLOS bring measured value and misses
Difference.
According to an aspect of an embodiment of the present invention, a kind of localization method for inhibiting non-market value is provided, comprising: move
Dynamic platform obtains the location coordinate information and multiple groups propagation time measured value of three base stations, wherein per group propagation time measured value packet
Include the propagation time between mobile station and each base station；Mobile station based on the geometric distance the constraint relationship between mobile station and each base station with
And the location coordinate information of each base station determines the error between the corresponding non line of sight of per group propagation time measured value and sighting distance；Mobile station
It chooses so that the smallest group propagation time measured value of error between non line of sight and sighting distance is used for mobile position estimation.
Other side according to an embodiment of the present invention provides a kind of mobile station for inhibiting non-market value, comprising: letter
Breath obtains module, for obtaining the location coordinate information and multiple groups propagation time measured value of three base stations, wherein when every group of propagation
Between measured value include propagation time between mobile station and each base station；Error determination module, for based on mobile station and each base station
Between geometric distance the constraint relationship and the location coordinate information of each base station determine the corresponding non-view of per group propagation time measured value
Away from the error between sighting distance；Measured value chooses module, for choosing the smallest one group of biography of error so that between non line of sight and sighting distance
Time measured value is broadcast for mobile position estimation.
The present invention has at least the following advantages:
Based on the geometrical-restriction relation that mobile station and base station should meet under line-of-sight propagation environment, multiple groups measured value is obtained simultaneously
The measured value propagated closest to LOS (sighting distance) is filtered out, effectively reduces NLOS bring measurement error, and do not need to shift to an earlier date
Sampling, it is more efficient.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 shows the flow diagram that the present invention inhibits the localization method of non-market value.
With the positional diagram of dynamic and base station when Fig. 2 shows using digital.
Fig. 3 shows the structural schematic diagram that the present invention inhibits the mobile station of non-market value.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
The localization method of the inhibition non-market value of one embodiment of the invention is described below with reference to Fig. 1.
Fig. 1 shows the flow diagram that the present invention inhibits the localization method of non-market value.As shown in Figure 1, the embodiment
The localization method of inhibition non-market value include:
Location Request is initiated in step S102, mobile station or base station.
Step S104, mobile station obtain the location coordinate information and multiple groups propagation time measured value of three base stations, wherein every
Group propagation time measured value (t1, t2, t3) it include propagation time between mobile station and each base station.
Optionally, if mobile station nearby there are more than three base stations, three base stations can be chosen and participate in inhibiting non-view
Positioning away from error.
Step S106, position of the mobile station based on geometric distance the constraint relationship and each base station between mobile station and each base station
Coordinate information determines the error f (t of the corresponding NLOS and LOS of per group propagation time measured value1, t2, t3)。
Step S108, mobile station is chosen so that the smallest group propagation time measured value of error between non line of sight and sighting distance is used
In mobile position estimation, make for example, choosing in all measured values | f (t1, t2, t3) | value is one group the smallest.
Step S110 carries out mobile position estimation according to the propagation time measured value of selection.
The above method is different from common NLOS and identifies null method, does not need priori data and identifies whether measurement data wraps in advance
Error containing NLOS, but the geometrical-restriction relation that should be met under ideal channel circumstance according to mobile station and base station obtain multiple groups
Measured value simultaneously filters out the measured value propagated closest to LOS, can effectively reduce NLOS bring measurement error, determines to improve
Position precision.
With the positional diagram of dynamic and base station when Fig. 2 shows using digital.This is described below with reference to Fig. 2
Position of the mobile station of invention one embodiment based on geometric distance the constraint relationship and each base station between mobile station and each base station
Coordinate information determines the error between the corresponding non line of sight of per group propagation time measured value and sighting distance.
As shown in Fig. 2, position of the mobile station based on geometric distance the constraint relationship and each base station between mobile station and each base station
It sets coordinate information and determines error between the corresponding non line of sight of per group propagation time measured value and sighting distance are as follows:
f(t1,t2,t3)=cos2θ12+cos2θ23+cos2θ13+2cosθ12cosθ23cosθ13- 1,
Wherein, (t1, t2, t3) indicate a group propagation time measured value, t1,t2, t3Respectively indicate mobile station and base station 1, base
The propagation time measured value stood between 2, base station 3, has according to the cosine law
And i ≠ j, andθijFor the angle that base station i, mobile station and base station j are formed, v is wireless communication
Number transmission speed, LijFor the distance between base station i and base station j, tiPropagation time measured value between mobile station and base station i,
xi、yiFor the position coordinates of base station i, xj、yjFor the position coordinates of base station j.
Under LOS propagation, signal is based on measured value (t along straightline propagation at this time1, t2, t3) can be with calculated θ12、θ23、
θ31Meet θ12+θ23+θ31=π, therefore have f (t1,t2,t3)=0.Derivation process is as follows:
f(t1,t2,t3)=cos2θ12+cos2θ23+cos2θ13+2cosθ12cosθ23cosθ13-1
=cos2(θ23+θ13)+cos2θ23+cos2θ13-2cos(θ23+θ13)cosθ23cosθ13-1
=(cos2θ23cos2θ13-2cosθ23cosθ13sinθ23sinθ13+sin2θ23sin2θ13)
+cos2θ23+cos2θ13-2(cosθ23cosθ13-sinθ23sinθ13)cosθ23cosθ13-1
=cos2θ23-cos2θ23cos2θ13+cos2θ13-1+sin2θ23sin2θ13
=cos2θ23sin2θ13-sin2θ13+sin2θ23sin2θ13
=cos2θ23sin2θ13-cos2θ23sin2θ13=0
But if wireless signal, under NLOS transmission, propagation path non-rectilinear is based on measured value (t at this time1, t2, t3) calculate
f(t1, t2, t3) it is not 0, and measurement error is bigger, | f (t1, t2, t3) | bigger, multiple groups measured value substitutes into calculate respectively | f
(t1, t2, t3) |, then choose in all measured values and make | f (t1, t2, t3) | value is one group the smallest.
The mobile station of another embodiment of the present invention based between mobile station and each base station geometric distance the constraint relationship and
The location coordinate information of each base station determines the error between the corresponding non line of sight of per group propagation time measured value and sighting distance are as follows:
f(t1, t2, t3)=S12+S23+S13- S,
Wherein,
WhereinAnd i ≠ j
Wherein
Wherein,
S indicates the triangle area that base station 1, base station 2, base station 3 are formed, SijIndicate that base station i, mobile station, base station j are formed
Triangle area (t1, t2, t3) indicate a group propagation time measured value, t1、t2、t3Respectively indicate mobile station and base station 1, base station 2,
Propagation time measured value between base station 3, θijFor the angle that base station i, mobile station and base station j are formed, v is wireless signal transmission
Speed, LijFor the distance between base station i and base station j, tiPropagation time measured value between mobile station and base station i, xi、yiFor
The position coordinates of base station i, xj、yjFor the position coordinates of base station j.
The present invention without limitation, illustratively, can use following localization method for specific position fixing process.
Assuming that three base station coordinates (Xi, Yi), wherein i=1,2,3, v be wireless signal transmission speed, it is further assumed that shifting to be asked
Dynamic platform position meets following formula then according to TOA algorithm for (X, Y)
(x1-x)2+(y1-y)2=(vt1)2
(x2-x)2+(y2-y)2=(vt2)2
(x3-x)2+(y3-y)2=(vt3)2
Expansion has: x1 2+y1 2-2x1x-2y1y+x2+y2=(vt1)2
x2 2+y2 2-2x2x-2y2y+x2+y2=(vt2)2
x3 2+y3 2-2x3x-2y3y+x2+y2=(vt3)2
Assuming that Ki=xi 2+yi 2
2x1x+2y1Y=K1+K-(vt1)2
Then there is 2x2x+2y2Y=K2+K-(vt2)2
2x3x+2y3Y=K3+K-(vt3)2
2 (x can be obtained after arrangement1-x2)x+2(y1-y2) y=K1-K2+(vt2)2-(vt1)2
2(x1-x3)x+2(y1-y3) y=K1-K3+(vt3)2-(vt1)2
I.e.
When nonsingular, then have
The mobile station of one embodiment of the invention is described below with reference to Fig. 3.
Fig. 3 shows the structural schematic diagram of one embodiment of mobile station of the present invention.As shown in figure 3, the inhibition of the embodiment
The mobile station 30 of non-market value includes:
Data obtaining module 302, for obtaining the location coordinate information and multiple groups propagation time measured value of three base stations,
In, per group propagation time measured value includes the propagation time between mobile station and each base station.
Error determination module 304, for based between mobile station and each base station geometric distance the constraint relationship and each base station
Location coordinate information determine the error between the corresponding non line of sight of per group propagation time measured value and sighting distance；
Measured value chooses module 306, for choosing the error the smallest group propagation time so that between non line of sight and sighting distance
Measured value is used for mobile position estimation.
Optionally, error determination module 304 based between mobile station and each base station geometric distance the constraint relationship and each base
The location coordinate information stood determines the error between the corresponding non line of sight of per group propagation time measured value and sighting distance are as follows:
f(t1,t2,t3)=cos2θ12+cos2θ23+cos2θ13+2cosθ12cosθ23cosθ13- 1,
Wherein, (t1, t2, t3) indicate a group propagation time measured value, t1、t2、t3Respectively indicate mobile station and base station 1, base
The propagation time measured value stood between 2, base station 3,And i ≠ j, θijFor the angle that base station i, mobile station and base station j are formed, v is wireless signal transmission speed
Degree, LijFor the distance between base station i and base station j, tiPropagation time measured value between mobile station and base station i, xi、yiFor base
It stands the position coordinates of i, xj、yjFor the position coordinates of base station j.
Optionally, error determination module 304 based between mobile station and each base station geometric distance the constraint relationship and each base
The location coordinate information stood determines the error between the corresponding non line of sight of per group propagation time measured value and sighting distance are as follows:
F (t1, t2, t3)=S12+S23+S13- S,
Wherein,
WhereinAnd i ≠ j
Wherein
Wherein,
S indicates the triangle area that base station 1, base station 2, base station 3 are formed, SijIndicate that base station i, mobile station, base station j are formed
Triangle area (t1, t2, t3) indicate a group propagation time measured value, t1、t2、t3Respectively indicate mobile station and base station 1, base station 2,
Propagation time measured value between base station 3, θijFor the angle that base station i, mobile station and base station j are formed, v is wireless signal transmission
Speed, LijFor the distance between base station i and base station j, tiPropagation time measured value between mobile station and base station i, xi、yiFor
The position coordinates of base station i, xj、yjFor the position coordinates of base station j.
Measured value chooses module 306 and chooses the smallest group propagation time measured value of error so that between non line of sight and sighting distance
For mobile position estimation include: choose so that | f (t1,t2,t3) | the smallest group propagation time measured value of value is used for mobile station
Positioning.
In addition, mobile station 30 can also include base station selection module 308, if nearby had for mobile station more than three
The positioning that three base stations participate in inhibiting non-market value is therefrom chosen in base station.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (4)
1. a kind of localization method for inhibiting non-market value, comprising:
Mobile station obtains the location coordinate information and multiple groups propagation time measured value of three base stations, wherein per group propagation time surveys
Magnitude includes the propagation time between mobile station and each base station；
Mobile station is determined based on the location coordinate information of geometric distance the constraint relationship and each base station between mobile station and each base station
Error between the corresponding non line of sight of per group propagation time measured value and sighting distance: f (t1,t2,t3)=cos2θ12+cos2θ23+cos2θ13
+2cosθ12cosθ23cosθ13- 1, wherein (t1, t2, t3) indicate a group propagation time measured value, t1、t2、t3Respectively indicate movement
Platform and base station 1, base station 2, the propagation time measured value between base station 3,I, j=1,2,3
And i ≠ j,θijTo measure the angle formed apart from lower base station i, mobile station and base station j, v
For wireless signal transmission speed, LijFor the distance between base station i and base station j, tiFor the propagation time between mobile station and base station i
Measured value, xi、yiFor the position coordinates of base station i, xj、yjFor the position coordinates of base station j；
Mobile station is chosen so that the smallest group propagation time measured value of error between non line of sight and sighting distance is used for mobile position estimation；
Wherein, the mobile station choose so that | f (t1,t2,t3) | the smallest group propagation time measured value of value is fixed for mobile station
Position.
2. the method according to claim 1, wherein if mobile station nearby has more than three base stations, therefrom
Choose the positioning that three base stations participate in inhibiting non-market value.
3. a kind of mobile station for inhibiting non-market value, comprising:
Data obtaining module, for obtaining the location coordinate information and multiple groups propagation time measured value of three base stations, wherein every group
Propagation time measured value includes the propagation time between mobile station and each base station；
Error determination module is sat for the position based on geometric distance the constraint relationship and each base station between mobile station and each base station
Mark information determines the error between the corresponding non line of sight of per group propagation time measured value and sighting distance: f (t1,t2,t3)=cos2θ12+
cos2θ23+cos2θ13+2cosθ12cosθ23cosθ13- 1, wherein (t1, t2, t3) indicate a group propagation time measured value, t1、t2、
t3Mobile station and base station 1, base station 2, the propagation time measured value between base station 3 are respectively indicated,I, j=1,2,3 and i ≠ j,θijTo measure distance
The angle that lower base station i, mobile station and base station j are formed, v are wireless signal transmission speed, LijBetween base station i and base station j away from
From tiPropagation time measured value between mobile station and base station i, xi、yiFor the position coordinates of base station i, xj、yjFor base station j's
Position coordinates；
Measured value chooses module, for choosing so that the smallest group propagation time measured value of error between non line of sight and sighting distance is used
In mobile position estimation, wherein choose so that | f (t1,t2,t3) | the smallest group propagation time measured value of value is used for mobile station
Positioning.
4. mobile station according to claim 3, which is characterized in that further include base station selection module, be used for
If mobile station nearby there are more than three base stations, the positioning that three base stations participate in inhibiting non-market value is therefrom chosen.
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| CN109392089B (en) | 2017-08-11 | 2021-10-22 | 华为技术有限公司 | Method and device for positioning |
| CN109115219B (en) * | 2018-07-13 | 2021-11-05 | 国网江西省电力有限公司信息通信分公司 | Indoor three-dimensional positioning method based on scene coefficients |
| CN112714491B (en) * | 2020-12-17 | 2022-04-05 | 北京邮电大学 | Positioning method and device |
| CN115002904B (en) * | 2022-08-03 | 2022-10-14 | 湖南工商大学 | Non-line-of-sight base station identification method based on UWB sensor |
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