CN107015195A - The method of distance between measurement two base stations position - Google Patents
The method of distance between measurement two base stations position Download PDFInfo
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- CN107015195A CN107015195A CN201710200347.4A CN201710200347A CN107015195A CN 107015195 A CN107015195 A CN 107015195A CN 201710200347 A CN201710200347 A CN 201710200347A CN 107015195 A CN107015195 A CN 107015195A
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- base station
- timing
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- signal
- 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
- G01S5/0257—Hybrid positioning
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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
- G01S5/0273—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 using multipath or indirect path propagation signals in position determination
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (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 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 using synchronizing signal and starts timing and triggering transmitting ranging signals module transmitting distance measuring signal；The second timing module, which is triggered, using synchronizing signal starts timing；The first timing module is triggered using distance measuring signal and the second timing module stops timing；And timing obtains distance first base station and the second base station to the timing since by synchronizing signal triggering of the time interval for stopping timing, the second timing module is triggered by distance measuring signal to the time interval that stopping timing being triggered by distance measuring signal since by synchronizing signal triggering using the first timing module.The invention also discloses the method for setting up coordinate system 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, positioning precision is improved.
Description
Technical field
This disclosure relates to radio communication, more specifically, this disclosure relates to ranging 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 usually requires 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 utilizing coordinate position of the base station based on some preferred coordinates system, so as to resolve mesh
Mark the position relative to the preferred coordinates system.This is accomplished by alignment system before being positioned, and pre-establishes coordinate system, and survey
Measure the coordinate of each base station in the coordinate system.
Use more and surveyed by total powerstation, laser range finder etc. the existing method set up coordinate system and measure base station location
Measuring appratus carries 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 such a 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 positioning to target.Therefore, the side of manual measurement base station location
Method can not meet the indoor locating system of high accuracy, high accuracy.Therefore, low human cost is studied, the foundation of high accuracy is sat
The problem of method of mark system and measurement base station location becomes this area researcher's urgent need to resolve.
The content of the invention
The invention discloses a kind of method for measuring distance between first base station position and the second base station position,
Wherein, first base station includes the first timing module and transmitting ranging signals module, and the second base station includes the second timing module.The party
Method includes：The first timing module, which is triggered, using synchronizing signal starts timing and triggering transmitting ranging signals module transmitting ranging letter
Number, wherein, transmitting ranging signals module has the response time of transmitting distance measuring signal；The second timing mould is triggered using synchronizing signal
BOB(beginning of block) timing；The first timing module is triggered using distance measuring signal and the second timing module stops timing；And counted using first
When module start timing to by distance measuring signal and trigger the stopping time interval of timing, the second timing module since being triggered by synchronizing signal
Timing obtains first base station institute in place to the time interval that stopping timing being triggered by distance measuring signal since being triggered by synchronizing signal
Put the distance between the second base station position.
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 the distance that this response time is used between resolving two base stations position, can
To obtain the distance measurement result of high accuracy, high accuracy.
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 of the range unit 200 according to 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；
Fig. 5 provides the flow chart of distance-finding method 500 between the base station 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 of the alignment system 700 according to an embodiment of the present invention；
Fig. 8 provides the schematic diagram of the establishment of coordinate system method 800 according to an embodiment of the present invention.
Embodiment
The specific embodiment of the present 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 "
：It is comprised in reference to special characteristic, structure or the characteristic that the embodiment or example are described at least one embodiment of the invention.
Therefore, in each local phrase " in one embodiment " occurred, " in embodiment ", " example " 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.In addition, those of ordinary skill in the art should manage
Solution, diagram is provided to the purpose of explanation 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.On the contrary, when claiming element " being directly connected to " or " being directly coupled to " another element, 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
Obtaining 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 transmits synchronizing signal SYN to base station BS 1 and BS2 respectively.Isochronous controller SC passes through Wireline in one embodiment
LIN1 and LIN2 connections 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
The two paths of signals that number SYN can be divided into for same signal, or the unlike signal with known time relation.Wireline
Type can be determined according to synchronizing signal SYN type, 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
For coaxial line or twisted-pair feeder.
Distance obtains equipment 100 can determine biographies of the synchronizing signal SYN in Wireline according to the length of Wireline
The defeated time, and then at the time of showing that synchronizing signal SYN reaches 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
Launch after synchronizing signal SYN, at the same time base station, or is spaced the time delay of a systemic presupposition, to isochronous controller SC
Launch return path signal, at the time of isochronous controller SC is by recording at the time of transmitting synchronizing signal SYN and receiving return path signal,
And the time delay of systemic presupposition determines transmission times of the synchronizing signal SYN in Wireline, and then draw synchronizing signal
At the time of SYN reaches base station BS 1 and BS2.
Base station BS 1 is received to the transmitting distance measuring signal of base station BS 2 after synchronizing signal SYN, and the distance measuring signal can be super
Broadband signal.At the time of message handler CP is utilized at the time of the transmitting distance measuring signal of base station BS 1, base station BS 2 receives distance measuring signal
And the spread speed of distance measuring signal in space, to determine 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 of the range unit 200 according to 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
Walk and distance measuring signal Si is produced under signal SYN triggering；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 synchronizing signal SYN triggering.The ranging 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 received from 1 port is divided into two-way by block 203, is transmitted all the way from 2 ports through internal connection line road L4 to
One antenna 204, is concurrently incident upon base station BS 2；Transmitted all the way from 3 ports through internal connection line road L5 to the first timing module 202, 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 number SYN triggering.The distance measuring signal Si that the second antenna 206 reception base station BS 1 of base station BS 2 is launched, 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 a variety of in embodiment illustrated in fig. 2
Implementation, for example, internal connection line road L1 to L7 parameter 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 emission 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 launched for ultra-broadband signal
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, its response time Δ T for launching distance measuring signal Si every time may be different, and therefore, range unit can not be known super
The transmitting of wide band ranging signal transmitter module 201 distance measuring signal Si correct time, and can not be by response time for measuring in advance
Accurately obtain really realizing the response time Δ T for launching distance measuring signal Si during ranging.The range unit 200 that the present embodiment is provided
Transmitting ranging signals module 201 is triggered by synchronizing signal SYN and launches distance measuring signal Si, and triggers the first timing module 202 and is opened
Beginning timing, and trigger the stopping timing of the first timing module 202 using 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 ranging
Signal Si response time Δ T, so as to accurately learn the transmitting distance measuring signal of base station BS 1 Si emission time, 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 embodiment 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, the first timing module 302 of triggering is remained to after 20~30dB decay and stops timing, 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 embodiment 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 ranging 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, most meeting of the distance measuring signal Si that transmitting ranging signals module 401 is produced is via first antenna 404
Transmitting is to space, and sub-fraction can leak to the first timing module 402 via 3 ports.Generally, the isolation of RF switch 403
For 40dB, because distance measuring signal Si transmission power is larger, the first timing module 402 of triggering is remained to after 40dB decay and is stopped
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.
In addition, it will be appreciated by those skilled in the art that distance measuring structure 200 shown in Fig. 2 can be used for alignment system in, base station
BS1 and base station BS 2 can be used for positioning.Base station is disclosed in embodiment above is used for the part-structure of ranging, and not public
Open dependency structure when it realizes positioning function, but where the structure needed for realizing positioning function is not the emphasis of the present invention,
And have a variety of known implementations in this area, therefore, do not make detailed elaboration in the present invention.
Fig. 5 provides the flow chart of distance-finding method 500 between the base station according to an embodiment of the present invention.Fig. 6 is to be surveyed shown in Fig. 5
Work schedule schematic diagram away from method 500.With reference between the base station shown in the detailed description of range unit 200 Fig. 5 shown in Fig. 2
Following steps in distance-finding method 500：
Step 501：Launch distance measuring signal using the synchronizing signal SYN transmitting ranging signals modules 201 for triggering base station BS 1
Si, triggering moment is tr；Start timing, triggering moment using synchronizing signal SYN the first timing modules 202 for triggering base station BS 1
For 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：Start timing, triggering moment using synchronizing signal SYN the second timing modules 205 for triggering base station BS 2
For 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, only requiring has known sequential relationship when 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 synchronizing signal is reached after base station BS 1 and base station BS 2, need to also be respectively through base
Stand BS1 internal connection line road L1, L2, the internal connection line road L5 of base station BS 2 get to and trigger base station BS 1 ranging letter
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 BS1 transmitting ranging signals module 201, 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,
Stop the time interval of timing to being triggered by distance measuring signal Si for T1, the second timing module 205 of base station BS 2 is from by synchronizing signal
SYN triggerings start timing, and the time interval of timing is stopped for T2 to being triggered by distance measuring signal Si.
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
Be divided into two-way to multi-port module 203, and through multi-port module 203, all the way the internal connection line road L5 through base station BS 1 transmit to
First timing module 202, module 202 stops timing when first in terms of triggering；The internal connection line road L4 through base station BS 1 is passed all the way
First antenna 204 is transported to, to be radiated to space by first antenna 204, and is received by the second antenna 206 of base station BS 2, then through base
Stand BS2 internal connection line road 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 is transmitted to the line transmission of 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 transmitted to the circuit biography of first antenna 204 via the internal connection line road L3 and L4 of base station BS 1
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 internal connection line road of second antenna 206 through base station BS 2
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
It can in advance be measured according to the parameter on internal connection line road, be known.
Step 504：Using base station BS 1 the first timing module 202 since by synchronizing signal SYN triggering start timing to be tested
The time interval T1 for stopping timing being triggered away from signal Si, 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 that stopping timing being triggered by distance measuring signal Si
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 second antenna 206 of base station BS 2.
Wherein, distance-finding method 500 can also include, and 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 apart from d12 by formula (1).
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 ranging
Signal Si response time, 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 can be neglected part or complete
Portion's inside of base station connection line transmission time.
Fig. 7 provides the schematic diagram of the alignment system 700 according to 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 geographically fixed, 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 is at work comprising two patterns, i.e. distance measurement mode and station-keeping mode.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, and it can represent the different distance measuring signals received and dispatched between different base station.Its
In, the ranging between each two base station can be realized using any embodiment shown in Fig. 1 to Fig. 6.Those skilled in the art should manage
Solution, alignment system 700 shown in Fig. 7 may include and quote Fig. 1 to the content of embodiment illustrated in fig. 6, without running counter to the present invention's
Spirit.In the embodiment shown in fig. 7, alignment system 700 includes three base stations, in order to realize ranging 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 positioning signal Sp, the distance measuring signal Sp is referred to as the feature of positioning signal, wherein may include a positioning signal
Or multiple identical or different positioning signals.In one embodiment, positioning signal Sp is launched to each base by device MS to be positioned
Stand, the position that alignment system 700 resolves device MS to be positioned by the positioning signal Sp temporal informations for reaching each locating base station is believed
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 be carried out simultaneously can also timesharing progress.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 fixed
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 the distance between each base station measured is used to resolve in device MS to be positioned positional information.Now, ranging
Signal Si and positioning signal Sp are provided within the different periods to each base station, thus each base station can be category by the residing period
It is that distance measuring signal Si or positioning signal Sp are distinguish between to the signal received in distance measurement mode or station-keeping mode.At this point
When working condition under, distance measuring signal Si and positioning signal Sp can be identical signal form, without being added in itself to signal
Distinguish information.In one embodiment, distance measuring signal Si and positioning 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 positioning signal Sp, and base station receives positioning signal Sp；Or base
Transmitting positioning signal of standing Sp, device MS to be positioned receive positioning signal Sp, all without influence alignment system 700 to positioning signal Sp
With distance measuring signal Si differentiation.
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 different with distance measuring signal Si distribution signal Sp, for example, positioning signal Sp is 3G-6G ultra-broadband signal, distance measuring signal
Si is 7G-10G ultra-broadband signal, in another example, positioning signal Sp is 7G-10G ultra-broadband signal, and distance measuring signal Si is 3G-
6G ultra-broadband signal.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 positioning signal Sp and distance measuring signal Si addition identity letters by way of modulation
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 ranging, repeatedly transmitting-receiving ranging between each two base station can be used
Signal, so that the mode of the average distance measuring signal flight time repeatedly measured 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 first launches distance measuring signal to base station BS 2 and base station BS 3；So
Afterwards, base station BS 2 launches distance measuring signal to base station BS 1 and 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 of the establishment of coordinate system method 800 according to an embodiment of the present invention.Embodiment illustrated in fig. 8
Establishment of coordinate system method 800 can be used for Fig. 7 shown in alignment system 700 in.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 fixed
, 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 each two base station after distance measurement mode, is measured 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 of base station BS 3 relative to each other are to understand, be 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 is exemplarily with base station BS 1 for origin of coordinates o, with base station BS 1
Line direction with base station BS 3 has obtained coordinate system xoy as x-axis.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 being intended to using a certain specified reference point in indoor environment as seat
Origin o' is marked, coordinate system x'o'y' is set up, and determines coordinates of the device MS to be positioned in coordinate system x'o'y', then needs to sit
Mark system xoy, is mapped in coordinate system x'o'y'.
The alignment system that the present embodiment is exemplarily provided in a kind of coordinate system mapping method, embodiment illustrated in fig. 8 is in
Oblique line portion in indoor environment, Fig. 8 is the section of indoor wall, and the indoor wall is orthogonal straight wall.
, can be during base station to be laid for the ease of coordinate system xoy is mapped in coordinate system x'o'y', basis is set 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 the 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 itself, can be overlapped with two coordinate systems of Approximate Equivalent, if base station shape itself can not be ignored, needed in advance
The geomery of base station is measured, and is applied in the mapping of coordinate system.
It will be appreciated by those skilled in the art that in coordinate system mapping process, it is not limited to using wall as reference, can be with
Which kind of demarcation thing using in environment any one physics fixed selects as reference, by wanting dress to be positioned nominally as reference
Put MS and be mapped to decision in which reference frame.
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, the position of each base station 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 the laying environment and measurement error, human error due to instrument of base station
Deng influence, the problem of precision caused is poor.
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 (10)
1. a kind of method for measuring distance between first base station position and the second base station position, wherein, first base station
Including the first timing module and transmitting ranging signals module, the second base station includes the second timing module, and methods described includes：
The first timing module, which is triggered, using synchronizing signal starts timing and triggering transmitting ranging signals module transmitting distance measuring signal, its
In, transmitting ranging signals module has the response time of transmitting distance measuring signal；
The second timing module, which is triggered, using synchronizing signal starts timing；
The first timing module is triggered using distance measuring signal and the second timing module stops timing；And
Using the first timing module since timing being triggered by synchronizing signal to by the time of distance measuring signal triggering stopping timing
Start timing every, the second timing module and obtained to the time interval that stopping timing being triggered by distance measuring signal since being triggered by synchronizing signal
Distance between first base station position and the second base station position.
2. the method for claim 1, wherein obtain the spacing of first base station position and the second base station position
From the step of include：
Using the first timing module since timing being triggered by synchronizing signal to by the time of distance measuring signal triggering stopping timing
Every obtaining the response time；
Using the second timing module since timing being triggered by synchronizing signal to by the time of distance measuring signal triggering stopping timing
The time that distance measuring signal is propagated between first base station position and the second base station position is obtained every subtracting the response time；
And
Time for being propagated using distance measuring signal between first base station position and the second base station position and speed are obtained
Distance between first base station position and the second base station position.
3. method as claimed in claim 2, wherein, the step of obtaining the response time is using the first timing module from same
Step signal triggering beginning timing subtracts distance measuring signal to the time interval that stopping timing being triggered by distance measuring signal and sent out from distance measuring signal
Module transfer is penetrated to the line transmission time of the first timing module and synchronizing signal triggering transmitting ranging signals module transmitting is subtracted
Distance measuring signal and synchronizing signal trigger difference at the time of the first timing module starts timing.
4. method as claimed in claim 2, wherein, first base station also includes first antenna, and the second base station also includes second day
Line, obtain distance measuring signal propagated between first base station position and the second base station position time the step of using
Since the timing being triggered by synchronizing signal of the second timing module subtract sound to the time interval that stopping timing being triggered by distance measuring signal
Line transmission time of the distance measuring signal from transmitting ranging signals module transfer to first antenna is subtracted between seasonable again and from second
Antenna transmission then subtracts synchronizing signal triggering transmitting ranging signals modules transmitting and surveyed to the line transmission time of the second timing module
Difference at the time of the second timing module starts timing is triggered away from signal and synchronizing signal.
5. the method for claim 1, wherein first base station also includes first antenna, the second base station also includes second day
Line, methods described also using distance measuring signal from transmitting ranging signals module transfer to the line transmission of the first timing module when
Between, line transmission time of the distance measuring signal from transmitting ranging signals module transfer to first antenna and from the second antenna transmission to
The line transmission time of second timing module obtains the distance between first base station position and the second base station position.
6. the method as described in claim 1, also triggers the first timing module using synchronizing signal and starts timing and synchronization
Signal triggers the time interval acquisition first base station position and the second base station position that the second timing module starts timing
Between distance.
7. method as claimed in claim 6, wherein, synchronizing signal the first timing module of triggering starts timing and synchronizing signal is touched
It is known to send out the second timing module to start the time interval of timing.
8. the method as described in claim 1, also triggers the first timing module using synchronizing signal and starts timing and synchronization
The time interval of signal triggering transmitting ranging signals module transmitting distance measuring signal obtains first base station position and the second base station
Distance between position.
9. the method for claim 1, wherein first base station also includes first antenna, methods described is also included ranging
The distance measuring signal of signal emission module transmitting is divided into two-way, stops timing, another a-road-through for triggering the first timing module all the way
Cross first antenna transmitting and stop timing for the second timing module of triggering.
10. the method for claim 1, wherein distance measuring signal is UWB signal.
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| CN114339993A (en) * | 2022-03-16 | 2022-04-12 | 北京瑞迪时空信息技术有限公司 | Ground-based positioning method, device, equipment and medium based on antenna distance constraint |
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