CN107247279B - There are the time difference system positioning correction methods under station site error - Google Patents
There are the time difference system positioning correction methods under station site error Download PDFInfo
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- CN107247279B CN107247279B CN201710569254.9A CN201710569254A CN107247279B CN 107247279 B CN107247279 B CN 107247279B CN 201710569254 A CN201710569254 A CN 201710569254A CN 107247279 B CN107247279 B CN 107247279B
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
Abstract
The embodiment of the invention provides a kind of time difference system positioning correction methods and device there are under station site error, this method comprises: obtaining the secondary station actual measurement site of each secondary station；Determine the signal of target signal source be transmitted to time of each secondary station respectively be transmitted to main website time between station between the measured time it is poor；Determine the initial position of target signal source；The iterative position increment of at least initial position of target signal source is determined by Newton iteration method；When iterative position increment is less than setting coordinate threshold value, the initial position of target signal source is added with the target signal source positional increment in iterative position increment, obtains the correction position of target signal source.The embodiment of the present invention can be corrected the position of target signal source in multistation position there are in the case where error, to improve the accuracy of signal source positioning.
Description
Technical field
The present invention relates to passive multistation location fields, more particularly to a kind of time difference system positioning there are under station site error
Bearing calibration and device.
Background technique
With the continuous development of location technology, the signal that people can be issued by signal emitting-source sends out the signal
The source of penetrating is positioned, so that it is determined that the position of signal emitting-source, for example, can determine the black box of wrecked aircraft or ship
Position, so that it is determined that the position of wrecked aircraft or ship for another example can be to illegally being positioned with frequency equipment, to avoid non-
Method impacts the legal normal work with frequency equipment etc. with frequency equipment.
At present using it is more be the localization method based on the time difference, this method can use multistation detect signal when
Difference forms multiple hyperbolas or multiple hyperboloids in conjunction with the site of multistation, and multiple hyperbola or multiple bi-curved intersection points are
It can be positioned as the position of signal emitting-source.
However, in practical applications, since there are a large amount of overcovers in urban compact region, will cause monitoring station and search
The negligible amounts of rope position location satellite, so that error will be present in the self-positioning site in multiple monitoring stations, and then to source location
Positioning will appear error, so that the accuracy decline of signal emitting-source position positioning, so that signal emitting-source can not accurately be found.
Summary of the invention
In view of the above problems, the embodiment of the present invention is proposed to determine in order to provide a kind of time difference system there are under station site error
Bit correction method and device.
According to the first aspect of the invention, a kind of time difference system positioning correction method there are under station site error is provided,
Applied to the main website in the multi-station positioning system including a main website and at least one secondary station, this method comprises:
Obtain the secondary station actual measurement site of each secondary station；
Determine the signal of target signal source be transmitted to time of each secondary station respectively be transmitted between the time of main website
The measured time is poor between standing；
According to the measured time between each station is poor, the master of the actual measurement of the secondary station of signaling rate, each secondary station site and storage
It stands and surveys site, determine the initial position of target signal source；
According to the measured time between the station of each secondary station is poor, signaling rate, the error co-variance matrix of storage, target letter
The initial position in number source, the secondary station actual measurement site of each secondary station and main website survey site, pass through Newton iteration method and determine at least mesh
Mark the iterative position increment of the initial position of signal source；
When iterative position increment is less than setting coordinate threshold value, by the initial position of target signal source and iterative position increment
In target signal source positional increment be added, obtain the correction position of target signal source.
According to the second aspect of the invention, a kind of time difference system position corrector there are under station site error is provided,
The device includes:
Module is obtained, the secondary station for obtaining each secondary station surveys site；
First determining module, for determine the signal of target signal source be transmitted to time of each secondary station respectively be transmitted to
The measured time is poor between station between the time of main website；
Second determining module, for according to the measured time between each station is poor, the secondary station of signaling rate, each secondary station is real
The main website of survey station location and storage surveys site, determines the initial position of target signal source；
Third determining module, for the measured time between the station according to each secondary station is poor, signaling rate, storage error
Covariance matrix, the initial position of target signal source, the secondary station actual measurement site of each secondary station and main website survey site, pass through newton
Iterative method determines the iterative position increment of at least initial position of target signal source；
4th determining module is used for when iterative position increment is less than setting coordinate threshold value, by the initial of target signal source
Position is added with the target signal source positional increment in iterative position increment, obtains the correction position of target signal source.
The embodiment of the present invention includes following advantages: in embodiments of the present invention, the main website in multi-station positioning system can incite somebody to action
The initial position of target signal source, the secondary station actual measurement site of each secondary station and main website survey site, as the first of vector to be estimated
Initial value carries out Newton iteration, determines the iterative position increment of at least initial position of target signal source, thus when iterative position increases
It, can be by the target signal source position in the initial position of target signal source and iterative position increment when amount is less than setting coordinate threshold value
Increment addition is set, the correction position of target signal source is obtained, that is to say the accurate location for obtaining target signal source.The present invention is implemented
Example can be corrected the position of target signal source, in multistation position there are in the case where error to improve signal source
The accuracy of positioning.
Detailed description of the invention
Fig. 1 is that provided in an embodiment of the present invention a kind of there are the processes of the time difference system positioning correction method under station site error
Figure；
Fig. 2A is that there are the time difference system positioning correction methods under station site error for another kind provided in an embodiment of the present invention
Flow chart；
Fig. 2 B is a kind of arrangement schematic diagram of multi-station positioning system provided in an embodiment of the present invention；
Fig. 2 C is a kind of positioning result of the multi-station positioning system provided in an embodiment of the present invention to the signal source of fixed position
Schematic diagram；
Fig. 2 D is a kind of positioning result of the multi-station positioning system provided in an embodiment of the present invention to the signal source of shift position
Schematic diagram；
Fig. 2 E is that a kind of multi-station positioning system provided in an embodiment of the present invention positions signal source by a variety of methods
Position error schematic diagram；
Fig. 3 A is that provided in an embodiment of the present invention a kind of there are the frames of the time difference system position corrector under station site error
Figure；
Fig. 3 B is a kind of block diagram of second determining module provided in an embodiment of the present invention；
Fig. 3 C is a kind of block diagram of third determining module provided in an embodiment of the present invention；
Fig. 3 D is that there are the time difference system position correctors under station site error for another kind provided in an embodiment of the present invention
Block diagram；
Fig. 3 E be it is provided in an embodiment of the present invention the third there are the time difference system position correctors under station site error
Block diagram.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Embodiment one
Referring to Fig.1, show that a kind of there are the flow chart of the time difference system positioning correction method under station site error, this method
It can specifically include following steps:
Step 101: obtaining the secondary station actual measurement site of each secondary station.
Step 102: determine the signal of target signal source be transmitted to time of each secondary station respectively be transmitted to main website when
Between between station between the measured time it is poor.
Step 103: according to the measured time between each station is poor, the secondary station of signaling rate, each secondary station actual measurement site and
The main website of storage surveys site, determines the initial position of target signal source.
Step 104: according to the measured time between the station of each secondary station is poor, signaling rate, storage error covariance square
Battle array, the secondary station of the initial position of target signal source, each secondary station actual measurement site and main website survey site, true by Newton iteration method
The iterative position increment of the fixed at least initial position of target signal source.
Step 105: when iterative position increment is less than setting coordinate threshold value, by the initial position and iteration of target signal source
Target signal source positional increment in positional increment is added, and obtains the correction position of target signal source.
The embodiment of the present invention includes following advantages: in embodiments of the present invention, the main website in multi-station positioning system can incite somebody to action
The initial position of target signal source, the secondary station actual measurement site of each secondary station and main website survey site, as the first of vector to be estimated
Initial value carries out Newton iteration, determines the iterative position increment of at least initial position of target signal source, thus when iterative position increases
It, can be by the target signal source position in the initial position of target signal source and iterative position increment when amount is less than setting coordinate threshold value
Increment addition is set, the correction position of target signal source is obtained, that is to say the accurate location for obtaining target signal source.The present invention is implemented
Example can be corrected the position of target signal source, in multistation position there are in the case where error to improve signal source
The accuracy of positioning.
Embodiment two
Referring to Fig. 2A, showing another kind, there are the flow charts of the time difference system positioning correction method under station site error, should
Method can specifically include following steps:
Step 201: obtaining the secondary station actual measurement site of each secondary station.
Wherein, the secondary station that main website can obtain each secondary station by any one of following two ways surveys site, packet
It includes:
First way: main website receives the secondary station actual measurement site that each secondary station is sent.
The second way: the secondary station that the management server that main website receives multi-station positioning system is sent surveys site.
For above-mentioned first way, each secondary station by position location satellite carry out it is self-positioning after can determine itself secondary station
Site is surveyed, and then the secondary station can be surveyed into site and be sent to main website.For the above-mentioned second way, it is fixed that each secondary station passes through
Position satellite carry out it is self-positioning after can determine itself secondary station actual measurement site, and then the management of multi-station positioning system can be sent to
Server, when main website needs to position signal source, the secondary station of each secondary station can be surveyed site hair by management server
It send to main website.
It should be noted that main website can be the station for focusing on the information of other websites transmission in multi-station positioning system
Point, the general processing capacity of main website is higher, so as to meet the needs of processing mass data.May include in multi-station positioning system
Main website and at least one secondary station, and main website and at least one secondary station can carry out the arrangement of position according to certain geometric configuration,
Such as a kind of multi-station positioning system as shown in Figure 2 B, wherein the multi-station positioning system include main website 10 and secondary station 20,30,
40 and 50.
In addition, the secondary station actual measurement site of the secondary station is after the secondary station is positioned by position location satellite for any secondary station
Local site is obtained and is stored in, there is a certain error between the site and the true site of the secondary station.
Step 202: determine the signal of target signal source be transmitted to time of each secondary station respectively be transmitted to main website when
Between between station between the measured time it is poor.
Wherein, each website in multi-station positioning system, can be to the signal in the signal for receiving target signal source
Sampled, sampled result can be sent to main website by each secondary station later, thus main website can according to itself sampled result,
And the sampled result of each secondary station, determine that any secondary station and main website are respectively received the time of the signal by cross correlation algorithm
The measured time is poor between difference, namely station.
It should be noted that due to station between measured time difference it is unrelated with the position of each website, the measured time between standing
Difference as secondary station and the actual time that main website is respectively received echo signal source signal are poor.
Step 203: according to the measured time between each station is poor, the secondary station of signaling rate, each secondary station actual measurement site and
The main website of storage surveys site, determines the initial position of target signal source.
In embodiments of the present invention, main website can determine the initial bit of target signal source by following step (one)-(four)
It sets, comprising:
(1) according to measured time difference and signaling rate between each station, echo signal is determined by following formula (1)
The signal transmission distance that the signal in source is transmitted to each secondary station and is transmitted between main website is poor.
Δdi=c Δ ti, i=1 ..., K (1)
Wherein, Δ diSignal for target signal source is transmitted to i-th of secondary station and the signal being transmitted between main website transmits
Range difference, c are signaling rate namely the light velocity, can be 3 × 108M/s (metre per second (m/s)), Δ tiFor i-th of website and main website
Between station between the measured time it is poor, wherein the 1st website is main website, and K is the total number of website.
Δdi=di-d1 (2)
di=(u0-ri)T(u0-ri) (3)
The signal transmission distance that the signal of target signal source is transmitted to i-th of secondary station and is transmitted between main website is poor, namely
The signal of target signal source is transmitted to the distance of i-th of secondary station and the difference being transmitted between at a distance from main website, therefore, above-mentioned public affairs
Formula (2) is also set up.In formula (2) and formula (3), diThe distance of i-th of website, d are transmitted to for the signal of target signal source1
The distance of main website, u are transmitted to for the signal of target signal source0=[x, y, z]TFor the position of target signal source, []TFor []
Transposed matrix, ri=[xi, yi.zi]TFor the site of i-th of website.
(2) the secondary station actual measurement site of poor, each secondary station of signal transmission distance according to each secondary station and the main website of storage are real
Survey station location determines initial position function by following formula (4).
There are the initial positions under error in site for initial position function namely target signal sourceWith target signal source
Signal be transmitted to the distance d of main website1Between relation function, whereinIt is that main website is obtained there are station site error
The target signal source initial position arrived,There are errors between the actual position of target signal source.Above-mentioned formula (4) can be with
By the way that formula (3) to be updated in formula (2), then by d1As known quantity, using pseudoinverse technique to u0It is solved to obtain,
In, it can be to u0The premise solved is the necessary full rank of matrix A, wherein the quantity of website is more than that setting quantity can then protect
Card matrix A is full rank.In formula (4), ()-1For the inverse matrix of (), matrix A is by vector Aj-1Composition, Aj-1=[xj-x1
yj-y1 zj-z1], wherein Ai-1For (j-1) row of A, j=2,3 ..., K, matrix B is by vector Bj-1Composition, Bj-1=Pj-d1Δ
dj, wherein Bi-1It goes for (j-1) of B,Wherein, xj, yj, zjIn step
Suddenly what is substituted into (two) is the secondary station actual measurement site of each secondary station.
In step (2), it can determine that initial position function is following formula (5) by above-mentioned formula (4), wherein
n1, n2, n3And m1, m2, m3Namely the multiple parameters in initial position function, it can be obtained by formula (4).
(3) according in initial position function multiple parameters and main website survey site, determine mesh according to following formula (6)
Mark distance between signal source and main website.
It wherein, will include d in formula (5)1'sIt substitutes into formula (3), available equation
Then by the d in equation1As unknown quantity, to equationIt solves, available above-mentioned formula (6).In side
JourneyIn formula (6),B=2n1(m1-x1)+2n2(m2-y1)+2n3(m3-z1),
C=(m1-x1)2+(m2-y1)2+(m3-z1)2。
It should be noted that working as d1Xie Weiyi positive one it is negative when, take d1Solution greater than 0, works as d1Two solutions be all timing, then
Must by other constraint conditions from two solutions determine one solution, if observation station number be greater than 3, can with redundant sites from
A solution is determined in two solutions, in practical applications, can also by bigness scale to or Doppler excluding false bearing as a result,
To determine a solution from two solutions.
(4) according to distance between target signal source and main website, the initial position of target signal source is determined.
Distance d between target signal source and main website is determined by step (4)1Later, mesh can be determined by formula (5)
Mark the initial position of signal sourceIt that is to say the Newton iteration initial value of the available echo signal source position of main website
Step 204: according to the measured time between the station of each secondary station is poor, signaling rate, storage error covariance square
Battle array, the secondary station of the initial position of target signal source, each secondary station actual measurement site and main website survey site, true by Newton iteration method
The iterative position increment of the fixed at least initial position of target signal source；When iterative position increment is greater than or equal to setting coordinate threshold value
When, execute step 205；When iterative position increment is less than setting coordinate threshold value, step 208 is executed.
In embodiments of the present invention, main website can determine the initial bit of target signal source by following step (five)-(eight)
It sets, comprising:
(5) according to the measured time between the station of each secondary station is poor, spacing of signaling rate and target signal source and main website
From determining the distance between target signal source and each secondary station by following formula (7).
di=c Δ ti-d1 (7)
Wherein, formula (7) can be released by above-mentioned formula (1) and formula (2).
(6) according to the secondary station of the initial position of target signal source, each secondary station actual measurement site and target signal source and each
The distance between secondary station determines the Jacobian matrix of target signal source by following formula (8).
Wherein, d=dj-dj-1,
Namely null matrix,
Namely the unit matrix that each element is 1.
(7) site is surveyed according to the secondary station of the initial position of target signal source, each secondary station and main website surveys site, really
Determine error function.
Wherein, W is error function, m be each website station between the measured time is poor, main website actual measurement site and each secondary station
Secondary station surveys matrix composed by site,
(8) according to the Jacobian matrix of target signal source, error function and the error co-variance matrix of storage, under utilization
Formula (10) are stated, the iterative position increment of at least initial position of target signal source is determined by least square method.
δ u=[HTQ-1H]-1HTQ-1W (10)
Wherein, δ u be iterative position increment, and in iterative position increment including target signal source initial position iteration
Positional increment further includes the iterative position increment of the site of each website,QdFor time difference error
Covariance matrix, Q are station site error's covariance matrix, QdAnd QrIn each element be multi-station positioning system administrative staff
The numerical value rule of thumb set.
It should be noted that the true position of the iterative position and target signal source of setting coordinate threshold value namely target signal source
Permitted error precision between setting, setting coordinate threshold value is smaller, the iterative position of target signal source and target signal source it is true
Difference between real position is smaller, and setting coordinate threshold value is bigger, the iterative position of target signal source and target signal source it is true
Difference between position is bigger, and setting coordinate threshold value can be previously set by the administrative staff of multi-station positioning system.
Due in iterative position increment not only including target signal source initial position iterative position increment, further include each
The iterative position increment of the site of a website, therefore, step 204 can also include: the measured time between the station according to each secondary station
The secondary station actual measurement of difference, signaling rate, the error co-variance matrix of storage, the initial position of target signal source, each secondary station
Site and main website survey site, determine that the initial position of target signal source, main website survey site and each by Newton iteration method
The iterative position increment of the secondary station actual measurement site of secondary station.To which in step 204, main website determined by Newton iteration method by changing
It can also include main website site positional increment and each in positional increment, not only may include target signal source positional increment
The secondary station site positional increment of secondary station.
Step 205: by the initial position of target signal source and the target signal source positional increment phase in iterative position increment
Add, obtains an iteration position of target signal source.
In embodiments of the present invention, main website, can after the iterative position increment for the initial position for determining target signal source
The initial position of target signal source to be added with the target signal source positional increment in iterative position increment, to obtain target
The initial position of target signal source is also updated to an iteration position by an iteration position of signal source, wherein primary to change
Subrogate the actual position set and be more nearly target signal source than initial position.
Step 206: an iteration position is determined as to the initial position of target signal source.
In embodiments of the present invention, when iterative position increment is greater than or equal to setting coordinate threshold value, it is believed that target
Biggish difference is still had between an iteration position of signal source and the actual position of target signal source, therefore, main website can
An iteration position to be determined as to the initial position of target signal source, it that is to say and the initial position of target signal source is carried out more
Newly, further Newton iteration is carried out so as to pass through step 207.
Step 207: return according to the measured time between the station of each secondary station is poor, signaling rate, storage error association side
Poor matrix, the initial position of target signal source, the secondary station actual measurement site of each secondary station and main website survey site, pass through Newton iteration
Method determines the step of at least iterative position increment of the initial position of target signal source.
In embodiments of the present invention, the initial position of target signal source the primary of target signal source is updated in main website to change
Subrogate after setting, Newton iteration can be continued with return step 204, every each Newton iteration of progress can obtain more
Close to the iterative position of the actual position of target signal source, until when iterative position increment is less than setting coordinate threshold value, it is main
The correction position of target signal source can be determined by step 208 by standing.
Step 208: by the initial position of target signal source and the target signal source positional increment phase in iterative position increment
Add, obtains the correction position of target signal source.
In embodiments of the present invention, when iterative position increment is less than setting coordinate threshold value, main website can be by echo signal
The initial position in source is added with the target signal source positional increment in iterative position increment, to obtain the correction of target signal source
Position.Wherein, the difference between the correction position and the actual position of target signal source of target signal source is very small,
It is the actual position that the correction position of target signal source can be regarded as to target signal source.
Fig. 2 C shows what the positioning correction method using the embodiment of the present invention positioned the signal source of fixed position
Positioning result, as shown in Figure 2 C, each stain expression are positioned to obtain in signal source of the different time to same fixed position
Multiple source locations.Fig. 2 D show the positioning correction method using the embodiment of the present invention to the signal source of shift position into
The positioning result of row positioning, as shown in Figure 2 C, each stain indicate to carry out in signal source of the different time to same shift position
Position obtained multiple source locations.The localization process time of positioning correction method provided in an embodiment of the present invention less than 5 seconds,
For positioning accuracy tangentially up to 0.1%~0.5%, TOA measurement accuracy was 20 nanoseconds.
Fig. 2 E shows the positioning result and CRLB (Cram é r-Rao using the positioning correction method of the embodiment of the present invention
Low bound, carat U.S. labor lower bound), secondary WLS (weighted least-squares method) localization method and classical Taylor (warp
Allusion quotation Taylor) localization method positioning result comparison, as shown in Figure 2 E, abscissa be positioning accuracy σr, ordinate is positioning result
The distance between true value error can be seen that positioning accuracy σ from Fig. 2 ErIn the range of 25 meters~250 meters, the present invention
The positioning result of the positioning correction method of embodiment that is to say closest to CRLB compared to secondary WLS localization method and classical
Taylor localization method, the mistake between the positioning result of the positioning correction method of the embodiment of the present invention and the legitimate reading of signal source
It is poor minimum.
Step 209: main website actual measurement site being added with the main website positional increment in iterative position increment, obtains main website correction
Site.
In practical applications, the true position of target signal source usually can be only determined by target signal source positional increment
It sets, it is, of course, also possible to the true site of main website be determined by main website site positional increment, so as to the site to main website
It is updated.
Step 210: the secondary station of each secondary station is surveyed into site and each secondary station positional increment phase in iterative position increment
Add, obtains the secondary station correction site of each secondary station.
In practical applications, main website can also determine each secondary station by the secondary station site positional increment of each secondary station
The true site of secondary station, is updated so as to the site to each secondary station, so when after a period of time in determine signal source
When position, target positioning can be carried out using the localization method of station site error is not considered, it is then periodically real using the present invention
It applies and considers that the localization method of station site error carries out target positioning and site correction in example, multi-station positioning system can be greatly improved
Location efficiency.
In addition, step 210 can be after step 209, and it can also be before step 209, the embodiment of the present invention is for step
Rapid 209 and step 210 execution sequence be not especially limited.
The embodiment of the present invention includes following advantages: in embodiments of the present invention, the main website in multi-station positioning system can incite somebody to action
The initial position of target signal source, the secondary station actual measurement site of each secondary station and main website survey site, as the first of vector to be estimated
Initial value carries out Newton iteration, determines the iterative position increment of at least initial position of target signal source, thus when iterative position increases
It, can be by the target signal source position in the initial position of target signal source and iterative position increment when amount is less than setting coordinate threshold value
Increment addition is set, the correction position of target signal source is obtained, that is to say the accurate location for obtaining target signal source.The present invention is implemented
Example can be corrected the position of target signal source, in multistation position there are in the case where error to improve signal source
The accuracy of positioning.
It should be noted that for simple description, therefore, it is stated as a series of action groups for embodiment of the method
It closes, but those skilled in the art should understand that, embodiment of that present invention are not limited by the describe sequence of actions, because according to
According to the embodiment of the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art also should
Know, the embodiments described in the specification are all preferred embodiments, and the related movement not necessarily present invention is implemented
Necessary to example.
Embodiment three
Referring to Fig. 3 A, showing another kind, there are the block diagrams of the time difference system position corrector 300 under station site error, should
Device can specifically include:
Module 301 is obtained, the secondary station for obtaining each secondary station surveys site；
First determining module 302, for determine the signal of target signal source be transmitted to time of each secondary station respectively with biography
The measured time is poor between transporting to the station between the time of main website；
Second determining module 303, for according to the measured time between each station is poor, the pair of signaling rate, each secondary station
It stands and surveys the main website actual measurement site of site and storage, determine the initial position of target signal source；
Third determining module 304, for the measured time between the station according to each secondary station to be poor, signaling rate, storage
Error co-variance matrix, the initial position of target signal source, the secondary station actual measurement site of each secondary station and main website survey site, pass through
Newton iteration method determines the iterative position increment of at least initial position of target signal source；
4th determining module 305 is used for when iterative position increment is less than setting coordinate threshold value, by the first of target signal source
Beginning position is added with the target signal source positional increment in iterative position increment, obtains the correction position of target signal source.
Optionally, referring to Fig. 3 B, the second determining module 303 includes:
First determines submodule 3031, for determining target according to measured time difference and signaling rate between each station
The signal transmission distance that the signal of signal source is transmitted to each secondary station and is transmitted between main website is poor；
Second determines submodule 3032, and the secondary station for poor, each secondary station of the signal transmission distance according to each secondary station is real
The main website of survey station location and storage surveys site, determines initial position function；
Third determines submodule 3033, for according in initial position function multiple parameters and main website survey site, really
Set the goal distance between signal source and main website；
4th determines submodule 3034, for determining target signal source according to distance between target signal source and main website
Initial position.
Optionally, referring to Fig. 3 C, third determining module 304 includes:
5th determines submodule 3041, for the measured time between the station according to each secondary station to be poor, signaling rate and mesh
Distance between signal source and main website is marked, determines the distance between target signal source and each secondary station；
6th determines submodule 3042, for surveying station according to the initial position of target signal source, the secondary station of each secondary station
Location and the distance between target signal source and each secondary station, determine the Jacobian matrix of target signal source；
7th determines submodule 3043, for surveying station according to the initial position of target signal source, the secondary station of each secondary station
Location and main website survey site, determine error function；
8th determines submodule 3044, for according to the Jacobian matrix of target signal source, error function and the mistake of storage
Poor covariance matrix determines the iterative position increment of at least initial position of target signal source by least square method.
Optionally, referring to Fig. 3 D, the device further include:
5th determining module 306 is used for when iterative position increment is greater than or equal to setting coordinate threshold value, by echo signal
The initial position in source is added with the target signal source positional increment in iterative position increment, obtains an iteration of target signal source
Position；
6th determining module 307, for an iteration position to be determined as to the initial position of target signal source；
Return module 308, for returning to poor measured time between the station according to each secondary station, signaling rate, storage
Error co-variance matrix, the initial position of target signal source, the secondary station actual measurement site of each secondary station and main website survey site, pass through
Newton iteration method determines the step of at least iterative position increment of the initial position of target signal source.
Optionally, third determining module 304 includes:
9th determines submodule, for the measured time between the station according to each secondary station is poor, signaling rate, storage mistake
Poor covariance matrix, the initial position of target signal source, the secondary station actual measurement site of each secondary station and main website survey site, pass through ox
Iterative method of pausing determines the iteration position of the secondary station actual measurement site of the initial position of target signal source, main website actual measurement site and each secondary station
Set increment；
Further, referring to Fig. 3 E, the device further include:
7th determining module 309, for when iterative position increment be less than setting coordinate threshold value when, by main website actual measurement site with
Main website positional increment in iterative position increment is added, and obtains main website correction site；
8th determining module 310, for the secondary station of each secondary station to be surveyed to each pair in site and iterative position increment
Station location increment is added, and obtains the secondary station correction site of each secondary station.
The embodiment of the present invention includes following advantages: in embodiments of the present invention, the main website in multi-station positioning system can incite somebody to action
The initial position of target signal source, the secondary station actual measurement site of each secondary station and main website survey site, as the first of vector to be estimated
Initial value carries out Newton iteration, determines the iterative position increment of at least initial position of target signal source, thus when iterative position increases
It, can be by the target signal source position in the initial position of target signal source and iterative position increment when amount is less than setting coordinate threshold value
Increment addition is set, the correction position of target signal source is obtained, that is to say the accurate location for obtaining target signal source.The present invention is implemented
Example can be corrected the position of target signal source, in multistation position there are in the case where error to improve signal source
The accuracy of positioning.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present invention can provide as method, apparatus or calculate
Machine program product.Therefore, the embodiment of the present invention can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present invention can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
In a typical configuration, the computer equipment includes one or more processors (CPU), input/output
Interface, network interface and memory.Memory may include the non-volatile memory in computer-readable medium, random access memory
The forms such as device (RAM) and/or Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is to calculate
The example of machine readable medium.Computer-readable medium includes that permanent and non-permanent, removable and non-removable media can be with
Realize that information is stored by any method or technique.Information can be computer readable instructions, data structure, the module of program or
Other data.The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory
(SRAM), dynamic random access memory (DRAM), other kinds of random access memory (RAM), read-only memory
(ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory techniques, CD-ROM are read-only
Memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or
Other magnetic storage devices or any other non-transmission medium, can be used for storage can be accessed by a computing device information.According to
Herein defines, and computer-readable medium does not include non-persistent computer readable media (transitory media), such as
The data-signal and carrier wave of modulation.
The embodiment of the present invention be referring to according to the method for the embodiment of the present invention, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these
Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
Although the preferred embodiment of the embodiment of the present invention has been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and fall into all change and modification of range of embodiment of the invention.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, limited by sentence " including one ... "
Element, it is not excluded that including identical being wanted in the process, method of the element, article or terminal device there is also other
Element.
A kind of time difference system positioning correction method and one kind there are under station site error provided by the present invention is deposited above
Time difference system position corrector under station site error, is described in detail, and specific case used herein is to this hair
Bright principle and embodiment is expounded, method of the invention that the above embodiments are only used to help understand and its
Core concept；At the same time, for those skilled in the art, according to the thought of the present invention, in specific embodiment and application
There will be changes in range, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (8)
1. a kind of time difference system positioning correction method there are under station site error, being applied to includes a main website and at least one is secondary
The main website in multi-station positioning system stood, which is characterized in that the described method includes:
Obtain the secondary station actual measurement site of each secondary station；
Determine the signal of target signal source be transmitted to time of each secondary station respectively be transmitted between the time of the main website
The measured time is poor between standing；
According to the measured time between each station is poor, the master of the actual measurement of the secondary station of signaling rate, each secondary station site and storage
It stands and surveys site, determine the initial position of the target signal source；
According to the measured time between the station of each secondary station is poor, the signaling rate, the error co-variance matrix of storage, institute
The initial position of target signal source, the secondary station actual measurement site of each secondary station and main website actual measurement site are stated, newton is passed through
Iterative method determines the iterative position increment of the initial position of at least described target signal source；
When the iterative position increment is less than setting coordinate threshold value, by the initial position of the target signal source and the iteration
Target signal source positional increment in positional increment is added, and obtains the correction position of the target signal source；
Wherein, the measured time is poor between the station according to each secondary station, the signaling rate, storage error association side
Poor matrix, the initial position of the target signal source, the secondary station actual measurement site of each secondary station and the main website survey site,
The iterative position increment of the initial position of at least described target signal source is determined by Newton iteration method, comprising:
According to the measured time between the station of each secondary station is poor, the signaling rate and the target signal source and the master
Distance between standing determines the distance between the target signal source and each secondary station；
According to the secondary station of the initial position of the target signal source, each secondary station survey site and the target signal source with
The distance between described each secondary station, determines the Jacobian matrix of the target signal source；
Site and main website actual measurement station are surveyed according to the secondary station of the initial position of the target signal source, each secondary station
Location determines error function；
According to the Jacobian matrix of the target signal source, the error co-variance matrix of the error function and storage, by most
Small square law determines the iterative position increment of the initial position of at least described target signal source.
2. the method according to claim 1, wherein described according to the measured time between each station is poor, signal transmits
The main website of speed, the secondary station of each secondary station actual measurement site and storage surveys site, determines the initial of the target signal source
Position, comprising:
According to measured time difference and signaling rate between each station, determine that the signal of the target signal source is transmitted to each pair
The signal transmission distance stood and be transmitted between the main website is poor；
The main website for surveying site and storage according to the secondary station of poor, the described each secondary station of the signal transmission distance of each secondary station is real
Survey station location determines initial position function；
According in the initial position function multiple parameters and the main website survey site, determine the target signal source and institute
State distance between main website；
According to distance between the target signal source and the main website, the initial position of the target signal source is determined.
3. the method according to claim 1, wherein the method also includes:
When the iterative position increment is greater than or equal to the setting coordinate threshold value, by the initial position of the target signal source
It is added with the target signal source positional increment in the iterative position increment, obtains an iteration position of the target signal source
It sets；
An iteration position is determined as to the initial position of the target signal source；
Return the poor measured time between the station according to each secondary station, the signaling rate, storage error association side
Poor matrix, the initial position of the target signal source, the secondary station actual measurement site of each secondary station and the main website survey site,
The step of determining the iterative position increment of the initial position of at least described target signal source by Newton iteration method.
4. the method according to claim 1, wherein the measured time between the station according to each secondary station
Poor, the described signaling rate, the error co-variance matrix of storage, the initial position of the target signal source, each pair
The secondary station actual measurement site and main website actual measurement site stood, determine the initial of at least described target signal source by Newton iteration method
The iterative position increment of position, comprising:
According to the measured time between the station of each secondary station is poor, the signaling rate, the error co-variance matrix of storage, institute
The initial position of target signal source, the secondary station actual measurement site of each secondary station and main website actual measurement site are stated, newton is passed through
Iterative method determines the secondary station actual measurement site of the initial position of the target signal source, main website actual measurement site and each secondary station
Iterative position increment；
Further, the measured time is poor between the station according to each secondary station, the signaling rate, storage error
Covariance matrix, the initial position of the target signal source, the secondary station actual measurement site of each secondary station and main website actual measurement
Site, after the iterative position increment that the initial position of at least described target signal source is determined by Newton iteration method, further includes:
When the iterative position increment is less than setting coordinate threshold value, by main website actual measurement site and the iterative position increment
In main website positional increment be added, obtain main website correction site；
The secondary station actual measurement site of each secondary station is added with each secondary station positional increment in the iterative position increment, is obtained
Secondary station to each secondary station corrects site.
5. a kind of time difference system position corrector there are under station site error, which is characterized in that described device includes:
Module is obtained, the secondary station for obtaining each secondary station surveys site；
First determining module, for determine the signal of target signal source be transmitted to time of each secondary station respectively be transmitted to main website
Time between station between the measured time it is poor；
Second determining module, for according to the measured time between each station is poor, the secondary station of signaling rate, each secondary station is real
The main website of survey station location and storage surveys site, determines the initial position of the target signal source；
Third determining module, for the measured time between the station according to each secondary station to be poor, the signaling rate, storage
Error co-variance matrix, the initial position of the target signal source, the secondary station actual measurement site of each secondary station and the main website
Site is surveyed, the iterative position increment of the initial position of at least described target signal source is determined by Newton iteration method；
4th determining module is used for when the iterative position increment is less than setting coordinate threshold value, by the target signal source
Initial position is added with the target signal source positional increment in the iterative position increment, obtains the correction of the target signal source
Position；
Wherein, the third determining module includes:
5th determines submodule, for the measured time between the station according to each secondary station to be poor, the signaling rate and institute
Distance between target signal source and the main website is stated, determines the distance between the target signal source and each secondary station；
6th determines submodule, for surveying station according to the initial position of the target signal source, the secondary station of each secondary station
Location and the distance between the target signal source and each secondary station, determine the Jacobian matrix of the target signal source；
7th determines submodule, for surveying station according to the initial position of the target signal source, the secondary station of each secondary station
Location and the main website survey site, determine error function；
8th determines submodule, for the mistake according to the Jacobian matrix of the target signal source, the error function and storage
Poor covariance matrix determines the iterative position increment of the initial position of at least described target signal source by least square method.
6. device according to claim 5, which is characterized in that second determining module includes:
First determines submodule, for determining the echo signal according to measured time difference and signaling rate between each station
The signal transmission distance that the signal in source is transmitted to each secondary station and is transmitted between the main website is poor；
Second determines submodule, and the secondary station for poor, the described each secondary station of the signal transmission distance according to each secondary station is real
The main website of survey station location and storage surveys site, determines initial position function；
Third determines submodule, for according in the initial position function multiple parameters and the main website survey site, really
Distance between the fixed target signal source and the main website；
4th determines submodule, for determining the echo signal according to distance between the target signal source and the main website
The initial position in source.
7. device according to claim 5, which is characterized in that described device further include:
5th determining module is used for when the iterative position increment is greater than or equal to the setting coordinate threshold value, by the mesh
The initial position of mark signal source is added with the target signal source positional increment in the iterative position increment, obtains the target letter
An iteration position in number source；
6th determining module, for an iteration position to be determined as to the initial position of the target signal source；
Return module, for returning to the poor measured time between the station according to each secondary station, the signaling rate, depositing
The error co-variance matrix of storage, the initial position of the target signal source, each secondary station secondary station actual measurement site and described
Main website surveys site, and the step of the iterative position increment of the initial position of at least described target signal source is determined by Newton iteration method
Suddenly.
8. device according to claim 5, which is characterized in that the third determining module includes:
9th determines submodule, for the measured time between the station according to each secondary station to be poor, the signaling rate, storage
Error co-variance matrix, the initial position of the target signal source, the secondary station actual measurement site of each secondary station and the master
It stands actual measurement site, determines that the initial position of the target signal source, the main website survey site and each by Newton iteration method
The iterative position increment of the secondary station actual measurement site of secondary station；
Further, described device further include:
7th determining module, for when the iterative position increment is less than setting coordinate threshold value, the main website to be surveyed site
It is added with the main website positional increment in the iterative position increment, obtains main website correction site；
8th determining module, for the secondary station of each secondary station to be surveyed to each pair in site and the iterative position increment
Station location increment is added, and obtains the secondary station correction site of each secondary station.
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| CN102981144A (en) * | 2012-11-21 | 2013-03-20 | 西安电子科技大学 | Method for three-dimensional passive positioning of targets by air moving platform |
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