CN107635284A - A kind of wireless location method, device, equipment and storage medium - Google Patents
A kind of wireless location method, device, equipment and storage medium Download PDFInfo
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- CN107635284A CN107635284A CN201711122136.XA CN201711122136A CN107635284A CN 107635284 A CN107635284 A CN 107635284A CN 201711122136 A CN201711122136 A CN 201711122136A CN 107635284 A CN107635284 A CN 107635284A
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Abstract
The invention discloses a kind of wireless location method, device, equipment and storage medium, this method includes：Receive the wireless signal that target terminal is sent；Directional information and range information of the target terminal relative to detecting devices are determined according to the wireless signal；The target terminal is positioned according to the global position system GPS positional information of the directional information of the target terminal and range information and the detecting devices obtained in advance.The present invention determines directional information and range information of the target terminal relative to detecting devices according to the wireless signal of the target terminal received, and target terminal is positioned according to the GPS position information of the directional information of target terminal and range information and detecting devices.The signal for solving the problems, such as directly by target terminal not launching in the prior art determines the GPS location of target terminal, realizes the GPS location that the signal directly launched by target terminal determines target terminal, the search efficiency to target terminal is significantly increased.
Description
Technical field
The present invention relates to moving communicating field, more particularly to a kind of wireless location method, device, equipment and storage medium.
Background technology
In many extraordinary situations, such as disaster victims and people trapped in danger's rescue operation of earthquake-stricken area, generally by using the LTE of customization
(Long Term Evolution, Long Term Evolution) mobile base station performs search work to specific mobile terminal.
The equipment for being applied to mobile radio terminal search common at present, mainly by periodically triggering mesh to be searched
Mark, makes target to be searched periodically launch detectable signal, and detecting devices is sent out mobile terminal by way of omnidirectional detects
The signal penetrated carries out field strength measurement, is sought according to the size of target to be searched signal strength is exploratory in the way of Approach by inchmeal
Look for target to be searched.
However, the wireless signal that prior art directly can not be launched by target to be searched determines the GPS of target to be searched
Position, but the way of search of Approach by inchmeal is utilized, by constantly souning out come the approximate location of progressively clear and definite target to be searched,
Untill finding target to be searched, the search efficiency of target to be searched is considerably reduced.
The content of the invention
The embodiments of the invention provide a kind of wireless location method, device, equipment and storage medium, can directly pass through mesh
The signal of mark terminal transmission determines the GPS position information of target terminal, and the search efficiency to target terminal is greatly improved.
In a first aspect, the embodiments of the invention provide a kind of wireless location method, including：
Receive the wireless signal that target terminal is sent；
Directional information and range information of the target terminal relative to detecting devices are determined according to the wireless signal；
According to the whole world of the directional information of the target terminal and range information and the detecting devices obtained in advance
Position system GPS positional information positions to the target terminal.
Second aspect, the embodiments of the invention provide a kind of radio positioner, including：
Echo signal acquisition module, for receiving the wireless signal of target terminal transmission；
Target information determining module, for determining the target terminal relative to detecting devices according to the wireless signal
Directional information and range information；
Target location estimation module, for the directional information according to the target terminal and range information and advance acquisition
The global position system GPS positional information of the detecting devices target terminal is positioned.
The third aspect, the embodiments of the invention provide a kind of equipment, including：
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are by one or more of computing devices so that one or more of processing
Device realizes the wireless location method described in any embodiment of the present invention.
Fourth aspect, the embodiments of the invention provide a kind of computer-readable recording medium, is stored thereon with computer journey
Sequence, the program realize the wireless location method described in any embodiment of the present invention when being executed by processor.
The wireless signal that the present invention is sent by receiving target terminal, determines that the target terminal is relative according to wireless signal
In the directional information and range information of detecting devices, obtain according to the directional information of target terminal and range information and in advance
The GPS position information of detecting devices positions to target terminal.Solution directly can not be sent out by target terminal in the prior art
The signal penetrated determines the problem of target terminal GPS position information, realizes the signal directly launched by target terminal and determines mesh
The GPS position information of terminal is marked, and the search efficiency to target terminal is significantly increased.
Brief description of the drawings
Fig. 1 is a kind of flow chart for wireless location method that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart for wireless location method that the embodiment of the present invention two provides；
Fig. 3 is a kind of structural representation for radio positioner that the embodiment of the present invention three provides；
Fig. 4 is a kind of structural representation for equipment that the embodiment of the present invention four provides.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that in order to just
Part related to the present invention rather than entire infrastructure are illustrate only in description, accompanying drawing.
Embodiment one
Fig. 1 is a kind of flow chart for wireless location method that the embodiment of the present invention one provides, and the present embodiment is applicable to pair
The situation that the target terminal specified scans for, this method can be performed by a kind of radio positioner.This method specifically includes
Following steps：
Step 110, receive the wireless signal that target terminal is sent.
In a particular embodiment of the present invention, target terminal refers to the mobile terminal to be searched for of user.In order to wireless
Path and whole LTE (Long Term Evolution, the Long Term Evolution of universal mobile communications technology) mobile communication are on the net just
Really identify some mobile terminal, it is necessary to which the unique identifier that mobile terminal has been distributed to by identification to be searched for identify
Mobile terminal.Described unique identifier is IMSI (International Mobile Subscriber
Identification Number, international mobile subscriber identity), it is in the world by unique identification one mobile subscriber point
The number matched somebody with somebody, in the whole network and global range be all it is unique, can be as the effective information of difference mobile subscriber.IMSI is stored in
SIM (Subscriber Identity Module, the subscriber identification module) cards or USIM (Universal of mobile terminal
Subscriber Identity Module, universal subscriber identity module) card in.Therefore, can be searched by obtaining in advance
IMSI codes in the SIM cards or usim card of the target terminal of rope, and the IMSI codes of the target terminal are stored in detecting devices
It is interior, so that detecting devices is after the wireless signal transmitted by mobile terminal is received, gather the IMSI codes of mobile terminal, and with from
The IMSI codes for the target terminal that body preserves are matched, so as to find out whether the target terminal to be searched for sets in current detection
In standby hunting zone.
Detecting devices can be communicated as mobile base station with the mobile terminal in its signal cover.Detection is set
Standby sending system message first, therefore the mobile terminal in detecting devices signal cover is by reading the system message, with
Detecting devices establishes connection.In order to whether quickly find out the target terminal to be searched in the hunting zone of detecting devices
It is interior, and then the particular location of target terminal can be quickly determined, detecting devices can periodically trigger its signal cover
Interior mobile terminal sends upward signal to detecting devices, and the identity information of itself is reported with this.Detecting devices will be all on
The identity information for the target terminal that the identity information of report preserves with itself is that IMSI codes are matched, and to be searched with this to find out
Whether the target terminal of rope is in the hunting zone of detecting devices.If the identity information not matched, prove target terminal not
In the hunting zone of detecting devices, therefore according to the concrete condition to comb the scene, mobile current detecting devices, until judging
Untill going out target terminal in the hunting zone of detecting devices, and then it can further receive the wireless communication of target terminal transmission
Number, used for follow-up measurement.
Exemplary, the IMSI codes of the target terminal to be searched for are 460-00-4777770001, can be by therein
Preceding 3 numbers 460 judge the target terminal for Chinese user, and judge that the target terminal is by back to back 2 numbers 00
The mobile network user of China Mobile, 10 follow-up numbers are mobile identification number, for identifying a certain mobile communication
Mobile subscriber in net.After detecting devices is connected to the search mission to this target terminal, first by the IMSI codes of the target terminal
Preserve in self EMS memory, can be by intelligent mobile terminals such as smart mobile phone, notebook computer and tablet personal computers by target
The IMSI codes of equipment are written in the internal memory of detecting devices.Secondly, detecting devices and the mobile terminal in its signal cover
Connection is established, and triggers these mobile terminal reportings identity informations of itself.Finally, detecting devices believes all identity reported
Breath is matched with the IMSI codes of target terminal of itself preservation, when finding out the target terminal to be searched in detecting devices
When in hunting zone, now detecting devices is only periodically triggered to target terminal, target terminal is sent up-link wireless
Signal, detecting devices obtains the wireless signal that target terminal is sent, for subsequently being prepared to the location estimation of target terminal.
Step 120, directional information and range information of the target terminal relative to detecting devices are determined according to wireless signal.
In a particular embodiment of the present invention, target is whole after wireless signal refers to detecting devices periodic triggers target terminal
Hold the wireless signal sent.Due to the periodic triggers of detecting devices, therefore detecting devices can obtain within the limited time
The wireless signal that more target terminals are sent.
Directional information is orientation angle information of the target terminal relative to detecting devices position.Detecting devices can lead to
Oriented wireless exploration technology, such as directional aerial are crossed, receives the wireless signal that target terminal is sent from different directions, and examine
Survey the signal strength of the wireless signal in different directions, according to the signal strength of wireless signal on different directions, come by this in terms of
Calculate accurate angle information of the target terminal relative to detecting devices.For example, detecting devices is from positive all directions four direction
The wireless signal that target terminal is sent is received respectively, and after field strength measurement, the field strength of the signal received from the direction of due east is
100dB, the field strength of the signal received upwards from due north and Due South is 60dB, the field strength of the signal received from due west direction
For 20dB, then the field strength of the signal received upwards due to due north and Due South is equal and is below the letter received on the direction of due east
Number field strength, direct north and due south direction are identical with due east direction angulation respectively, therefore can be unambiguously concluded
The field strength of the signal received on the direction of due east is maximum, and target terminal is located at the due east direction of detecting devices.
Range information is air line distance information of the target terminal relative to detecting devices position.Due to wireless signal just
It is electromagnetic wave, light is also electromagnetic wave, and then the speed of signal transmission is identical with the light velocity.Therefore can be using the light velocity as signal transmission
Speed, by the one way time delay for determining signal, you can calculate range information of the target terminal relative to detecting devices.During one way
Prolong and refer to transmit packets to the time span that receiving terminal receives packet and undergo altogether from transmitting terminal, backhaul time delay refers to from hair
Sending end produces packet and receives packet to receiving terminal and return to corresponding packet until transmitting terminal has correctly received answer number
According to the time span of bag.Therefore, one way time delay=backhaul time delay/2.In the present embodiment, one way time delay refers to from target terminal
Transmit packets to detecting devices and receive the time span that packet undergoes altogether, backhaul time delay refers to produce number from detecting devices
Packet is received to target terminal and return to corresponding packet until detecting devices has correctly received reply data bag according to bag
Time span.Receive and measure for detecting devices because detecting devices periodically triggers target terminal transmission wireless signal, because
This, it is i.e. available by the difference for calculating the triggered time of detecting devices and receive the wireless signal time that target terminal is sent
Backhaul time delay, the half of backhaul time delay is one way time delay.However, working as detecting devices in moving process, pass through detection
Timing adjustment mechanism in equipment communication agreement, gather the TA (Time Advanced, maximum time lead) in wireless signal
Value, you can aid in calculate air line distance of the target terminal relative to detecting devices.
Step 130, according to the directional information and range information of target terminal and the whole world of the detecting devices obtained in advance
Position system GPS positional information positions to target terminal.
In a particular embodiment of the present invention, due to the GPS position information by detecting devices and target terminal relative to
The reckoning process that the directional information and range information of detecting devices extrapolate the GPS position information of target terminal is complex, because
This no longer excessively introduces the reckoning process of GPS position information in the present embodiment, and GPS positions can be realized in the prior art by using
Put reckoning algorithm or technology in the combination of any one or more, with this come obtain the GPS location of target terminal letter
Breath.
, can be according to the GPS positions for the current detecting devices known in advance after the GPS position information of target terminal is extrapolated
Confidence ceases and the GPS position information of target terminal, by the guider and display device on detecting devices, to the mesh of search
Mark terminal planning navigation way is simultaneously navigated.
Further, since building or high mountain etc. may stop or the presence of the object of reflected radio signal, work as locking
The GPS position information of target terminal and when being navigated, detecting devices needs the moment hold period during movement
Above-mentioned testing process is repeated, constantly tuning is carried out with the planning of this GPS location and guidance path to target terminal, eliminated
The problem of interference for the wireless signal that outer bound pair target terminal is sent causes position and wrong path estimation.
The technical scheme of the present embodiment, the wireless signal sent by receiving target terminal, mesh is determined according to wireless signal
Mark directional information and range information of the terminal relative to detecting devices, according to the directional information of target terminal and range information and
The GPS position information of the detecting devices obtained in advance positions to target terminal.Solution can not directly pass through in the prior art
The problem of signal of target terminal transmitting determines the GPS location of target terminal, realizes the nothing directly launched by target terminal
Line signal determines the GPS location of target terminal, and the search efficiency to target terminal is significantly increased.
Embodiment two
The present embodiment is on the basis of above-described embodiment one, there is provided a kind of side of being preferable to carry out of wireless location method
Formula, target terminal can accurately be determined relative to the relative direction information and range information of detecting devices.Fig. 2 is this
A kind of flow chart for wireless location method that inventive embodiments two provide, as shown in Fig. 2, this method includes step in detail below：
The identity information of each mobile terminal of step 201, acquisition in the hunting zone of detecting devices.
In a particular embodiment of the present invention, the hunting zone of detecting devices is using detecting devices as the center of circle, is set with detection
The maximum distance that the signal that preparation is penetrated can cover is radius, a border circular areas of composition.Generally, due to landform and building
The reasons such as thing, the hunting zone of detecting devices, which is differed, is set to a regular border circular areas, therefore set with detecting devices
Difference, and because the landforms where detecting devices are different, detecting devices to can search for scope also different.Detecting devices is as shifting
Dynamic base station, can be communicated with the mobile terminal in its signal cover.Detecting devices sending system message first, therefore
Mobile terminal in detecting devices signal cover is established with detecting devices and connected by reading the system message.Detection is set
The standby mobile terminal periodically triggered in its signal cover sends upward signal to detecting devices, and itself is reported with this
Identity information.
Step 202, the body by the identity information of each mobile terminal in hunting zone and predetermined target terminal
Part information is matched.
In a particular embodiment of the present invention, the target terminal that detecting devices can be searched for by gathering in advance
IMSI codes in SIM card or usim card, and by intelligent mobile terminals such as smart mobile phone, notebook computer or tablet personal computers by mesh
The IMSI codes of marking device are written in the internal memory of detecting devices, and the IMSI codes of the target terminal are stored in detecting devices.Visit
Measurement equipment collects each mobile terminal after the wireless signal transmitted by each mobile terminal in hunting zone is received
IMSI codes, and matched with the IMSI codes of target terminal that itself is preserved, in the hunting zone for searching current detecting devices
With the presence or absence of the consistent mobile terminal of the IMSI codes preserved with itself.
Step 203, target terminal judged whether in hunting zone according to matching result, if so, step 204 is performed, if
It is no, perform step 211.
In a particular embodiment of the present invention, according to the result of above-mentioned matching, preserved when finding with detecting devices itself
The consistent mobile terminal of IMSI codes, i.e., target terminal at present just in the hunting zone of detecting devices when, you can just for mesh
Mark terminal and carry out signal communication, detect and gather information of the wireless signal of target terminal transmission and its carrying with this, be
Follow-up location estimation is prepared.However, it ought not find the mobile end consistent with the IMSI codes that detecting devices itself preserves
End, i.e., when target terminal is not currently in the hunting zone of detecting devices, then the operating personnel of detecting devices are according to combing the scene
Concrete condition, the position where movement sensing device, continue search for search target terminal, until judging that target terminal is in
In the current hunting zone of detecting devices.For example, certain disaster victims and people trapped in danger are succoured in city, according to used in the disaster victims and people trapped in danger
IMSI codes corresponding to cell-phone number, line search is entered to the masses, because building is more in city and the signal of detecting devices covers
The limitation of lid scope, detecting devices needs ceaselessly to shuttle between different building, to lock the stranded scope of the masses.
Step 204, receive the wireless signal that target terminal is sent.
In a particular embodiment of the present invention, when it is determined that target terminal just in the hunting zone where current detecting devices
When interior, detecting devices further can periodically trigger target terminal and be sent to wireless signal, and detecting devices receives mesh
The wireless signal that terminal is sent is marked, in case follow-up use.
The signal strength of step 205, detected wireless signals on multiple different directions.
In a particular embodiment of the present invention, detecting devices can use directional aerial, i.e., in some or certain several spies
It is especially strong to determine to receive electromagnetic wave on direction, and it is then zero or a kind of minimum antenna to receive electromagnetic wave in other directions, it is real
Multipath reception now is carried out from multiple different directions to the wireless signal that target terminal is sent, and measures connect on different directions respectively
The field strength of the signal received.The metering system of 4 tunnels or 8 tunnels even more multichannel can be used to measure wireless signal, be used for
Realize that the field strength of signals more than 4 tunnel orientation is perceived and measured after once triggering.Exemplary, 4 are carried out to target terminal signal
Drive test amount, using direct north as y-axis positive direction, due east direction is x-axis positive direction, plane right-angle coordinate is established, after measurement
It is 80dB to obtain the signal strength in x axle positive directions, and the field strength of signal is 100dB in y-axis positive direction, the letter in x-axis negative direction
Number field strength is 50dB, and the field strength of signal is 20dB in y-axis negative direction.
Step 206, the signal strength according to wireless signal in all directions, determine target terminal relative to detecting devices
Directional information.
In a particular embodiment of the present invention, by being measured from different directions to the signal strength of wireless signal,
It is direction of the target terminal relative to detecting devices to find out the maximum direction of field strength.Exemplary, in the examples described above, root
According to the field strength of signal on 4 directions, it can substantially determine that target terminal is in the first quartile meaning of the plane right-angle coordinate
In the range of, i.e., the direction scope formed by y-axis positive direction and x-axis positive direction pointed by angle.Therefore, again first as
Target terminal signal in the pointed direction scope of limit carries out 4 drive test amounts, according to rotating counterclockwise to y by x-axis positive direction
Axle positive direction, the every 22.5 degree signals carried out all the way receive and measurement, so as to further reduce the side present in target terminal
To scope.When it is 100dB to detect the presence of the signal strength on a direction, such as y-axis positive direction deviation x-axis positive direction 30
Signal on the direction of degree, then signal strength is that the direction pointed by the median of 100dB both direction angulation is
The direction of 15 degree of direction where target terminal, i.e. y-axis positive direction deviation x-axis positive direction.
For another example to target terminal signal carry out 8 drive test amounts, on the basis of above-mentioned plane right-angle coordinate, increase with
Rectangular coordinate system four direction into 45 degree of four direction, realizes the letter carried out simultaneously after once triggering more than 8 tunnel orientation respectively
Number field strength perceive and measurement.It is measured, according to clockwise by x-axis positive direction, obtain the field of signal on 8 directions
It is respectively by force 80dB, 40dB, 20dB, 30dB, 50dB, 90dB, 100dB and 110dB, then according to the field of signal on 8 directions
By force, it can substantially determine that target terminal is in the scope in the plane right-angle coordinate pointed by 100dB and 110dB, i.e., by y
Axle positive direction is risen according in 45 degree of the angular range of turning clockwise.Target terminal signal within the range carries out 8 tunnels again
Measurement, when it is 110dB to detect the presence of the signal strength on a direction, such as 15 degree of y-axis positive direction deviation x-axis positive direction
Direction on signal, then signal strength be 110dB both direction angulation median pointed by direction be mesh
Mark the direction in the direction where terminal, i.e. 30 degree of y-axis positive direction deviation x-axis positive direction.
Step 207, the one way time delay for determining wireless signal.
In a particular embodiment of the present invention, one way time delay refers to that transmitting packets to detecting devices from target terminal receives
The time span that packet undergoes altogether, backhaul time delay refer to that produce packet from detecting devices receives packet to target terminal
And corresponding packet is returned until detecting devices has correctly received the time delay of reply data bag, one way time delay=backhaul time delay/
2.Wireless signal is sent for detecting devices reception and measurement because detecting devices periodically triggers target terminal, therefore, is passed through
The difference for calculating the triggered time of detecting devices and receiving the reception time of the wireless signal of target terminal transmission is i.e. available
Backhaul time delay, and then obtain one way time delay.In the present embodiment, backhaul time delay is represented with T0, represents one way time delay with T1, then T1
=T0/2.However, working as detecting devices in moving process, pass through the timing adjustment mechanism in detecting devices communication protocol, collection
TA values in wireless signal, you can aid in calculate air line distance of the target terminal relative to detecting devices.
Exemplary, when target terminal Stochastic accessing is to detecting devices, detecting devices is haircuted when the morning 8 send wireless touch
Signal, triggering target terminal sends wireless signal to detecting devices, and target terminal returns accordingly after receiving trigger signal
Wireless signal, detecting devices simultaneously receive the wireless answering signal when morning 8 during zero 500ms.Therefore, backhaul time delay now
For T0=500ms=0.5 μ s, then one way time delay is T1=T0/2=0.25 μ s.
TA is generally used for terminal uplink transmission, refers in order to which terminal uplink packet is reached into base station in the desired time,
Estimate due to distance caused by radio frequency transmission time delay, in advance the corresponding time send packet.Purpose is to eliminate between terminal
The problem of different propagation delay times causes the time of the upward signal arrival base station of different terminals not line up, ensure uplink orthogonal
Property, reduce intra-cell interference.
Exemplary, it is whole by target when target terminal and detecting devices during the simultaneously remains stationary state in business progress
Stochastic accessing is held to pass through the timing adjustment mechanism in detecting devices communication protocol so that target terminal to the process of detecting devices
Upward signal obtain temporal alignment.Therefore, one way time delay now is the TA values collected, i.e. T1=TA, therefore nothing
Backhaul time delay and one way time delay need to be obtained by calculating the time difference.When target terminal and detecting devices in business progress and are visited
When measurement equipment is in mobile state, the propagation delay time offset Δ t caused by distance, therefore take propagation delay time offset with
TA values during last inactive state and can to obtain one way time delay be T1=Δs t+TA.By that analogy.
Step 208, range information of the target terminal relative to detecting devices is determined according to one way time delay.
In a particular embodiment of the present invention, range information is straight line of the target terminal relative to detecting devices position
Range information.Because wireless signal is exactly electromagnetic wave, light is also electromagnetic wave, and then the speed of signal transmission is identical with the light velocity.Cause
This can be using the light velocity as signal transmission speed, by the one way time delay for determining signal, you can calculate target terminal relative to
The range information of detecting devices.
It is exemplary, when target terminal Stochastic accessing is to detecting devices, it is assumed that it is determined that backhaul time delay be T0, then base station
One way time delay with terminal is T1=T0/2, then target terminal is S=T1*C, wherein C relative to the air line distance of detecting devices
For the light velocity.In the examples described above, when target terminal Stochastic accessing is to detecting devices, it is T1=0.25 μ s to determine one way time delay,
Therefore now target terminal relative to the air line distance of detecting devices is S=0.25 μ s* (3*10^8m/s)=75m.
It is exemplary, when target terminal and detecting devices are in business progress and during remains stationary state, the TA collected
Value is one way time delay T1, i.e. base station and terminal propagation delay T1=TA.In LTE communication standard, descending base station signal is
Tissue is carried out in a manner of radio frames, each of which is wireless, and frame length is 10ms, and for the base station of 20M bandwidth, it is sampled
With a width of 30.72MHz, represent that 1s corresponds to 30.72M sampled point, it is 1Ts=1/ that a sampled point, which is spaced in defined in standard,
30.72M=32.6ns.Because wireless signal and light are all electromagnetic waves, then the speed of signal transmission is identical with the light velocity, i.e. 3*10^
8m/s, then one way distance corresponding to 1Ts be：[(3*10^8) (m/s)] * [32.6*10^ (- 9) (s)]/2=4.89m.Need to note
Meaning, in 3GPP agreements, when the adjustment granularity of the timing adjustment TA between base station and mobile terminal is 16Ts, i.e. one way
Prolong the integral multiple that T1 is 16Ts.Therefore, now target terminal relative to the air line distance of detecting devices is S=TA*16Ts.Example
Such as, as TA1=1, target terminal is 1*16*4.89m=78.12m relative to the air line distance of detecting devices.
It is exemplary, when target terminal and detecting devices are in business progress and when detecting devices is in mobile state,
The propagation delay time offset Δ t caused by distance, therefore take propagation delay time offset Δ t and TA during last inactive state
Value and one way time delay T1=Δ t+TA can be obtained, then now target terminal relative to the air line distance of detecting devices is S=
T1*C, wherein C are the light velocity.For example, in the examples described above, as propagation delay time offset Δ t=0.25 μ s, one way time delay T1=
1+0.25=1.25 μ s, target terminal are S=T1*C=1.25 μ s*3*10^8m/s=relative to the air line distance of detecting devices
375m.By that analogy, can by detecting devices under same state when, it is smooth by the range data of history filter,
Obtain accurate range information.
Step 209, according to the directional information and range information of target terminal and the whole world of the detecting devices obtained in advance
Position system GPS positional information positions to target terminal.
In a particular embodiment of the present invention, due to the GPS position information by detecting devices and target terminal relative to
The reckoning process that the directional information and range information of detecting devices extrapolate the GPS position information of target terminal is complex, because
This no longer excessively introduces the reckoning process of GPS position information in this application, and GPS location can be realized in the prior art by using
The algorithm of reckoning or the combination of any one or more of technology can be with, and the GPS position information of target terminal is obtained with this.
Step 210, according to the GPS position information of detecting devices and the GPS position information of target terminal, plan navigation way
And navigated.
In a particular embodiment of the present invention, can be according to obtaining in advance after the GPS position information of target terminal is estimated
The GPS position information of current detecting devices and the GPS position information of target terminal known, filled by the navigation on detecting devices
Put and display device, navigation way is planned to the target terminal of search and navigated.
Further, since building or high mountain etc. may stop or the presence of the object of reflected radio signal, work as locking
The GPS position information of target terminal and when being navigated, detecting devices needs the moment hold period during traveling
Above-mentioned testing process is repeated, constantly tuning is carried out with the planning of this GPS location and guidance path to target terminal, reduced
The problem of interference for the wireless signal that outer bound pair target terminal is sent causes position and wrong path estimation.
Step 211, the position for changing detecting devices within a preset range, perform step 201.
In a particular embodiment of the present invention, when not finding the consistent shifting of IMSI codes that is preserved with detecting devices itself
Dynamic terminal, i.e., when target terminal is not currently in the hunting zone of detecting devices, then the operating personnel of detecting devices are according to search
The concrete condition at scene, the position where movement sensing device, continue search for searching target terminal, until judging target terminal
In the hunting zone current in detecting devices.
The technical scheme of the present embodiment, the wireless signal sent by oriented wireless exploration technology to target terminal are carried out
Multichannel measurement, directional information of the target terminal relative to detecting devices is determined with this, and sent by gathering target terminal
TA information in wireless signal, range information of the target terminal relative to detecting devices is determined with this, according to target terminal
The GPS position information of directional information and range information and the detecting devices obtained in advance positions to target terminal.Solve
The problem of signal that directly can not be launched in the prior art by target terminal determines the GPS location of target terminal, realize straight
The signal for connecting target terminal transmission determines the GPS location of target terminal, and the search to target terminal is significantly increased
Efficiency.
Embodiment three
Fig. 3 is a kind of structural representation for radio positioner that the embodiment of the present invention three provides, and the present embodiment is applicable
In situation about being scanned for specified target terminal, the device can realize the wireless location side described in any embodiment of the present invention
Method.The device specifically includes：
Echo signal acquisition module 310, for receiving the wireless signal of target terminal transmission；
Target information determining module 320, for determining that the target terminal is set relative to detection according to the wireless signal
Standby directional information and range information；
Target location estimation module 330, for the directional information according to the target terminal and range information and in advance
The global position system GPS positional information of the detecting devices obtained positions to the target terminal.
Further, described device includes：
Target search module 340, for it is described determine the target terminal relative to the directional information of detecting devices and
Before range information, the identity information of each mobile terminal in the hunting zone of the detecting devices is obtained；
Object matching module 350, for by the identity information of each mobile terminal in the hunting zone and true in advance
The identity information of the fixed target terminal is matched；
Object judgement module 360, for judging the target terminal whether in the hunting zone according to matching result.
Further, the target information determining module 320, including：
Multiple-sensing unit 3201, for detecting signal strength of the wireless signal on multiple different directions；
Direction estimation unit 3202, for the signal strength according to the wireless signal in all directions, it is determined that described
Target terminal relative to the detecting devices directional information.
Further, the target information determining module 320, in addition to：
Time delay determining unit 3203, for determining the one way time delay of the wireless signal；
Distance estimations unit 3204, for determining that the target terminal is set relative to the detection according to the one way time delay
Standby range information.
Preferably, described device also includes：
GPS module 370, for measuring the GPS position information of the detecting devices；
Navigation module 380, for the GPS position information according to the detecting devices and the GPS location of the target terminal
Information, plan navigation way and navigated；
Human-machine Control is with being presented module 390, for realizing manipulation, target terminal information and navigation to radio positioner
The displaying of information.
The technical scheme of the present embodiment, by the mutual cooperation between modules, realize target terminal identity information
Preserve, target terminal relative direction and the determination of range information, the estimation of target terminal GPS position information and navigation way
Planning and navigation.The signal for solving directly by target terminal not launching in the prior art determines the GPS location of target terminal
The problem of, realize the signal directly launched by target terminal and determine the GPS location of target terminal, and be significantly increased pair
The search efficiency of target terminal.
Example IV
Fig. 4 is a kind of structural representation for equipment that the embodiment of the present invention four provides.As shown in figure 4, the equipment is specifically wrapped
Include：One or more processors 410, in Fig. 4 by taking a processor 410 as an example；Memory 420, for storing one or more
Program, when one or more programs are performed by one or more processors 410 so that one or more processors 410 realize this
Wireless location method described in invention any embodiment.Processor 410 can be connected with memory 420 by bus or other modes
Connect, in Fig. 4 exemplified by being connected by bus.
Memory 420, as a kind of computer-readable recording medium, it can perform available for storage software program, computer
Program and module, programmed instruction is (for example, signal in all directions as corresponding to the wireless location method in the embodiment of the present invention
Reception and the measurement and the determination of one way time delay and the collection of TA values of field strength).Processor 410 is stored in memory by operation
Software program, instruction and module in 420, so as to perform the various function application of equipment and data processing, that is, realize
The wireless location method stated.
Memory 420 can mainly include storing program area and storage data field, wherein, storing program area can store operation system
Application program needed for system, at least one function；Storage data field can store uses created data etc. according to equipment.This
Outside, memory 420 can include high-speed random access memory, can also include nonvolatile memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 420 can enter one
Step includes that relative to the remotely located memory of processor 410, these remote memories network connection to equipment can be passed through.
The example of above-mentioned network includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
Embodiment five
The embodiment of the present invention five also provides a kind of computer-readable recording medium, be stored thereon with computer program (or
For computer executable instructions), it is used to perform a kind of wireless location method when the program is executed by processor, this method includes：
Receive the wireless signal that target terminal is sent；
Directional information and range information of the target terminal relative to detecting devices are determined according to the wireless signal；
According to the whole world of the directional information of the target terminal and range information and the detecting devices obtained in advance
Position system GPS positional information positions to the target terminal.
Certainly, a kind of computer-readable recording medium that the embodiment of the present invention is provided, its computer executable instructions is not
It is limited to method operation as described above, can also carry out the correlation in the wireless location method that any embodiment of the present invention is provided
Operation.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to realized by hardware, but the former is more in many cases
Good embodiment.Based on such understanding, what technical scheme substantially contributed to prior art in other words
Part can be embodied in the form of software product, and the computer software product can be stored in computer-readable recording medium
In, floppy disk, read-only storage (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are causing a computer to set
Standby (can be personal computer, server, or network equipment etc.) performs the method described in each embodiment of the present invention.It is worth
It is noted that in the embodiment of above-mentioned searcher, included unit and module are simply drawn according to function logic
Point, but above-mentioned division is not limited to, as long as corresponding function can be realized；In addition, each functional unit is specific
Title is also only to facilitate mutually distinguish, the protection domain being not intended to limit the invention.
Pay attention to, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other more equivalent embodiments can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
- A kind of 1. wireless location method, it is characterised in that including：Receive the wireless signal that target terminal is sent；Directional information and range information of the target terminal relative to detecting devices are determined according to the wireless signal；According to the global location of the directional information of the target terminal and range information and the detecting devices obtained in advance System GPS position information positions to the target terminal.
- 2. according to the method for claim 1, it is characterised in that determine the target terminal relative to detecting devices described Directional information and range information before, methods described also includes：Obtain the identity information of each mobile terminal in the hunting zone of the detecting devices；The identity of the identity information of each mobile terminal in the hunting zone and the predetermined target terminal is believed Breath is matched；Judge the target terminal whether in the hunting zone according to matching result.
- 3. according to the method for claim 1, it is characterised in that described that the target terminal is determined according to the wireless signal Relative to the directional information of detecting devices, including：Detect signal strength of the wireless signal on multiple different directions；According to the signal strength of the wireless signal in all directions, determine the target terminal relative to the detecting devices Directional information.
- 4. according to the method for claim 1, it is characterised in that described that the target terminal is determined according to the wireless signal Relative to the range information of detecting devices, including：Determine the one way time delay of the wireless signal；Range information of the target terminal relative to the detecting devices is determined according to the one way time delay.
- A kind of 5. radio positioner, it is characterised in that including：Echo signal acquisition module, for receiving the wireless signal of target terminal transmission；Target information determining module, for determining direction of the target terminal relative to detecting devices according to the wireless signal Information and range information；Target location estimation module, for the directional information according to the target terminal and range information and the institute obtained in advance The global position system GPS positional information for stating detecting devices positions to the target terminal.
- 6. device according to claim 5, it is characterised in that described device also includes：Target search module, for determining directional information and range information of the target terminal relative to detecting devices described Before, the identity information of each mobile terminal in the hunting zone of the detecting devices is obtained；Object matching module, for by the identity information of each mobile terminal in the hunting zone with it is predetermined described The identity information of target terminal is matched；Object judgement module, for judging the target terminal whether in the hunting zone according to matching result.
- 7. device according to claim 5, it is characterised in that the target information determining module, including：Multiple-sensing unit, for detecting signal strength of the wireless signal on multiple different directions；Direction estimation unit, for the signal strength according to the wireless signal in all directions, determine the target terminal Relative to the directional information of the detecting devices.
- 8. device according to claim 5, it is characterised in that the target information determining module, including：Time delay determining unit, for determining the one way time delay of the wireless signal；Distance estimations unit, for determining distance of the target terminal relative to the detecting devices according to the one way time delay Information.
- A kind of 9. equipment, it is characterised in that including：One or more processors；Memory, for storing one or more programs；When one or more of programs are by one or more of computing devices so that one or more of processors are real The now wireless location method as any one of Claims 1-4.
- 10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the program is by processor The wireless location method as any one of Claims 1-4 is realized during execution.
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| WO2021062670A1 (en) * | 2019-09-30 | 2021-04-08 | 上海飞来信息科技有限公司 | Method for positioning unmanned aerial vehicle, terminal device, and unmanned aerial vehicle |
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| CN113015065A (en) * | 2021-02-18 | 2021-06-22 | Oppo广东移动通信有限公司 | Connection method, device, equipment and computer storage medium |
| CN114222242A (en) * | 2021-11-08 | 2022-03-22 | 中国电子科技集团公司第五十四研究所 | Communication positioning integration method and system based on digital phased array system |
| CN114222242B (en) * | 2021-11-08 | 2024-01-26 | 中国电子科技集团公司第五十四研究所 | Communication positioning integrated method and system based on digital phased array system |
| CN113993078B (en) * | 2021-12-27 | 2022-04-08 | 浙江宇视科技有限公司 | Multi-dimensional information collaborative equipment positioning method and device, electronic equipment and medium |
| CN113993078A (en) * | 2021-12-27 | 2022-01-28 | 浙江宇视科技有限公司 | Multi-dimensional information collaborative equipment positioning method and device, electronic equipment and medium |
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