CN107787456B - 一种用于方位计算的装置及其操作方法 - Google Patents

一种用于方位计算的装置及其操作方法 Download PDF

Info

Publication number
CN107787456B
CN107787456B CN201680037418.7A CN201680037418A CN107787456B CN 107787456 B CN107787456 B CN 107787456B CN 201680037418 A CN201680037418 A CN 201680037418A CN 107787456 B CN107787456 B CN 107787456B
Authority
CN
China
Prior art keywords
axis
position receiver
known point
receiver
output value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201680037418.7A
Other languages
English (en)
Other versions
CN107787456A (zh
Inventor
M.利塞吉科
A.洛戈塞蒂斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airspan Networks Inc
Original Assignee
Airspan Networks Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GBGB1511200.6A external-priority patent/GB201511200D0/en
Application filed by Airspan Networks Inc filed Critical Airspan Networks Inc
Publication of CN107787456A publication Critical patent/CN107787456A/zh
Application granted granted Critical
Publication of CN107787456B publication Critical patent/CN107787456B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/02—Arrangements for optimising operational condition
    • 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
    • G01S19/53—Determining attitude
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • 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
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/04—Details
    • G01S3/043—Receivers
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0247—Determining attitude
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/02—Arrangements for de-icing; Arrangements for drying-out ; Arrangements for cooling; Arrangements for preventing corrosion
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/1207—Supports; Mounting means for fastening a rigid aerial element
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/1207—Supports; Mounting means for fastening a rigid aerial element
    • H01Q1/1228—Supports; Mounting means for fastening a rigid aerial element on a boom
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
    • H01Q1/24—Supports; Mounting means by structural association with other equipment or articles with receiving set
    • H01Q1/241—Supports; Mounting means by structural association with other equipment or articles with receiving set used in mobile communications, e.g. GSM
    • H01Q1/246—Supports; Mounting means by structural association with other equipment or articles with receiving set used in mobile communications, e.g. GSM specially adapted for base stations
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/42—Housings not intimately mechanically associated with radiating elements, e.g. radome
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/50—Structural association of antennas with earthing switches, lead-in devices or lightning protectors
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/08—Arrays of individually energised antenna units similarly polarised and spaced apart the units being spaced along or adjacent to a rectilinear path
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/20—Arrays of individually energised antenna units similarly polarised and spaced apart the units being spaced along or adjacent to a curvilinear path
    • H01Q21/205—Arrays of individually energised antenna units similarly polarised and spaced apart the units being spaced along or adjacent to a curvilinear path providing an omnidirectional coverage
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/24—Combinations of antenna units polarised in different directions for transmitting or receiving circularly and elliptically polarised waves or waves linearly polarised in any direction
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q25/00—Antennas or antenna systems providing at least two radiating patterns
    • H01Q25/002—Antennas or antenna systems providing at least two radiating patterns providing at least two patterns of different beamwidth; Variable beamwidth antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q25/00—Antennas or antenna systems providing at least two radiating patterns
    • H01Q25/005—Antennas or antenna systems providing at least two radiating patterns providing two patterns of opposite direction; back to back antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/04—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying one co-ordinate of the orientation
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation
    • H01Q3/10—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation to produce a conical or spiral scan
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/12—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical relative movement between primary active elements and secondary devices of antennas or antenna systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/24—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the orientation by switching energy from one active radiating element to another, e.g. for beam switching
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/2605—Array of radiating elements provided with a feedback control over the element weights, e.g. adaptive arrays
    • H01Q3/2611—Means for null steering; Adaptive interference nulling
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/26—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture
    • H01Q3/30—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array
    • H01Q3/34—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means
    • H01Q3/36—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the relative phase or relative amplitude of energisation between two or more active radiating elements; varying the distribution of energy across a radiating aperture varying the relative phase between the radiating elements of an array by electrical means with variable phase-shifters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/0413—MIMO systems
    • H04B7/0456—Selection of precoding matrices or codebooks, e.g. using matrices antenna weighting
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
    • H04B7/0613—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission
    • H04B7/0615—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal
    • H04B7/0617—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal for beam forming
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
    • H04B7/0613—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission
    • H04B7/0615—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal
    • H04B7/0619—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station using simultaneous transmission of weighted versions of same signal using feedback from receiving side
    • H04B7/0621—Feedback content
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
    • H04B7/0686—Hybrid systems, i.e. switching and simultaneous transmission
    • H04B7/0691—Hybrid systems, i.e. switching and simultaneous transmission using subgroups of transmit antennas
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/06—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the transmitting station
    • H04B7/0686—Hybrid systems, i.e. switching and simultaneous transmission
    • H04B7/0695—Hybrid systems, i.e. switching and simultaneous transmission using beam selection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
    • H04B7/0837—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station using pre-detection combining
    • H04B7/0842—Weighted combining
    • H04B7/086—Weighted combining using weights depending on external parameters, e.g. direction of arrival [DOA], predetermined weights or beamforming
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
    • H04B7/0868—Hybrid systems, i.e. switching and combining
    • H04B7/0874—Hybrid systems, i.e. switching and combining using subgroups of receive antennas
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
    • H04B7/0868—Hybrid systems, i.e. switching and combining
    • H04B7/088—Hybrid systems, i.e. switching and combining using beam selection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/08—Configuration management of networks or network elements
    • H04L41/0803—Configuration setting
    • H04L41/0806—Configuration setting for initial configuration or provisioning, e.g. plug-and-play
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/08—Configuration management of networks or network elements
    • H04L41/0803—Configuration setting
    • H04L41/0813—Configuration setting characterised by the conditions triggering a change of settings
    • H04L41/0816—Configuration setting characterised by the conditions triggering a change of settings the condition being an adaptation, e.g. in response to network events
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0823—Errors, e.g. transmission errors
    • H04L43/0829—Packet loss
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/34—Network arrangements or protocols for supporting network services or applications involving the movement of software or configuration parameters 
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/52—Network services specially adapted for the location of the user terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
    • H04W16/24—Cell structures
    • H04W16/28—Cell structures using beam steering
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0231—Traffic management, e.g. flow control or congestion control based on communication conditions
    • H04W28/0236—Traffic management, e.g. flow control or congestion control based on communication conditions radio quality, e.g. interference, losses or delay
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0268—Traffic management, e.g. flow control or congestion control using specific QoS parameters for wireless networks, e.g. QoS class identifier [QCI] or guaranteed bit rate [GBR]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0284—Traffic management, e.g. flow control or congestion control detecting congestion or overload during communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/16—Central resource management; Negotiation of resources or communication parameters, e.g. negotiating bandwidth or QoS [Quality of Service]
    • H04W28/24—Negotiating SLA [Service Level Agreement]; Negotiating QoS [Quality of Service]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/50—Service provisioning or reconfiguring
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/02—Access restriction performed under specific conditions
    • H04W48/06—Access restriction performed under specific conditions based on traffic conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/20—Control channels or signalling for resource management
    • H04W72/23—Control channels or signalling for resource management in the downlink direction of a wireless link, i.e. towards a terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/54—Allocation or scheduling criteria for wireless resources based on quality criteria
    • H04W72/542—Allocation or scheduling criteria for wireless resources based on quality criteria using measured or perceived quality
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • H04W88/04—Terminal devices adapted for relaying to or from another terminal or user
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/125—Means for positioning
    • H01Q1/1257—Means for positioning using the received signal strength
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/06—Arrays of individually energised antenna units similarly polarised and spaced apart
    • H01Q21/061—Two dimensional planar arrays
    • H01Q21/065—Patch antenna array
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/28—Combinations of substantially independent non-interacting antenna units or systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/02—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas
    • H04B7/04—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas
    • H04B7/08—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station
    • H04B7/0802—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station using antenna selection
    • H04B7/0817—Diversity systems; Multi-antenna system, i.e. transmission or reception using multiple antennas using two or more spaced independent antennas at the receiving station using antenna selection with multiple receivers and antenna path selection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/042—Public Land Mobile systems, e.g. cellular systems
    • H04W84/045—Public Land Mobile systems, e.g. cellular systems using private Base Stations, e.g. femto Base Stations, home Node B
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/08—Access point devices

Abstract

提供了一种装置，该装置包括：位置接收机，用以接收指示位置接收机的位置的信号；移动机构，用以使位置接收机关于轴旋转并且提供位置接收机关于轴、距已知点的角度。计算电路基于位置接收机关于轴、距已知点的多个给定角度以及由在位置接收机处于给定角度中的每个时接收的信号所指示的位置接收机的多个关联位置，产生指示已知点关于轴的绝对方位的输出值。

Description

一种用于方位计算的装置及其操作方法
技术领域
本技术涉及数据处理领域，并且更特别地涉及方位的计算。
背景技术
已知使用全球导航系统信号以便确定能够接收此类信号的设备的位置。例如，此类导航系统信号包括GPS（全球定位系统）、GLONASS（俄罗斯全球导航卫星系统）、规划的欧盟伽利略定位系统、印度的印度区域导航卫星系统和中国的北斗导航卫星系统以及诸如在A-GPS（辅助GPS）中使用的基于地面的导航系统信号。这些系统通常提供接收设备的绝对位置。例如，GPS接收机可以将接收到的GPS信号转化成经度和纬度。
此类导航系统尽管高度精确，但常常稍微不准确。例如，GPS信号可提供离开正确位置若干米的位置。
此外，尽管此类系统通常提供接收机的位置，但是能够使用这些系统来产生绝对方位将是合期望的，所述绝对方位例如与真北方或真东方（真北方的90度顺时针方向）相关的方位。绝对方位的知识在通信系统中可能特别有用。例如，知道定向天线的绝对方位可以使估计哪些设备有可能接收到传输成为可能。
发明内容
从第一示例配置来看，提供了一种装置，该装置包括：位置接收机，用以接收指示位置接收机的位置的信号；移动机构，用以使位置接收机关于轴旋转并且用以提供位置接收机关于轴、距已知点的角度；以及计算电路，用以基于位置接收机关于轴、距已知点的多个给定角度以及由在位置接收机处于给定角度中的每个时接收的信号所指示的位置接收机的多个关联位置，产生指示已知点关于轴的绝对方位的输出值。
从第二示例配置来看，提供了一种方法，该方法包括步骤：接收指示位置接收机的位置的信号；使位置接收机关于轴旋转；提供位置接收机关于轴、距已知点的角度；以及基于位置接收机关于轴、距已知点的多个给定角度以及由在位置接收机处于给定角度中的每个时接收的信号所指示的位置接收机的多个关联位置，产生指示已知点关于轴的绝对方位的输出值。
从第三示例配置来看，提供了一种装置，该装置包括：用于接收指示位置接收机的位置的信号的部件；用于使位置接收机关于轴旋转的部件；用于提供位置接收机关于轴、距已知点的角度的部件；以及用于基于位置接收机关于轴、距已知点的多个给定角度以及由在位置接收机处于给定角度中的每个时接收的信号所指示的位置接收机的多个关联位置来产生指示已知点关于轴的绝对方位的输出值的部件。
附图说明
将仅通过示例的方式参照如在附图中图示的本技术的实施例来进一步描述本技术，在所述附图中：
图1图示了来自静止接收机的示例GPS误差；
图2图示了图1中示出的位置误差的功率谱密度估计；
图3示意性地图示了依照一个实施例的装置；
图4示出了依照一个实施例的计算电路；
图5图示了供在一个实施例中使用的适合的低通滤波器的特性；
图6示出了图示依照一个实施例确定方位的实施例的流程图；
图7图示了当使用依照一个实施例的装置时获得的位置误差的功率谱密度估计；
图8是示出方位估计误差根据所采取的样本的数目如何变化的图；
图9是图示方位和倾斜（tilt）之间的差异的示例；
图10示意性地图示了依照一个实施例的计算电路；
图11A至11D是示出方位和倾斜估计误差根据所采取的样本的数目如何变化的图；以及
图12是图示依照一个实施例的包括天线阵列的装置的示例的图。
具体实施方式
在参照附图论述实施例之前，提供了对实施例和关联优点的以下描述。
依照一个示例配置，提供了一种装置，该装置包括：位置接收机，用以接收指示位置接收机的位置的信号；移动机构，用以使位置接收机关于轴旋转并且用以提供位置接收机关于轴、距已知点的角度；以及计算电路，用以基于位置接收机关于轴、距已知点的多个给定角度以及由在位置接收机处于给定角度中的每个时接收的信号所指示的位置接收机的多个关联位置，产生指示已知点关于轴的绝对方位的输出值。
依照上文，位置接收机关于轴旋转（例如成圆形）。在位置接收机关于轴、距已知点的（以弧度为单位测量的）两个或更多个角度处（例如，距已知点的两个或更多个角位移处），从位置接收机获得读数以便得到角度/读数对。计算电路使用这些对中的两个或更多个以便确定已知点的绝对方位。通过以此方式确定绝对方位，可能在确定已知点的绝对方位的同时对位置信号中的不准确性进行补偿，该绝对方位可用于建立装置是如何定向的。
在一些实施例中，装置进一步包括：噪声滤波器，其中指示位置接收机的位置的信号包括噪声分量；并且噪声滤波器要滤除噪声分量。滤波器可以用于从用于确定接收机的位置的接收信号中移除噪声分量。例如，滤波器可以是低通滤波器。滤波器可用于进一步增加由计算电路确定的绝对方位的准确性。噪声滤波器可以在装置内的多种不同点处实现。
在一些实施例中，尽管计算电路可能具有多个不同组件，但是计算电路包括：相关器，用以对位置接收机关于轴、距已知点的角度进行相关并输出相关结果；以及相位角提取器，用以根据相关结果产生输出值。
在一些实施例中，相关器包括：乘法器，用以将位置接收机的位置乘以e-jφ，其中j是单位虚数并且φ是位置接收机关于轴、距已知点的、与位置相关联的角度，并用以输出多个乘法结果；以及积分和清除滤波器，用以对多个乘法结果进行操作。这些实施例中的相关器考虑角度/读数对（以关于轴距已知点的特定角度获得的读数）。特定角度由φ表示。特定读数乘以共轭，即e-jφ，其中j是单位虚数（常常被称为i或
Figure 996014DEST_PATH_IMAGE001
）。这产生了单个乘法结果。通过提供多个角度/读数对，产生多个乘法结果。这些被提供至积分和清除滤波器。积分和清除滤波器例如可以对所提供的值进行平均并因此从位置接收机获得的位置值中消除或减小固有的任何噪声分量。来自积分和清除滤波器的结果是输出值并且这指示已知点关于轴的绝对方位。
绝对方位可以以多种不同方式来表示。例如，在一些实施例中，已知点关于轴的绝对方位是已知点关于与真东方相关的轴的方位。术语“真东方”这里用于指代从真北方的90度顺时针方向。例如，真东方可以被认为沿零纬度线。在其它实施例中，绝对方位可以是与真北方相关的方位。
接收到的信号可以以多种不同的方式指示位置接收机的位置。例如，在一些实施例中，信号指示位置接收机的经度和纬度。
在一些实施例中，信号是导航系统信号。例如，信号可以是基于卫星的全球导航系统信号，其允许接收机基于信号从一个或多个卫星行进到接收机所花费的时间来估计或确定它的位置。这些计时然后可用于将接收机的可能位置缩窄至例如平均或期望的经度和纬度中。此类基于卫星的全球导航系统信号的示例是GPS信号。其它系统可包括GLONASS（俄罗斯全球导航卫星系统）、规划的欧盟伽利略定位系统、印度的印度区域导航卫星系统以及中国的北斗导航卫星系统。
在一些实施例中，装置接收指示位置接收机的位置的另一信号；并且该另一信号是基于地面的全球导航系统信号。可使用此类系统以便进一步细化或帮助对位置接收机的位置的确定。例如，辅助GPS（A-GPS）是基于地面的系统，其可用于改进GPS接收机的启动性能，为了位置接收机更快地确定它的位置。
在一些实施例中，装置进一步包括：天线组装件，用以执行对另一信号进行接收或传输中的至少一个，其中天线组装件定义参考平面；移动机构要使天线组装件关于轴旋转；位置接收机在距轴等于半径的距离处直接或间接地安装到天线组装件，使得当移动机构使天线组装件关于轴旋转时，位置接收机关于轴旋转。在此类实施例中，位置接收机被直接或间接地安装在天线组装件上，使得随着天线组装件旋转，位置接收机也旋转。因此，一旦确定已知点的绝对方位，由于知道位置接收机/天线组装件在轴处围绕已知点的旋转，就可能确定天线组装件的参考平面的绝对方位。这在天线组装件在特定方向上显著地进行传输或接收的情况下可能是有用的，以便帮助定向天线组装件以便改进接收和/或传输。
在一些实施例中，装置进一步包括：天线方位计算单元，用以基于已知点关于轴的绝对方位、位置接收机关于轴、距已知点的角度、以及位置接收机直接或间接地安装到天线组装件的位置来确定对参考平面的绝对方位的指示。天线方位计算单元可用于确定参考平面在特定时间的绝对方位。
存在表示对参考平面的绝对方位的指示的多个方式。然而，在一些实施例中，对参考平面的绝对方位的指示是垂直于参考平面的向量。
在一些实施例中，轴与参考平面垂直，并且轴穿过天线组装件的中点。以此方式，天线组装件可当场旋转。例如，在不改变组装件的位置的情况下改变旋转组装件的定向。相反地，位置接收机持续以半径进行旋转，从而随着其旋转而更改其位置。
在一些实施例中，轴是垂直的。例如，轴可以基本垂直于地平面。
在一些实施例中，计算电路要另外基于位置接收机和轴之间的半径而产生输出值和指示位置接收机的倾斜的另一输出值。位置接收机的倾斜可被定义为例如水平面（例如在装置的位置处与地球的表面正切的平面）和通过位置接收机关于轴的旋转形成的平面之间的角度。计算倾斜和绝对方位二者可通过（除了位置接收机关于轴、距已知点的所述多个给定角度以及由在位置接收机处于给定角度中的每个时接收的信号所指示的位置接收机的所述多个关联位置之外）另外考虑位置接收机和轴之间的半径来实现。
存在可以确定倾斜的多个方式。在一些实施例中，计算电路包括成本最小化电路，用以通过执行成本最小化函数来计算输出值和另一输出值。例如，成本最小化函数可以基于输出值和另一输出值的最小二乘估计。例如，给定成本函数C（绝对方位，倾斜），成本最小化函数可使用最小二乘估计以便寻求最佳地适应从位置接收机接收的位置数据的绝对方位和倾斜值。
在一些其它实施例中，计算电路包括相关器，用以对位置接收机关于轴、距已知点的角度进行相关并输出相关结果；相位角提取器，用以根据相关结果产生输出值；以及倾斜估计器，用以基于相关结果的幅值来产生另一输出值。
现在将参照各图来描述特定实施例。
图1图示了当接收的GPS信号被转化成经度和纬度时的误差。GPS接收机被放置在静止的位置中。图1中示出的图是指示所计算位置中的误差随时间过去如何改变的轨迹。轨迹示出在此情况下，y轴中的误差偏离约5米到-5米并且x轴中的误差偏离约-7米到刚超过15米。因此，可以看出，根据GPS信号确定的位置可能是不准确的。尽管此图与在使用接收的GPS信号时遇到的误差相关，但是将领会，诸如基于卫星的全球导航系统信号之类的其它导航系统信号可能遇到类似的误差。通常地，对于读数数目k，GPS坐标被给定为经度（
Figure 913154DEST_PATH_IMAGE002
）和纬度（
Figure 505941DEST_PATH_IMAGE003
）。可以使用小角度近似来将经度和纬度转换到以米为单位测量的笛卡尔坐标系中，其中笛卡尔坐标系的中心是经度测量结果和纬度测量结果的均值。具体地，假定地球具有6371000米的恒定半径，则（K个总读数中的）读数数目k的xk和yk为：
Figure 901150DEST_PATH_IMAGE004
Figure 715522DEST_PATH_IMAGE005
。
图2图示了图1中示出的位置误差的功率谱密度图。图2中示出的图的轮廓不是平坦的，从而指示位置误差不能被建模为加性白高斯噪声。因此必须使用不同的过程以便克服与位置估计误差相关联的噪声分量。
图3示意性地图示了依照一个实施例的装置100。装置包括位置接收机110。位置接收机能够接收指示位置接收机110的位置的信号。在图3中示出的实施例中，信号是GPS信号。然而，信号可以是诸如基于卫星的全球导航系统信号之类的导航系统信号。在一些实施例中，位置接收机110能够从基于地面的全球导航系统接收指示位置接收机的位置的另一信号。这可用于进一步细化位置接收机的所确定的位置，或者可用于帮助使用该信号对位置接收机的位置的确定。
可使得位置接收机110使用移动机构关于轴130旋转。位置接收机以距轴130的半径r进行旋转。在此实施例中，位置接收机110被直接附接到关于轴130旋转的移动机构120本身。位置接收机110因此能够关于轴130顺时针或逆时针方向移动。位置接收机110与已知点140形成一角度，并且移动机构120能够确定此角度。在图3中，例如位置接收机110在轴130处与已知点140形成π/2角度。随着位置接收机110旋转，它接收到多个信号以便提供多个位置。计算电路150能够基于所述多个位置以及当确定每个位置时在位置接收机110、轴130和已知点140之间形成的多个角度来确定已知点140的绝对方位。例如，如果位置接收机确定π/2弧度处的第一位置L1和π弧度处的第二位置L2，则这些配对由计算电路150使用以便确定已知点140的绝对方位。在此实施例中，绝对方位与真东方（即在0纬度处真北方的90度顺时针方向）相关。在其它实施例中，可以使用其它参考点以便确定绝对方位。
尽管上文的装置描述了GPS信号的使用，但是位置接收机110也可使用其它基于卫星的系统。例如，位置接收机110可使用GLONASS（俄罗斯全球导航卫星系统）信号来进行操作。装置可替代地使用基于地面的导航信号，或者可使用除了基于卫星的系统之外的此类信号，以便辅助基于卫星的系统的操作或细化由基于卫星的系统产生的估计。
图4示意性地图示了依照一个实施例的计算电路150的示例。计算电路包括相关器240和相位角提取器250。相关器240包括乘法器210。乘法器210基于从位置接收机110接收的信号而接收读取数目k的位置Pk。Pk是复数，具有实部和虚部，其中实部与沿x轴的位置的估计一致并且虚部与沿y轴的位置的估计一致。Pk可以被认为具有以下关系：
Figure 537985DEST_PATH_IMAGE006
其中，r是位置接收机110与轴130形成的半径，j是单位虚数（即，
Figure 867335DEST_PATH_IMAGE007
），θ是已知点140关于轴130的绝对方位，φk是位置接收机110在读数k处关于轴130距已知点140的方位，并且nk是读数k处的噪声分量。此等式表示位置读数到极坐标形式的转换。也认识到，位置接收机关于轴130的位置是已知点140的绝对方位和位置接收机与轴130及已知点140形成的角度的函数。
乘法器210将Pk乘以共轭e-j(φk)。这具有抵消ej(φk)的效果：
Figure 66235DEST_PATH_IMAGE008
因此，乘法的结果是θ（即，已知点140关于轴130的绝对方位）和经修改的噪声分量
Figure 735114DEST_PATH_IMAGE009
的函数。
在此实施例中，乘法结果穿过低通滤波器220。此滤波器是完全可选的，并且在其它实施例中，乘法结果可直接传递至积分和清除滤波器230。在此实施例中，低通滤波器执行滤波过程以使得噪声分量减小。
无论如何，乘法结果或经滤波的乘法结果传递至积分和清除滤波器230。这确定所有读数的总和（T）以便提供平均值。由积分和清除滤波器230执行的平均具有减小或消除噪声分量的效果，从而产生值
Figure 728478DEST_PATH_IMAGE010
。由此，使用相位角提取器250产生角度估计
Figure 794391DEST_PATH_IMAGE011
。
在此实施例中，角度估计与已知点140相对于真东方的绝对方位一致。换而言之，为0的角度估计意味着已知点关于轴130的方位指向真东方（其中真东方是沿0纬度线的真北方的π/2弧度顺时针方向）。
图5图示了可选的低通滤波器220的适合的特性的示例配置。从图5中清楚的是，具有低频的信号中的频率被允许通过，而信号的较高频率分量被抑制。
图6示出了流程图，其图示了用于随着位置接收机110关于轴130旋转而收集多个位置值的过程。获得总共N x (2π/A) x M个读数，其中N是由位置接收机110关于轴130执行的旋转的数目，A是扫描角分辨率（例如每个角幅（angular step）之间的弧度的数目），并且M是每角幅的测量的数目。
过程在步骤305处和步骤310处开始，变量N、A和M被设置成如上文所指定的期望值。在步骤315处，GPS测量的质量被评估，并且如果必要的话，改变N、A和M的值。例如，如果GPS信号特别差，则更改N、A和M的值以使得获得更多的读数。在步骤320处，位置接收机逆时针方向旋转直至到达机械的最终止动。换而言之，位置接收机逆时针方向旋转直到它将到的地方。一旦到达此最终点，位置接收机110在此位置处的定向被分配一角度。在此实施例中，分配的角度是-188度，因为在机械止动的位置处，位置接收机110将关于轴130距已知点-188度。注意，机械止动可以在另一位置中，假如该位置是提前已知的。在步骤325处，然后将天线旋转8度直到它处于距已知点-180度的角度。在步骤330处，变量n（当前旋转数目）被初始化成0。在步骤335处，确定n（当前旋转数目）是否小于N（要执行的旋转数目）。如果否，则在步骤340处，可以使用读数来计算方位偏移，并且过程在步骤345处完成。替代地，如果n不小于N，则在步骤350处，n增加1。值a（当前旋转角度）在步骤355处被初始化成-180度。在步骤360处，确定a（当前旋转角度）是否大于180度。这表示其中位置接收机已经完成从-180度到180度的全部旋转的情形。如果情况是这样，则过程返回到步骤335。否则，过程前进至步骤365，其中m（在此位置处获得的读数的数目）被初始化成0。在步骤370处，m增加一。在步骤375处，根据由位置接收机110接收的GPS信号来确定经度和纬度。在步骤380处，确定m（在此位置处获得的读数的数目）是否小于M（要在每个位置处获得的读数的数目）。如果是这样，则过程返回到步骤370，其中m的值增加并且获得另一读数。如果否，则过程前进至步骤385，其中a（当前旋转角度）的值增加扫描分辨率（A）。在步骤390处，位置接收机110被旋转A度并且流程前进至步骤360。
实际上，图6中示出的流程图表示3个嵌套循环。最外面的循环（步骤330、335和350）通过位置接收机110的旋转数目进行迭代。在那些迭代中的每个内，第二循环（步骤355、360和385）通过要获得读数的每个位置进行迭代。在每个位置处，最内部的循环（步骤365、370和380）通过要在每个位置处获得的读数的数目进行迭代。因此，过程收集一组读数（其数目为N x (2π/A) x M)，该组读数如先前参照图4所图示的那样穿过乘法器210以及积分和清除滤波器230。
图7图示了当使用45度的角度分辨率（A）时使用参照图6描述的过程所获得的测量结果的功率谱密度图。如可以看出的，对应的谱峰出现在与A一致的（0.25π弧度/样本）处。这暗示使用乘法器210之后是积分和清除滤波器230的相关器240的使用将产生对θ（即位置接收机110与已知点140关于轴130形成的方位）的值的准确估计。注意，如果角度分辨率是π弧度，则谱峰将出现在每样本的1 x π弧度处。
图8图示了针对96个读数（255）、200个读数（260）、400个读数（265）、800个读数（270）、1600个读数（275）以及3200个读数（280）的方位估计误差。如所示，针对200、400、800、1600、3200数目的读数，方位估计在90%的时间里分别好于±31.6、±14.7、±7.8、±4.4、±2.6度。
使用与上文描述的方法类似的方法，可能既确定已知点140的绝对方位又还确定位置接收机相对于在位置接收机110的位置处与地球的表面正切的平面的倾斜二者。所涉及的不同角度可参照图9而看出。在图中，H表示水平面，其在位置接收机110的位置处与地球的表面正切。在此示例中，A是由位置接收机110围绕轴130的旋转形成的平面。位置接收机110围绕轴130的旋转由虚线示出。倾斜角θ1是这两个平面之间的角度。同时，已知点140关于轴130的绝对方位由θ0给出。在此示例中，绝对方位是参照真东方给出的。实线圆图示了位置接收机110采取的路径到平面H上的投影。这形成椭圆。
存在确定θ0和θ1二者的多个方式。在一个实施例中，可使用成本最小化电路来执行基于θ0和θ1的成本最小化函数。例如，考虑以下二次成本函数：
Figure 531403DEST_PATH_IMAGE012
其中k是读数的数目，Pk是读取数目k的位置（如先前论述的），j是单位虚数（
Figure 54789DEST_PATH_IMAGE013
），φk是位置接收机110在读数k处关于轴130形成的角度，并且
Figure 484633DEST_PATH_IMAGE014
Figure 788575DEST_PATH_IMAGE015
表示椭圆的轨线。目的是相对于θ0和θ1使得
Figure 63699DEST_PATH_IMAGE016
最小化。换而言之，此方法设法计算与接收到的位置数据最符合的绝对方位和倾斜估计。
相对于θ0使
Figure 707170DEST_PATH_IMAGE016
最小化产生：
Figure 42336DEST_PATH_IMAGE017
其中∠z表示复数z的角度并且*指代复数共轭。换而言之，
Figure 584307DEST_PATH_IMAGE018
。在上文的等式中，可以看出
Figure 663121DEST_PATH_IMAGE019
是θ1的函数。将
Figure 161099DEST_PATH_IMAGE020
替换成C(θ0, θ1)产生：
Figure 932746DEST_PATH_IMAGE021
最小二乘倾斜估计
Figure 945701DEST_PATH_IMAGE022
是通过首先找到
Figure 828207DEST_PATH_IMAGE023
的最小值并然后经由回代而推导出绝对方位角
Figure 180690DEST_PATH_IMAGE024
的最小二乘估计。因此，通过以下计算
Figure 123239DEST_PATH_IMAGE023
获得其最小值（arg min）的θ1的值：
Figure 561173DEST_PATH_IMAGE025
并且θ0的最小二乘估计由如下给出：
Figure 293375DEST_PATH_IMAGE026
图10中示出的计算电路400示意性地图示了确定绝对方位和倾斜二者的另一方式。在此电路中，在累加清除滤波器230之后，结果z如先前论述地那样被传递至方位估计电路250以确定绝对方位，也被传递至用于确定倾斜的倾斜估计电路420。倾斜估计电路基于z的幅值的函数来确定倾斜。具体地，如先前论述的：
Figure 765944DEST_PATH_IMAGE027
假定在圆内对φk进行均匀地采样，然后通过执行三角和代数运算，可以示出：
Figure 879394DEST_PATH_IMAGE028
其中n再次表示噪声分量。因此，通过如下给出方位和倾斜估计：
Figure 804625DEST_PATH_IMAGE029
此方法可能比使用先前描述的成本最小化电路在计算上更不昂贵。
图11A至11D图示了使用用于确定绝对方位和倾斜的两个方法中的每个的作为样本数目（k）的函数的角度估计的质量。特别地，图示出了以度为单位的指向误差，作为96个样本（450）、200个样本（455）、400个样本（460）、800个样本（465）、1600个样本（470）、3200个样本（475）和6400个样本（480）的累积密度函数。图11A图示了当使用最小二乘（成本最小化）方法时的绝对方位误差。图11B图示了当使用相关方法时（例如当使用图10的实施例中图示的方位估计电路和倾斜估计电路时）的绝对方位误差。图11C图示了当使用最小二乘（成本最小化）方法时的倾斜误差，并且图11D图示了当使用相关方法时（例如当使用图10的实施例中图示的方位估计电路和倾斜估计电路时）的倾斜误差。图示出了使用计算上更简单的相关方法得到绝对方位和倾斜估计仍然产生令人满意的结果。
图12图示了其中装置500另外包括定义参考平面520的天线阵列510的实施例。轴130是天线阵列510的纵轴并且旋转机构120使天线阵列510关于此轴旋转。位置接收机110在偏离轴130的位置处直接地附接至天线阵列520，使得天线阵列510关于其轴130的旋转导致位置接收机110以一半径关于轴130旋转。计算电路150和天线方位计算单元530被包括在主组装件内。计算单元150如先前论述的那样确定装置500的绝对方位和/或倾斜。天线方位计算单元530可用于基于已知点140关于轴140的绝对方位和位置接收机110与已知点140关于轴130的角度连同位置接收机110直接或间接地安装到天线组装件510的位置的知识，确定参考平面520的绝对方位。例如，如果知道已知点140是真东方的45度顺时针方向，并且如果知道位置接收机110是已知点140的45度顺时针方向，则知道位置接收机是真东方的90度顺时针方向。如果还知道位置接收机如图12中图示的那样被安装，则可以知道（由图12中的虚线图示的）与参考平面520垂直的方向是位置接收机110的角度的90度顺时针方向，换而言之，参考平面面向距真东方180度（即真西方）。如果位置接收机110被在110’处安装在天线阵列510的另一侧上，则将知道参考平面520面向位置接收机110的角度的角度90度逆时针方向。因此，可以确定天线阵列510的真实方位。将领会，也可使用类似的技术来确定天线阵列510的倾斜。
在本申请中，词“被配置成……”用于意味着装置的元件具有能够执行所定义的操作的配置。在此上下文中，“配置”意味着硬件或软件的布置或互连方式。例如，装置可具有提供所定义的操作的专用硬件，或者处理器或其它处理设备可被编程成执行该功能。“被配置成”不暗示装置元件需要以任何方式改变以便提供所定义的操作。
尽管已经参照附图在本文中详细地描述了本发明的说明性实施例，但要理解的是，本发明不限于那些精确的实施例，并且本领域技术人员可以在不背离如由所附权利要求书限定的本发明的范围和精神的情况下在其中实现各种改变、添加和修改。例如，可以在不背离本发明的范围的情况下做出从属权利要求的特征与独立权利要求的特征的各种组合。

Claims (22)

1.一种用于方位计算的装置，包括：
位置接收机，用以接收指示位置接收机的位置的信号；
移动机构，用以使位置接收机关于轴旋转并且用以提供位置接收机关于轴、距装置的已知点的角度，其中已知点关于轴的绝对方位初始是未知的；以及
计算电路，用以基于位置接收机关于轴、距已知点的多个给定角度以及由在位置接收机处于给定角度中的每个时接收的信号所指示的位置接收机的多个关联位置，计算指示已知点关于轴的绝对方位的输出值。
2.根据权利要求1所述的装置，装置进一步包括：
噪声滤波器，其中
指示位置接收机的位置的信号包括噪声分量；并且
噪声滤波器要滤除噪声分量。
3.根据权利要求2所述的装置，其中
噪声滤波器是低通滤波器。
4.根据权利要求1-3中任一项所述的装置，其中计算电路包括：
相关器，用以针对多个角度使位置接收机关于轴、距已知点的角度与当位置接收机处于距已知点关于轴的角度时由位置接收机接收的信号进行相关，并输出相关结果；以及
相位角提取器，用以根据相关结果产生输出值。
5.根据权利要求4所述的装置，其中相关器包括：
乘法器，用以将位置接收机的位置乘以e-jφ，其中j是单位虚数并且φ是位置接收机关于轴、距已知点的、与位置相关联的角度，并且用以输出多个乘法结果；以及
积分和清除滤波器，用以对所述多个乘法结果进行操作。
6.根据权利要求1-3中任一项所述的装置，其中
已知点关于轴的绝对方位是已知点关于与真东方相关的轴的方位。
7.根据权利要求1-3中任一项所述的装置，其中
信号指示位置接收机的经度和纬度。
8.根据权利要求6所述的装置，其中
信号是导航系统信号。
9.根据权利要求8所述的装置，其中
信号是基于卫星的全球导航系统信号。
10.根据权利要求9所述的装置，其中
信号是GPS信号。
11.根据权利要求1-3中任一项所述的装置，其中
位置接收机要接收指示位置接收机的位置的另一信号，并且
另一信号是基于地面的全球导航系统信号。
12.根据权利要求1-3中任一项所述的装置，装置进一步包括：
天线组装件，用以执行对另一信号进行接收或传输中的至少一个，其中
天线组装件定义参考平面；
移动机构要使天线组装件关于轴旋转；
位置接收机在距轴等于半径的距离处直接或间接地安装到天线组装件，使得当移动机构使天线组装件关于轴旋转时，位置接收机关于轴旋转。
13.根据权利要求12所述的装置，装置进一步包括：
天线方位计算单元，用以基于已知点关于轴的绝对方位、位置接收机关于轴、距已知点的角度、以及位置接收机直接或间接地安装到天线组装件的位置，确定对参考平面的绝对方位的指示。
14.根据权利要求13所述的装置，其中
对参考平面的绝对方位的指示是与参考平面垂直的向量。
15.根据权利要求1-3中任一项所述的装置，其中
轴与参考平面垂直，并且
轴穿过天线组装件的中点。
16.根据权利要求1-3中任一项所述的装置，其中
轴是垂直的。
17.根据权利要求1-3中任一项所述的装置，其中
计算电路要另外基于位置接收机与轴之间的半径来产生输出值和指示位置接收机的倾斜的另一输出值。
18.根据权利要求17所述的装置，其中
计算电路包括成本最小化电路，用以通过执行成本最小化函数来计算输出值和另一输出值。
19.根据权利要求18所述的装置，其中
成本最小化函数基于对输出值和另一输出值的最小二乘估计。
20.根据权利要求17所述的装置，其中计算电路包括：
相关器，用以对位置接收机关于轴、距已知点的角度进行相关并输出相关结果；
相位角提取器，用以根据相关结果产生输出值；以及
倾斜估计器，用以基于相关结果的幅值来产生另一输出值。
21.一种操作装置用于方位计算的方法，方法包括步骤：
接收指示位置接收机的位置的信号；
使位置接收机关于轴旋转；
提供位置接收机关于轴、距装置的已知点的角度，其中已知点关于轴的绝对方位初始是未知的；以及
基于位置接收机关于轴、距已知点的多个给定角度以及由在位置接收机处于给定角度中的每个时接收的信号所指示的位置接收机的多个关联位置，计算指示已知点关于轴的绝对方位的输出值。
22.一种用于方位计算的装置，包括：
用于接收指示位置接收机的位置的信号的部件；
用于使位置接收机关于轴旋转的部件；
用于提供位置接收机关于轴、距装置的已知点的角度的部件，其中已知点关于轴的绝对方位初始是未知的；以及
用于基于位置接收机关于轴、距已知点的多个给定角度以及由在位置接收机处于给定角度中的每个时接收的信号所指示的位置接收机的多个关联位置来计算指示已知点关于轴的绝对方位的输出值的部件。
CN201680037418.7A 2015-06-25 2016-05-12 一种用于方位计算的装置及其操作方法 Active CN107787456B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
GBGB1511200.6A GB201511200D0 (en) 2015-06-25 2015-06-25 Steerable antenna system
GB1511200.6 2015-06-25
GB1514938.8 2015-08-21
GB1514938.8A GB2539722B (en) 2015-06-25 2015-08-21 Bearing calculation
PCT/GB2016/051360 WO2016207592A1 (en) 2015-06-25 2016-05-12 Bearing calculation

Publications (2)

Publication Number Publication Date
CN107787456A CN107787456A (zh) 2018-03-09
CN107787456B true CN107787456B (zh) 2022-04-26

Family

ID=56015039

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680037418.7A Active CN107787456B (zh) 2015-06-25 2016-05-12 一种用于方位计算的装置及其操作方法

Country Status (5)

Country Link
US (1) US10667145B2 (zh)
EP (1) EP3314781B1 (zh)
CN (1) CN107787456B (zh)
GB (1) GB2539722B (zh)
WO (1) WO2016207592A1 (zh)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2539727B (en) 2015-06-25 2021-05-12 Airspan Ip Holdco Llc A configurable antenna and method of operating such a configurable antenna
GB2539733A (en) 2015-06-25 2016-12-28 Airspan Networks Inc An antenna apparatus and method of configuring a transmission beam for the antenna apparatus
GB2539722B (en) 2015-06-25 2021-10-13 Airspan Ip Holdco Llc Bearing calculation
GB2539731B (en) 2015-06-25 2021-08-04 Airspan Ip Holdco Llc Quality of service in wireless backhauls
GB2539735A (en) 2015-06-25 2016-12-28 Airspan Networks Inc Sub-sampling antenna elements
GB2539732A (en) 2015-06-25 2016-12-28 Airspan Networks Inc A configurable antenna and method of operating such a configurable antenna
GB2539736A (en) 2015-06-25 2016-12-28 Airspan Networks Inc Wireless network configuration using path loss determination between nodes
WO2016207603A1 (en) 2015-06-25 2016-12-29 Airspan Networks Inc. Managing external interference in a wireless network
GB2539730B (en) 2015-06-25 2021-04-07 Airspan Ip Holdco Llc Node role assignment in networks

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4599620A (en) * 1984-12-04 1986-07-08 The United States Of America As Represented By The Secretary Of The Navy Method for determining the orientation of a moving platform
US6784830B1 (en) * 2002-04-16 2004-08-31 Integrinautics Corporation Method for processing in dual frequency civilian GPS receiver
CN101091121A (zh) * 2004-10-28 2007-12-19 西斯贝斯股份有限公司 具有双操作模式的天线定位系统
CN102540205A (zh) * 2010-11-17 2012-07-04 崔宝导航有限公司 全球导航卫星天线系统和方法
CN102539838A (zh) * 2011-12-28 2012-07-04 北京达顺威尔科技有限公司 一种基于移动卫星天线角速度计的自动补偿方法
CN102721943A (zh) * 2012-06-11 2012-10-10 西安交通大学 基于l型传感器阵列的非相干信号二维波达方向跟踪方法及装置
CN102749613A (zh) * 2012-06-20 2012-10-24 暨南大学 基于旋转天线的室内定位方法
CN103000996A (zh) * 2012-11-22 2013-03-27 北京航空航天大学 一种均匀圆阵测向天线接收互阻抗测试及互耦补偿系统
JP2013120084A (ja) * 2011-12-06 2013-06-17 Chugoku Electric Power Co Inc:The 位置標定方法、及び位置標定システム
US8768558B2 (en) * 2007-01-05 2014-07-01 Agjunction Llc Optical tracking vehicle control system and method
CN103915673A (zh) * 2014-03-24 2014-07-09 中国人民解放军63680部队 船载a-e-c三轴卫星通信天线波束指向跟踪控制方法
CN104035065A (zh) * 2014-06-23 2014-09-10 河北工业大学 基于主动旋转的声源定向装置及其应用方法
CN104253658A (zh) * 2013-06-28 2014-12-31 华为技术有限公司 一种天线对准方法及系统

Family Cites Families (125)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3844341A (en) 1972-05-22 1974-10-29 Us Navy Rotatable finned heat transfer device
US3789415A (en) 1972-12-26 1974-01-29 Philco Ford Corp Apparatus for wrapping cables or the like and a rotatable antenna utilizing the same
US4436190A (en) 1981-07-29 1984-03-13 Combustion Engineering, Inc. Torsionless multiple connector reel device
US4633256A (en) 1984-12-10 1986-12-30 The United States Of America As Represented By The Secretary Of Commerce Method and apparatus for four-beam radar
US4959653A (en) 1989-08-23 1990-09-25 Massachusetts Institute Of Technology Adaptive sidelobe blanker
US5049891A (en) 1990-02-23 1991-09-17 Grumman Aerospace Corporation Radome-antenna installation with rotating equipment rack
US5125008A (en) 1990-03-09 1992-06-23 Scientific-Atlanta, Inc. Method and apparatus for autoranging, quadrature signal generation, digital phase reference, and calibration in a high speed rf measurement receiver
JP2627986B2 (ja) 1991-07-26 1997-07-09 進 佐久間 非常信号の発信及び受信を通じて行う警備方法
JPH06188802A (ja) 1992-12-15 1994-07-08 Japan Radio Co Ltd ビームアンテナ追尾制御装置
WO1994026001A1 (en) 1993-04-30 1994-11-10 Hazeltine Corporation Steerable antenna systems
US5357259A (en) 1993-08-13 1994-10-18 Grumman Aerospace Corporation Aircraft deployable rotating phased array antenna
US5542101A (en) 1993-11-19 1996-07-30 At&T Corp. Method and apparatus for receiving signals in a multi-path environment
US5856804A (en) 1996-10-30 1999-01-05 Motorola, Inc. Method and intelligent digital beam forming system with improved signal quality communications
FR2765405B1 (fr) 1997-06-26 1999-10-01 Alsthom Cge Alcatel Antenne pour systeme de telecommunication
KR100287059B1 (ko) 1997-12-24 2001-04-16 정선종 이동체 능동 안테나 시스템의 구조 및 이를 이용한 위성추적 방법
GB9812431D0 (en) 1998-06-09 1998-08-05 Radiant Networks Plc Apparatus and method for aligning a transmitter and a receiver
JP3699295B2 (ja) 1999-05-24 2005-09-28 東芝テック株式会社 無線通信システム
JP4240662B2 (ja) 1999-07-12 2009-03-18 ソニー株式会社 移動通信端末
WO2001052447A2 (en) 2000-01-14 2001-07-19 Andrew Corporation Repeaters for wireless communication systems
US6934511B1 (en) 1999-07-20 2005-08-23 Andrew Corporation Integrated repeater
US6782277B1 (en) 1999-09-30 2004-08-24 Qualcomm Incorporated Wireless communication system with base station beam sweeping
US6448930B1 (en) 1999-10-15 2002-09-10 Andrew Corporation Indoor antenna
DE60021772T2 (de) 2000-04-07 2006-04-20 Nokia Corp. Verfahren und vorrichtung zur übertragung mit mehreren antennen
US7139324B1 (en) 2000-06-02 2006-11-21 Nokia Networks Oy Closed loop feedback system for improved down link performance
SG119189A1 (en) 2000-07-10 2006-02-28 Interdigital Tech Corp Code power measurement for dynamic channel allocation
US7062294B1 (en) 2000-09-29 2006-06-13 Arraycomm, Llc. Downlink transmission in a wireless data communication system having a base station with a smart antenna system
AU2001293982A1 (en) 2000-10-10 2002-04-22 Radiant Networks Plc Communications meshes
US7162273B1 (en) 2000-11-10 2007-01-09 Airgain, Inc. Dynamically optimized smart antenna system
US6486832B1 (en) 2000-11-10 2002-11-26 Am Group Direction-agile antenna system for wireless communications
JP3607632B2 (ja) 2001-03-29 2005-01-05 株式会社東芝 無線通信装置及び無線通信制御方法
US6996086B2 (en) 2001-04-26 2006-02-07 Telefonaktiebolaget Lm Ericsson (Publ) Radio access network with meshed radio base stations
US6621454B1 (en) 2001-05-10 2003-09-16 Vectrad Networks Corporation Adaptive beam pattern antennas system and method for interference mitigation in point to multipoint RF data transmissions
BG64659B1 (bg) 2001-06-14 2005-10-31 Skygate International Technology N.V. Метод за сканиране на антенна решетка и фазорегулиращо устройство за осъществяването му
US7039363B1 (en) 2001-09-28 2006-05-02 Arraycomm Llc Adaptive antenna array with programmable sensitivity
US7333458B2 (en) 2002-01-10 2008-02-19 Harris Corporation Wireless communication network including directional and omni-directional communication links and related methods
US6963747B1 (en) 2002-01-31 2005-11-08 Bbnt Solutions Llc Globally optimized channel access for wireless networks
US20040204850A1 (en) * 2002-03-06 2004-10-14 Ford Motor Company Automotive synchronized communication networks
WO2003096560A1 (en) 2002-05-07 2003-11-20 Ipr Licensing, Inc. Antenna adaptation in a time division duplexing system
US20030228857A1 (en) 2002-06-06 2003-12-11 Hitachi, Ltd. Optimum scan for fixed-wireless smart antennas
US20040043745A1 (en) * 2002-08-30 2004-03-04 Richard Najarian Integrated GPS receiver architecture
US7366519B2 (en) 2002-10-21 2008-04-29 Hong Kong Applied Science And Technology Research Institute Co., Ltd. Systems and methods for managing wireless communications using link space information
JP2004180038A (ja) 2002-11-28 2004-06-24 Nec Infrontia Corp 無線ｌａｎアクセスポイント，無線ｌａｎシステム，無線ｌａｎアクセスポイントの干渉防止方法
US7130586B2 (en) 2003-05-30 2006-10-31 Microsoft Corporation Using directional antennas to mitigate the effects of interference in wireless networks
US7587173B2 (en) 2003-06-19 2009-09-08 Interdigital Technology Corporation Antenna steering for an access point based upon spatial diversity
KR100585726B1 (ko) 2003-09-03 2006-06-07 엘지전자 주식회사 이동 단말의 어레이 안테나 빔 형성 방법 및 장치
US7515916B1 (en) 2003-09-22 2009-04-07 Veriwave, Incorporated Method and apparatus for multi-dimensional channel sounding and radio frequency propagation measurements
US7328033B2 (en) 2003-10-01 2008-02-05 Rappaport Theodore S Wireless network system and method
EP1700506B1 (en) 2003-12-31 2009-02-11 Telefonaktiebolaget LM Ericsson (publ) Dynamic antenna control
US7818018B2 (en) 2004-01-29 2010-10-19 Qualcomm Incorporated Distributed hierarchical scheduling in an AD hoc network
US7664534B1 (en) 2004-06-03 2010-02-16 Sprint Spectrum L.P. Communications system and method using remote antennas
US7633442B2 (en) 2004-06-03 2009-12-15 Interdigital Technology Corporation Satellite communication subscriber device with a smart antenna and associated method
US8483200B2 (en) 2005-04-07 2013-07-09 Interdigital Technology Corporation Method and apparatus for antenna mapping selection in MIMO-OFDM wireless networks
EP1903348B1 (en) 2005-07-11 2015-12-30 Fujitsu Ltd. Number-of-arriving-waves estimating method, number-of-arriving-waves estimating device, and radio device
GB0515185D0 (en) 2005-07-22 2005-08-31 Fox Andrew J Beam definable antenna
KR100807321B1 (ko) 2005-12-13 2008-02-28 주식회사 케이엠더블유 이동통신 기지국용 가변 빔 제어 안테나
US7697626B2 (en) 2006-01-13 2010-04-13 Interdigital Technology Corporation Method and apparatus for selecting a beam combination in a MIMO wireless communication system
DE102006036107A1 (de) 2006-04-11 2007-10-18 Siemens Ag Verfahren zur Ermittlung einer Aufgabenerlaubnis
US7849267B2 (en) 2006-06-30 2010-12-07 Moka5, Inc. Network-extended storage
US8098779B2 (en) 2006-08-08 2012-01-17 Qualcomm Incorporated Interference detection and mitigation
KR100992896B1 (ko) 2006-11-28 2010-11-09 삼성전자주식회사 통신 시스템에서 사운딩 자원 할당 정보 송수신 시스템 및 방법
DE602006019786D1 (de) 2006-11-29 2011-03-03 Pirelli & C Spa Schaltstrahlantennensystem und verfahren mit digital gesteuerter gewichteter hochfrequenz-kombinierung
WO2008069058A1 (ja) 2006-12-08 2008-06-12 Nec Corporation 無線ネットワーク性能監視方法、無線通信システム、装置及びそのプログラム
JP5260557B2 (ja) 2007-03-09 2013-08-14 テレフオンアクチーボラゲット エル エム エリクソン（パブル） アレイアンテナ構成
US8036702B2 (en) 2007-05-14 2011-10-11 Intel Corporation Method and apparatus for multicarrier communication in wireless systems
WO2008151057A2 (en) 2007-05-31 2008-12-11 Sr Telecom Inc. Method of detecting sources of interference in a wireless communication system
US8548525B2 (en) 2007-06-28 2013-10-01 Fimax Technology Limited Systems and methods using antenna beam scanning for improved communications
US7836939B2 (en) 2007-08-01 2010-11-23 Harris Corporation Non-contacting thermal rotary joint
US8687482B2 (en) 2007-09-07 2014-04-01 Wichorus, Inc. Apparatus and method for controlling traffic flow in backhaul link in wireless communication network
US9107172B1 (en) 2007-09-20 2015-08-11 Marvell International Ltd. Method and apparatus for managing coexistence interference
US8942163B2 (en) 2007-10-19 2015-01-27 Sparkmotion Inc. Wireless communications network base station extension
FR2925169B1 (fr) 2007-12-18 2012-03-09 Commissariat Energie Atomique Procede et systeme d'aide a la caracterisation d'environnement par des signaux radiofrequence ultra large bande.
KR101513889B1 (ko) 2008-02-14 2015-05-20 삼성전자주식회사 멀티 빔 결합을 이용한 스위치 빔 포밍 장치 및 방법
US8520559B2 (en) 2008-04-02 2013-08-27 Alcatel Lucent Method for routing via access terminals
US9363054B2 (en) 2008-04-29 2016-06-07 Texas Instruments Incorporated Sounding reference signal user equipment specific sub-frame configuration
US8559908B2 (en) 2008-06-16 2013-10-15 Qualcomm Incorporated Jamming graph and its application in network resource assignment
US9036563B2 (en) 2008-07-22 2015-05-19 Mediatek Inc. Method for achieving frequency reuse in wireless communications systems
US20100118802A1 (en) 2008-11-12 2010-05-13 Qualcomm Incorporated Method and apparatus for directional association in a wireless communications system
US8138975B2 (en) 2008-12-30 2012-03-20 Trueposition, Inc. Interference detection, characterization and location in a wireless communications or broadcast system
WO2010099071A2 (en) 2009-02-24 2010-09-02 David Ryan Usage-based radio resource management of self-optimizing network cells
WO2010107207A2 (ko) 2009-03-17 2010-09-23 (주)엘지전자 릴레이 통신 시스템에서 데이터 전송 방법 및 장치
EP2409426A4 (en) 2009-03-20 2015-04-08 Ct Of Excellence In Wireless Technology COGNITIVE INTERFERENCE MANAGEMENT IN WIRELESS NETWORKS WITH RELAYS, MACROCELLS, MICROCELLS, PICOCELLS AND FEMTO CELLS
US8036674B2 (en) 2009-03-20 2011-10-11 Mitsubishi Electric Research Laboratories, Inc. Inter-cell interference prediction for frequency resource allocation
US8175542B2 (en) 2009-04-22 2012-05-08 Broadcom Corporation Transceiver with plural space hopping phased array antennas and methods for use therewith
JP5258672B2 (ja) 2009-06-02 2013-08-07 パナソニック株式会社 無線通信装置、無線通信方法、プログラム、及び集積回路
US9621250B2 (en) 2009-10-16 2017-04-11 Nokia Solutions And Networks Oy Femto access point operable with different spatial characteristic antenna patterns
WO2011060058A1 (en) 2009-11-10 2011-05-19 Montana State University Compact smart antenna for mobile wireless communications
US8630267B1 (en) 2009-11-24 2014-01-14 Cisco Technology, Inc. Interference suppression in wireless backhaul network using collaborative weight update scheme
EP2540121A1 (en) 2010-02-22 2013-01-02 Qualcomm Incorporated Controlling access point transmit power based on event-triggered access terminal messaging
US20110235569A1 (en) 2010-03-26 2011-09-29 Qualcomm Incorporated Radio bearer management at a donor base station in a wireless network with relays
WO2011145990A1 (en) 2010-05-21 2011-11-24 Telefonaktiebolaget Lm Ericsson (Publ) Reduced power consumption in a wireless communication system while providing adequate directional radio coverage
ES2377686B1 (es) 2010-05-31 2013-02-13 Vodafone España, S.A.U. Método para modificar la configuración de frecuencia de una estación base de femtocelda 3g o nodo-b doméstico (hnb).
US8284112B2 (en) * 2010-06-08 2012-10-09 Echostar Technologies L.L.C. Antenna orientation determination
US9497714B2 (en) 2010-09-24 2016-11-15 Qualcomm Incorporated Power control for a network of access points
GB2484278A (en) 2010-10-04 2012-04-11 Airspan Networks Inc Suppressing co-channel interference in dependence upon probabilities of establishing a link between a base station and a terminal via resource blocks
EP2506625B1 (en) 2011-03-29 2017-11-01 Alcatel Lucent A small cell base station comprising multiple antennas, and a method of controlling reception pattern by selecting a subset of the antennas for use
EP2538712A1 (en) 2011-06-23 2012-12-26 TELEFONAKTIEBOLAGET LM ERICSSON (publ) Base station and method for remote management in a cellular communication network
WO2013116857A1 (en) 2012-02-03 2013-08-08 Eden Rock Communications, Llc Method and apparatus for measuring multi-cell data efficiency in link adaptive wireless networks
US9591645B2 (en) 2012-02-17 2017-03-07 Samsung Electronics Co., Ltd. Method and apparatus for operating control channels for beamforming-based wireless communication
GB201205740D0 (en) * 2012-03-30 2012-05-16 Univ Surrey Information determination in a portable device
WO2014106539A1 (en) 2013-01-03 2014-07-10 Huawei Technologies Co., Ltd. Method of adaptive antenna beam forming for wireless base station in-channel self-backhauling
KR101346062B1 (ko) * 2013-01-31 2013-12-31 한국항공우주연구원 회전형 gps 전자나침반
US20140256376A1 (en) 2013-03-11 2014-09-11 Qualcomm Incorporated Wireless device with built-in self test (bist) capability for transmit and receive circuits
US20140313080A1 (en) 2013-04-19 2014-10-23 Telefonaktiebolaget L M Ericsson Multi-beam smart antenna for wylan and pico cellular applications
US9179360B1 (en) 2013-06-20 2015-11-03 Sprint Communications Company L.P. Forward error correction and retransmissions for media service optimization over a wireless communication network
US20150078303A1 (en) 2013-09-19 2015-03-19 Telefonaktiebolaget L M Ericsson (Publ) System and Method for Providing Interference Characteristics for Interference Mitigation
IL228998A0 (en) 2013-10-21 2014-08-31 Elta Systems Ltd Device and methods for cellular communication in a network based on multiple mobile cores
US20150116161A1 (en) 2013-10-28 2015-04-30 Skycross, Inc. Antenna structures and methods thereof for determining a frequency offset based on a signal magnitude measurement
KR102088529B1 (ko) 2013-11-06 2020-03-12 삼성전자주식회사 통신 시스템에서 빔 훈련 방법 및 장치
CN104955085A (zh) 2014-03-24 2015-09-30 中兴通讯股份有限公司 一种漫游场景下的应用检测控制方法及v-pcrf
CA3167284A1 (en) 2014-06-09 2015-12-17 Airvana Lp Radio access networks
ES2841898T3 (es) 2014-09-26 2021-07-12 Ericsson Telefon Ab L M Métodos y nodos para el manejo de datos de abonado actualizados
US9173064B1 (en) 2014-10-06 2015-10-27 Polaris Wireless, Inc. Estimating proximity to a mobile station by manipulating an interfering signal
CN104635203B (zh) 2015-02-12 2017-04-19 国家无线电监测中心 一种基于粒子滤波算法的无线电干扰源测向定位方法
US9924406B2 (en) 2015-03-02 2018-03-20 Verizon Patent And Licensing Inc. Blended data transmission network for machine type communications
GB2539731B (en) 2015-06-25 2021-08-04 Airspan Ip Holdco Llc Quality of service in wireless backhauls
GB2539722B (en) 2015-06-25 2021-10-13 Airspan Ip Holdco Llc Bearing calculation
US9838893B2 (en) 2015-06-25 2017-12-05 Alcatel Lucent System and method for cooperatively controlling an application
GB2539730B (en) 2015-06-25 2021-04-07 Airspan Ip Holdco Llc Node role assignment in networks
GB2539727B (en) 2015-06-25 2021-05-12 Airspan Ip Holdco Llc A configurable antenna and method of operating such a configurable antenna
GB2539732A (en) 2015-06-25 2016-12-28 Airspan Networks Inc A configurable antenna and method of operating such a configurable antenna
GB2539734A (en) 2015-06-25 2016-12-28 Airspan Networks Inc An antenna apparatus and method of performing spatial nulling within the antenna apparatus
WO2016207603A1 (en) 2015-06-25 2016-12-29 Airspan Networks Inc. Managing external interference in a wireless network
GB2539736A (en) 2015-06-25 2016-12-28 Airspan Networks Inc Wireless network configuration using path loss determination between nodes
GB2539733A (en) 2015-06-25 2016-12-28 Airspan Networks Inc An antenna apparatus and method of configuring a transmission beam for the antenna apparatus
GB2539735A (en) 2015-06-25 2016-12-28 Airspan Networks Inc Sub-sampling antenna elements

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4599620A (en) * 1984-12-04 1986-07-08 The United States Of America As Represented By The Secretary Of The Navy Method for determining the orientation of a moving platform
US6784830B1 (en) * 2002-04-16 2004-08-31 Integrinautics Corporation Method for processing in dual frequency civilian GPS receiver
CN101091121A (zh) * 2004-10-28 2007-12-19 西斯贝斯股份有限公司 具有双操作模式的天线定位系统
US8768558B2 (en) * 2007-01-05 2014-07-01 Agjunction Llc Optical tracking vehicle control system and method
CN102540205A (zh) * 2010-11-17 2012-07-04 崔宝导航有限公司 全球导航卫星天线系统和方法
JP2013120084A (ja) * 2011-12-06 2013-06-17 Chugoku Electric Power Co Inc:The 位置標定方法、及び位置標定システム
CN102539838A (zh) * 2011-12-28 2012-07-04 北京达顺威尔科技有限公司 一种基于移动卫星天线角速度计的自动补偿方法
CN102721943A (zh) * 2012-06-11 2012-10-10 西安交通大学 基于l型传感器阵列的非相干信号二维波达方向跟踪方法及装置
CN102749613A (zh) * 2012-06-20 2012-10-24 暨南大学 基于旋转天线的室内定位方法
CN103000996A (zh) * 2012-11-22 2013-03-27 北京航空航天大学 一种均匀圆阵测向天线接收互阻抗测试及互耦补偿系统
CN104253658A (zh) * 2013-06-28 2014-12-31 华为技术有限公司 一种天线对准方法及系统
CN103915673A (zh) * 2014-03-24 2014-07-09 中国人民解放军63680部队 船载a-e-c三轴卫星通信天线波束指向跟踪控制方法
CN104035065A (zh) * 2014-06-23 2014-09-10 河北工业大学 基于主动旋转的声源定向装置及其应用方法

Also Published As

Publication number Publication date
CN107787456A (zh) 2018-03-09
US10667145B2 (en) 2020-05-26
GB201514938D0 (en) 2015-10-07
WO2016207592A1 (en) 2016-12-29
GB2539722A (en) 2016-12-28
EP3314781B1 (en) 2022-05-18
GB2539722B (en) 2021-10-13
EP3314781A1 (en) 2018-05-02
US20160377695A1 (en) 2016-12-29

Similar Documents

Publication Publication Date Title
CN107787456B (zh) 一种用于方位计算的装置及其操作方法
US11624843B2 (en) Systems and methods for reduced-outlier satellite positioning
US10371806B2 (en) Doppler aided inertial navigation
JP4430304B2 (ja) 無線通信システムにおいて端末の速度を推定するための方法および装置
US8630804B2 (en) Method for geolocating an object by multitelemetry
JP5301762B2 (ja) キャリア位相相対測位装置
EP2634593B1 (en) Positioning using a local wave-propagation model
US20060114157A1 (en) Precision geolocation system and method using a long baseline interferometer antenna system
US8816896B2 (en) On-board INS quadratic correction method using maximum likelihood motion estimation of ground scatterers from radar data
US7382313B1 (en) Method for absolute calibration of global navigation satellite system antennas
CN110174104A (zh) 一种组合导航方法、装置、电子设备及可读存储介质
CN108363079A (zh) 一种面向便携式智能设备的gnss伪距双差定位方法及系统
JP2014228537A (ja) マルチモード測位のための受信機と方法
US9391366B2 (en) Method and device for calibrating a receiver
CN116879927B (zh) 基于三天线共线共钟架构的船用卫星罗经艏向测定方法
JP6320254B2 (ja) 測位方法及び測位システム
CN113126022A (zh) 一种双天线定位测向方法
US8818720B2 (en) Method and apparatus of GNSS receiver heading determination
Breivik et al. Estimation of multipath error in GPS pseudorange measurements
US9052388B2 (en) Method and apparatus of GNSS receiver heading determination
JP7088846B2 (ja) 衛星信号処理のための方法およびシステム
EP3124999B1 (en) A method and apparatus for determining an object heading
RU2754087C1 (ru) Способ определения начальной ориентации объекта
KR102023118B1 (ko) Ｌｏｒａｎ Ｈ―ｆｉｅｌｄ 안테나의 지향성 보상 시스템 및 방법
CN116148846A (zh) 一种高动态接收平台下的外辐射源双基成像系统和方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant