CN108594284A - A kind of TDOA positioning performances detection method and system - Google Patents
A kind of TDOA positioning performances detection method and system Download PDFInfo
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- CN108594284A CN108594284A CN201810387879.8A CN201810387879A CN108594284A CN 108594284 A CN108594284 A CN 108594284A CN 201810387879 A CN201810387879 A CN 201810387879A CN 108594284 A CN108594284 A CN 108594284A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
Abstract
The present invention proposes a kind of TDOA positioning performances detection method and system, the channel impulse response of true test environment is obtained using channel simulator technical modelling, the intermediate of the channel impulse response based on transmitting signal and true test environment, which is sent, to the TDOA Sensor of TDOA positioning systems to be measured emits signal, the position in source to be measured is calculated based on centre transmitting signal by TDOA positioning systems to be measured, and be compared with the physical location in source to be measured, assess the positioning performance of TDOA positioning systems to be measured.Present invention implementation is simple, quick and effective, and testing cost is low, and testing efficiency is high, and detection result science is comprehensive, has huge application prospect.
Description
Technical field
The invention belongs to wireless communication technology fields, are related to a kind of positioning performance detection technique, especially TDOA polarizations
It can detection technique.
Background technology
With the development that the 5th Generation Mobile Communication System and wireless smart city are applied, location-based communication service demand
Increasingly increase, therefore location technology receives more and more attention.Location technology is broadly divided into two ways：Based on geometric ways
And it is based on database mode.The former includes to utilize the arrival time of signal, reaching time-difference (TDOA), angle of arrival.The latter
The mapping between Site characterization and geographical location is realized using machine learning algorithm, and the position in source to be measured is predicted with this.At this
In a little localization methods, TDOA, from source to be measured to the difference of the distance of more sensors, obtains the position in source to be measured using signal.It is this
Method realizes that simply equipment cost is relatively low, and deployment is convenient, there is very extensive application, can be in public domains such as airport, stations
For realizing the application of target positioning.
The actual location performance quality of TDOA systems is related with many factors, the main validity for including TDOA location algorithms
And the performance of complexity and positioning system hardware itself.Usually synthetically detect the performance of a TDOA positioning system
It needs system being placed in true test environment and carries out field test.However, being tested in true environment, it is fixed to be typically only capable to analysis
Positioning performance of the position system under single environment.If desired positioning performance of the analyzing and positioning system under more scenes, then need
Expend higher cost.Therefore, traditional TDOA positioning systems performance detection technology can not be by constantly changing environment come comprehensive section
Positioning performance of the assessment TDOA positioning systems in various non line of sight (None Line of Sight, NLOS) environment is learned, this is
An important factor for influencing TDOA positioning system practical effects.
Invention content
The purpose of the present invention is to provide a kind of positioning performance detection techniques of TDOA positioning systems, to overcome in true ring
The environment that is faced of positioning performance that detects TDOA positioning systems under border is single, the problems such as interfering uncontrollable and testing cost high,
Allow to build the performance detecting system of TDOA positioning systems in laboratory, without arranging that actual TDOA is fixed in true environment
Position system.
In order to achieve the above object, solution of the invention is：
A kind of TDOA positioning performances detection method, the channel that true test environment is obtained using channel simulator technical modelling are rushed
Swash response, the channel impulse based on transmitting signal and true test environment is sent to the TDOA Sensor of TDOA positioning systems to be measured
The intermediate of response emits signal, calculates the position in source to be measured based on the intermediate transmitting signal by TDOA positioning systems to be measured, and
It is compared with the physical location in source to be measured, assesses the positioning performance of TDOA positioning systems to be measured.
Emit the intermediate transmitting signal from radio-frequency unit to the TDOA Sensor of TDOA positioning systems to be measured；Preferably,
The radio-frequency unit is general software radio peripheral hardware；Preferably, the intermediate transmitting signal be source to be measured transmitting signal with
The convolution of the channel impulse response of true test environment；It is further preferred that the intermediate transmitting signal is the transmitting in source to be measured
The sum of the convolution of the channel impulse response of signal and true test environment and white Gaussian noise.
Detection method includes the following steps for the TDOA positioning performances：
(1) numerical map of emulation technology structure true test environment is used；
Position of the TDOA Sensor of default source to be measured and TDOA positioning systems to be measured in the numerical map；
(2) channel impulse response from the source to be measured to the TDOA Sensor is calculated, and the source to be measured is set
Emit signal；
(3) convolution for calculating the channel impulse response and the transmitting signal, intermediate transmitting is formed based on the convolution
Signal；
(4) the intermediate signal that emits is sent to the TDOA Sensor；
(5) position in the source to be measured for estimating the TDOA positioning systems to be measured according to the intermediate transmitting signal,
It is compared with the position in preset source to be measured, assesses the positioning performance of TDOA positioning systems to be measured.
The geographical location of each object and size in true test environment are further related in the numerical map；Preferably, institute
The geographical location for stating object is indicated by three-dimensional coordinate；It is further preferred that the three-dimensional coordinate in the geographical location of the object can
It is converted into longitude, latitude and the height above sea level of GPS (Global Positioning System, global positioning system).
The channel impulse from the source to be measured to the TDOA Sensor is calculated in the step (2) using graph-theoretical algorithm to ring
It answers.
The intermediate signal that emits is sent to by the TDOA Sensor using radio-frequency unit in the step (4)；It is preferred that
Ground, the radio-frequency unit are general software radio peripheral hardware.
The intermediate transmitting signal is the convolution of the channel impulse response and the transmitting signal；Preferably, in described
Between transmitting signal be the channel impulse response and the transmitting signal convolution and the sum of white Gaussian noise.
A kind of TDOA positioning performance detecting systems for realizing above-mentioned TDOA positioning performances detection method, including first network knot
Structure and the second network structure；First network structure includes the first processor that the first router and the first router are separately connected
With at least three sender units；Second network structure includes second that the second router and the second router are separately connected
Processor and at least three TDOA Sensors；The quantity of the sender unit and the TDOA Sensor is equal and one is a pair of
There should be correspondence；First processor is used for the channel impulse response using channel simulator technical modelling true test environment,
Intermediate transmitting signal is calculated based on the channel impulse response and the transmitting signal in source to be measured；The sender unit be used for
The corresponding TDOA Sensor sends the intermediate transmitting signal；The TDOA Sensor is used for according to the intermediate transmitting letter
Number, estimate the position of the signal source；To be measured TDOA of the second processor for belonging to the TDOA Sensor is fixed
The position for the signal source that position system is estimated, compares the position of preset signal source, evaluates the TDOA positioning systems to be measured
Positioning performance.
The sender unit is radio-frequency unit；Preferably, the radio-frequency unit is general software radio peripheral hardware.
The TDOA positioning performances detecting system further include the GPS antenna being connected with each other successively, GPS tame clock module and
Clock distributor；The clock distributor is also communicated to connect with each radio-frequency unit；The GPS antenna is for receiving to defend oneself
The GPS signal of star, and be sent to the GPS and tame clock module；The GPS is tamed clock module and is tamed and dociled based on the GPS signal
Internal circuit is taken, the sine wave signal and 1PPS (Pulse Per Second, a pulse per second) signal of setpoint frequency are exported
To the clock distributor；The sine wave signal of reception and the 1PPS signals are divided into multichannel by the clock distributor, respectively
It is input to the corresponding sender unit, to realize multiple radio-frequency unit synchronized transmissions signals；Preferably, described in every
TDOA Sensor is all connected with a GPS antenna, so that each TDOA Sensor synchronizes and receive the corresponding radio-frequency unit
The signal of transmitting；Preferably, the setpoint frequency is 10MHz.
By adopting the above scheme, the beneficial effects of the invention are as follows：TDOA positioning performances detection technique of the present invention can be
It is carried out in laboratory, simulates the environment stopped in various degree between source to be measured and TDOA Sensor and complicated multipath propagation environment,
The frequency of radio-frequency unit (such as USRP) support, the source signal to be measured of bandwidth, modulation system are formed, it is fixed to carry out Scientific evaluation TDOA to be measured
Stationkeeping ability of the position system in NLOS.Present invention implementation is simple, quick and effective, and testing cost is low, and testing efficiency is high,
Detection result science is comprehensive, has huge application prospect.
Description of the drawings
Fig. 1 is the structural schematic diagram of TDOA positioning performance detecting systems in one embodiment of the invention；
Fig. 2 is the numerical map built in the embodiment；
Fig. 3 is that the comparison of the amplitude of the channel impulse response between source to be measured and three TDOA Sensors in the embodiment is shown
It is intended to；
Fig. 4 is that three USRP synchronize the impulse response surveyed when transmitting in the embodiment；
Fig. 5 is the testing result to a TDOA positioning systems obtained using the embodiment detection method；
Fig. 6 is the testing result to another TDOA positioning systems obtained using the embodiment detection method.
Specific implementation mode
The present invention will be further described with reference to the accompanying drawings.
The present invention proposes a kind of TDOA positioning performances detection method, is based on electric wave dissemination channel graph theory and less radio-frequency
Technology (as being based on USRP (general software radio peripheral hardware) hardware device), examines the positioning performance of TDOA positioning systems
It surveys.Detection method includes the following steps for the TDOA positioning performances：
(1) numerical map of true test environment is built
It is sent out from source to be measured to simulate signal in true test environment, by radio wave channel, then tested TDOA fixed
The process that the TDOA Sensor of position system receives needs the position in default source to be measured, the TDOA of TDOA positioning systems to be detected
The geographical location of each object of other in the position of sensor and true test environment and physical size (such as length),
Build the numerical map of true test environment.Wherein, the geographical location of object can be based on three-dimensional system of coordinate expression, in particular
It is indicated by three coordinates x, y and z, and GPS (Global Positioning System, global positioning system can be converted to
System) longitude, latitude and height above sea level.The transfer process needs to consider radius of the earth on different longitudes, latitude.
More accurate numerical map is obtained if necessary, and spatial digitizer may be used by the true of limited area
Object in test environment is completely converted into data, or by importing digital map, the 3D of some true test environment is retouched
It states, is converted to the data propagated needed for graph theory software and reads in format.Alternatively, one specific NLOS communication environments of setting, to a variety of
TDOA positioning systems are compared, assess and analyze.
(2) signal is calculated to wait for from preset source to be measured to the channel impulse response of TDOA positioning systems to be measured, and setting
The transmitting signal in survey source
In the present embodiment, which is calculated using electric wave dissemination channel graph theory principle.At this point, source to be measured,
Object in TDOA positioning systems and environment is considered node, and the signal propagation path between them is considered line segment, propagates
Graph Theory is based on such point-line topological structure.
First, the channel transfer function H between source to be measured and TDOA positioning systems on specific frequency f is calculated using following formula
(f)：
H (f)=D (f)+R (f) [U-B (f)]-1T(f)
Wherein：D (f) indicates the channel transfer function that signal is directly propagated between source to be measured and TDOA Sensor；
R (f) indicates the channel transfer function that signal is propagated in TDOA Sensor and environment between each object；
U indicates unit matrix；
(f (indicates the channel transfer function that signal is propagated between each object in the environment to B；
T (f) indicates the channel transfer function that signal is propagated in source to be measured and environment between each object.
Then, inverse Fourier transform is carried out to channel transfer function H (f), obtains signal in source to be measured and TDOA Sensor
Between propagation delay domain on channel impulse response h (τ), wherein τ indicate signal on propagation path propagate the time required to.
If t changes H (f) at any time, you can be expressed as time varying channel transfer function H (t, f), (wherein, t indicates current
Observe the moment), then the response of corresponding time-varying channel impulse can be expressed as h (t, τ).
The transmitting signal in source to be measured refers to the signal indicated in base band that source to be measured emits, can be as needed
Suitable sequence is selected to generate.
(3) it calculates channel impulse response and emits the convolution of signal, intermediate transmitting signal is formed based on the convolution
In the present embodiment, white Gaussian noise is added in the convolution, to simulate TDOA Sensor under true test environment
Signal (in the present invention, it can also directly be the convolution which, which emits signal) is received, centre transmitting signal can be expressed as：
Wherein：Y (t) indicates intermediate and emits signal；
X (t) indicates that the source to be measured in base band emits signal；
H (τ) indicates the channel impulse response on the propagation delay domain in base band；
N (t) indicates white Gaussian noise.
(4) centre transmitting signal is sent to TDOA Sensor
In the present embodiment, centre transmitting signal is sent to by TDOA Sensor by radio-frequency unit, which adopts
With general software radio peripheral hardware (USRP).
(5) position that the TDOA positioning systems to be measured belonging to TDOA Sensor are estimated to source to be measured, with preset source to be measured
Position be compared, calculation of position errors, to assess the positioning performance of TDOA positioning systems to be measured
Here, the intermediate transmitting signal that TDOA positioning systems to be measured are received according to its TDOA Sensor from corresponding USRP,
Result of calculation and the position in the source to be measured being arranged in step (1) are compared in the position that source to be measured is calculated based on its location algorithm
Compared with calculation of position errors, to assess the positioning performance of TDOA positioning systems to be measured.
By taking the longitude and latitude that position source to be measured as an example, θ0WithIndicate that the longitude and latitude in source to be measured, unit are equal respectively
For degree；WithThe longitude and latitude in the source to be measured of estimation, unit degree of being are indicated respectively.It can be calculated so preset
Position error ρ between the position in source to be measured and the position in the source to be measured of estimation, unit are rice.In practical application, positioning is calculated
Error needs to consider the relationship of the radius and longitude and latitude of the earth.In this example, it is assumed that the earth is ideal spherical, half
Diameter is definite value, i.e. 6371.004 kms.
The invention also provides a kind of TDOA positioning performance detecting systems for realizing above-mentioned TDOA positioning performances detection method.
The positioning performance detecting system includes first network structure and the second network structure.First network structure include the first router,
The first processor and at least three sender units being separately connected with the first router；Second network structure includes the second tunnel
Belong to be measured by device, the second processor being separately connected with the second router and at least three TDOA Sensors, TDOA Sensor
TDOA positioning systems.The quantity of sender unit and TDOA Sensor is equal and corresponds with correspondence.At first
It manages device and is used for channel impulse response using channel simulator technical modelling true test environment, based on channel impulse response and to be measured
The transmitting signal in source calculates intermediate transmitting signal.Sender unit is used to send intermediate transmitting letter to corresponding TDOA Sensor
Number (centre transmitting signal emits signal with intermediate in above-mentioned TDOA positioning performances detection method).TDOA positioning systems are used for root
The intermediate transmitting signal received according to its TDOA Sensor, estimates the position of signal source.Second processor according to TDOA for positioning
Corresponding TDOA positioning systems to be measured are evaluated in the position for the signal source that system is estimated, the position of the actual setting in contrast signal source
Positioning performance.
In the present embodiment, first processor and second processor are all made of computer, respectively the first computer and second
Computer.Sender unit uses radio-frequency unit, specially general software radio peripheral hardware (USRP), uses three altogether
USRP.Accordingly, it is provided with three TDOA Sensors altogether, this three sensors belong to the same TDOA positioning systems to be measured.Fig. 1
It show the structural schematic diagram of the TDOA positioning performance detecting systems.Wherein, the first computer and three USRP (are respectively first
USRP, the 2nd USRP, the 3rd USRP) it is connected to the first router, the first network structure constituted together is the first LAN, the
Two computers and three TDOA Sensors (being respectively the first TDOA Sensor, the second TDOA Sensor, third TDOA Sensor)
It is connected to the second router, the second network structure constituted together is the second LAN.Three USRP and three TDOA Sensors
Prevention at radio-frequency port between connect correspondingly, establish radio communication relationship.In addition, the first TDOA Sensor, the 2nd TDOA are passed
Sensor, third TDOA Sensor are respectively connected to a GPS antenna, so that three sensors is synchronized and receive radiofrequency signal.
Respectively in the first computer and second computer, set the carrier frequency of each USRP and each TDOA Sensor to
It is identical；Again in the first computer, the sample rate and transmitting gain of each USRP are set.
In the present embodiment, which further includes GPS antenna, the taming clock modules of GPS and clock
Distributor.The clock distributor is connect with each USRP respectively, as shown in Figure 1, connecting " dotted line " of each USRP and clock distributor
The channel for indicating 1PPS signals connects the channel of " solid line " expression 10MHz sine wave signals of each USRP and clock distributor.
GPS tames clock module and is communicated to connect respectively with clock distributor and GPS antenna.
In order to realize RF synchronous transmitting and stablize the purpose of USRP crystal oscillators, need to use 1PPS (Pulse Per respectively
Second, a pulse per second) signal and 10MHz sine wave signals.USRP crystal oscillators are built in USRP, and clock frequency is provided for USRP
Rate signal is so that USRP normal operations.10MHz sine wave signals can make crystal oscillator built in USRP avoid showing for clock frequency drift
As.GPS tames clock module and receives the taming internal circuit of the GPS signal from satellite, final output by GPS antenna
The sine wave signal and 1PPS signals of 10MHz to clock distributor, clock distributor by the 10MHz sine wave signals received and
1PPS signals are divided into multichannel, and are input to corresponding USRP.It in the first computer, is also programmed by C++, realizes that data packet is slow
It deposits and waiting mechanism so that in synchronization, by binary format data, (content of the data is that intermediate transmitting is believed to more USRP
Number data, i.e. convolution or the sum of convolution and white Gaussian noise) be converted into radiofrequency signal and be sent to TDOA Sensor.
In the present embodiment, the USRPN210 using the production of subordinate EttusResearch companies of National Instruments makees
For radio-frequency unit, the sample rate of the device is 25,000,000 sampling point per second in 16 quantified precisions；It chooses simultaneously
The clock distributor of EttusResearch companies production carries out associated radio frequency synchronized transmissions operation, has eight identical 10MHz
The output channel of sine wave and 1PPS signals.USRPN210 and the respective radio-frequency port for the TDOA positioning systems for needing to detect are connected
It connects, opens TDOA positioning systems and carry positioning software.TDOA positioning systems in the base band of simulation receive signal with binary system lattice
Formula preserves hereof.Then, starting more USRPN210 on computers, synchronization sends the binary file on radio frequency,
It is sent to the TDOA Sensor of corresponding TDOA positioning systems.
In the TDOA positioning performance detecting systems, the work for building numerical map is realized by the first computer, builds number
The method of word map is identical as the structure method of numerical map in above-mentioned TDOA positioning performances detection method, and Fig. 2 show first
The numerical map of computer structure.Object in source to be measured, TDOA Sensor and environment is considered node, the position of these nodes
It sets and is indicated by three component x, y, z under rectangular coordinate system.Source marking to be measured is 1；First TDOA Sensor, the 2nd TDOA sensings
Device and third TDOA Sensor are respectively labeled as 201,202,203.1 and first TDOA Sensor 201 of source to be measured and source to be measured
1 and second path sighting distance (Line of Sight, LOS) between TDOA Sensor 202 be not blocked, signal can be from waiting for
The first TDOA Sensor 201 and the second TDOA Sensor 202 are directly got in survey source 1；Signal source 1 and third TDOA Sensor 203
Between LOS path stopped that is, signal can not reach third TDOA Sensor 203 from signal source 1 by a building.
The work for calculating channel impulse response is equally realized by the first computer.Fig. 3 show source to be measured in the present embodiment
The amplitude of channel impulse response between three TDOA Sensors.From figure 3, it can be seen that signal source 1 and the 3rd TDOA sensings
Channel impulse response between the Amplitude Ratio signal source of channel impulse response between device 203 and other two TDOA Sensors
Amplitude is much lower.
In the present embodiment, above-mentioned carrier frequency is set as 2GHz.It is real on the first computer after setting carrier frequency
Apply three USRP synchronized transmissions radiofrequency signals.Fig. 4 show three USRP and synchronizes the impulse response surveyed when transmitting,
By observing the relative time delay of these three impulse responses, the precision of three USRP radio frequency synchronizations is verified.In Fig. 4, two
Time interval between sampled point was 10 nanoseconds, and the distance corresponding to synchronous error is 3 meters.It can be observed from Fig. 4, these three letters
Number amplitude peak corresponding relative time delay, is 4088.23 microseconds, and amplitude slightly has difference, illustrates three USRP synchronized transmissions
Distance corresponding to time error is up to 3 meters.
Fig. 5 and Fig. 6 is using fixed to two kinds of TDOA in TDOA positioning performances test system environment shown in Fig. 2 respectively
Position system be detected as a result, the longitude and latitude in the source to be measured estimated whithin a period of time.By comparing Fig. 5 and Fig. 6
It is found that the position in the source to be measured that the first TDOA positioning system is estimated is near preset position, and second of TDOA positioning system
Farther out from preset position, the positioning scattered band of the first TDOA positioning system is than second for the position in the source to be measured that system is estimated
TDOA positioning systems are small, the former position error is smaller than the latter.It is therefore contemplated that the first positioning system is shown in Fig. 2
Under environment, positioning performance is more preferable.
This hair can be understood and applied the above description of the embodiments is intended to facilitate those skilled in the art
It is bright.Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein
General Principle is applied in other embodiment without having to go through creative labor.Therefore, the present invention is not limited to implementations here
Example, those skilled in the art's announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be
Within protection scope of the present invention.
Claims (10)
1. a kind of TDOA positioning performances detection method, it is characterised in that：Authentic testing ring is obtained using channel simulator technical modelling
The channel impulse response in border is sent to the TDOA Sensor of TDOA positioning systems to be measured based on transmitting signal and true test environment
The intermediate of channel impulse response emit signal, being based on the intermediate signal that emits by TDOA positioning systems to be measured calculates source to be measured
Position, and be compared with the physical location in source to be measured, assess the positioning performance of TDOA positioning systems to be measured.
2. TDOA positioning performances detection method according to claim 1, it is characterised in that：From radio-frequency unit to TDOA to be measured
The TDOA Sensor transmitting intermediate transmitting signal of positioning system；
Preferably, the radio-frequency unit is general software radio peripheral hardware；
Preferably, the intermediate transmitting signal is the volume of the transmitting signal in source to be measured and the channel impulse response of true test environment
Product；
It is rung it is further preferred that the intermediate transmitting signal is the transmitting signal in source to be measured and the channel impulse of true test environment
The sum of the convolution answered and white Gaussian noise.
3. TDOA positioning performances detection method according to claim 1 or 2, it is characterised in that：Include the following steps：
(1) numerical map of emulation technology structure true test environment is used；
Position of the TDOA Sensor of default source to be measured and TDOA positioning systems to be measured in the numerical map；
(2) channel impulse response from the source to be measured to the TDOA Sensor is calculated, and the transmitting in the source to be measured is set
Signal；
(3) convolution for calculating the channel impulse response and the transmitting signal forms intermediate transmitting signal based on the convolution；
(4) the intermediate signal that emits is sent to the TDOA Sensor；
(5) and pre- by the TDOA positioning systems to be measured according to the intermediate position for emitting the source to be measured that signal is estimated
If the position in source to be measured be compared, assess the positioning performance of TDOA positioning systems to be measured.
4. TDOA positioning performances detection method according to claim 3, it is characterised in that：It is further related in the numerical map
The geographical location of each object and size in true test environment；
Preferably, the geographical location of the object is indicated by three-dimensional coordinate；
It is further preferred that the three-dimensional coordinate in the geographical location of the object can be converted into the longitude, latitude and height above sea level of GPS
Degree.
5. TDOA positioning performances detection method according to claim 3, it is characterised in that：Using figure in the step (2)
The channel impulse response from the source to be measured to the TDOA Sensor is calculated by algorithm.
6. TDOA positioning performances detection method according to claim 3, it is characterised in that：It uses and penetrates in the step (4)
The intermediate signal that emits is sent to the TDOA Sensor by frequency device；
Preferably, the radio-frequency unit is general software radio peripheral hardware.
7. TDOA positioning performances detection method according to claim 3, it is characterised in that：The intermediate transmitting signal is institute
State the convolution of channel impulse response and the transmitting signal；
Preferably, the intermediate transmitting signal is the convolution and white Gaussian noise of the channel impulse response and the transmitting signal
The sum of.
8. a kind of TDOA positioning performances of TDOA positioning performance detection methods realized described in any one of claim 1 to 7 are examined
Examining system, it is characterised in that：Including first network structure and the second network structure；
First network structure includes the first processor and at least three signals that the first router and the first router are separately connected
Sending device；
Second network structure includes the second router, the second processor being separately connected with the second router and at least three TDOA
Sensor；
The quantity of the sender unit and the TDOA Sensor is equal and corresponds with correspondence；
First processor is used for the channel impulse response using channel simulator technical modelling true test environment, is based on the channel
Impulse response and the transmitting signal in source to be measured calculate intermediate transmitting signal；
The sender unit is used to send the intermediate transmitting signal to the corresponding TDOA Sensor；
The TDOA Sensor is used to, according to the intermediate transmitting signal, estimate the position of the signal source；
The signal that the second processor is estimated for the TDOA positioning systems to be measured belonging to the TDOA Sensor
The position in source compares the position of preset signal source, evaluates the positioning performance of the TDOA positioning systems to be measured.
9. TDOA positioning performances detecting system according to claim 8, it is characterised in that：The sender unit is to penetrate
Frequency device；
Preferably, the radio-frequency unit is general software radio peripheral hardware.
10. TDOA positioning performances detecting system according to claim 9, it is characterised in that：Further include being connected with each other successively
GPS antenna, GPS tame clock module and clock distributor；The clock distributor also with each radio-frequency unit communication link
It connects；
The GPS antenna is sent to the GPS and tames clock module for receiving the GPS signal from satellite；
The GPS tames clock module and is based on the taming internal circuit of the GPS signal, exports the sine wave signal of setpoint frequency
With 1PPS signals to the clock distributor；
The sine wave signal of reception and the 1PPS signals are divided into multichannel by the clock distributor, are separately input to corresponding institute
Sender unit is stated, to realize multiple radio-frequency unit synchronized transmissions signals；
Preferably, every TDOA Sensor is all connected with a GPS antenna, so that each TDOA Sensor is synchronized and received
The signal of the corresponding radio-frequency unit transmitting；
Preferably, the setpoint frequency is 10MHz.
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| CN201810387879.8A CN108594284B (en) | 2018-04-26 | 2018-04-26 | TDOA (time difference of arrival) positioning performance detection method and system |
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| CN201810387879.8A CN108594284B (en) | 2018-04-26 | 2018-04-26 | TDOA (time difference of arrival) positioning performance detection method and system |
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