CN108896959A - A kind of mobile communication positioning method based on time of arrival (toa) - Google Patents
A kind of mobile communication positioning method based on time of arrival (toa) Download PDFInfo
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- CN108896959A CN108896959A CN201810870186.4A CN201810870186A CN108896959A CN 108896959 A CN108896959 A CN 108896959A CN 201810870186 A CN201810870186 A CN 201810870186A CN 108896959 A CN108896959 A CN 108896959A
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- base station
- mobile terminal
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- arrival
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of mobile communication positioning methods based on time of arrival (toa).The present invention includes：Mobile terminal measurement distance model is initially set up, which considers the influence of the synchronous time difference and be time of arrival (toa)（TOA）Increase confidence factor to inhibit non line of sight（NLOS）The influence of environment；Then, since pinpoint target is so that measurement distance and the gap of actual range are minimum, therefore the objective function of mobile terminal location can be established according to the target；It is next determined that constraint condition, establishes mobile terminal location Optimized model.Finally, obtaining mobile terminal locations by solution optimization problem.A kind of mobile communication positioning method based on time of arrival (toa) provided by the invention, can be improved mobile communication positioning accuracy.
Description
Technical field
The present invention relates to indoor positioning fields, are related specifically to a kind of mobile communication positioning side based on time of arrival (toa)
Method.
Background technique
It is fluffy based on the service of location information and application demand presentation under the overall background that Internet information age is grown rapidly
Break out the trend of exhibition, these services require by people or object accurate positioning and navigation realize.Outdoor location navigation
Possess highly developed GPS positioning technology, and in complicated indoor environment, GPS positioning technology is difficult to meet people to fixed
The requirement of position precision.Navigation and indoor positioning etc. are mostly with the communication mode between indoor WIFI equipment and mobile terminal of mobile telephone at present
Based on, for the method since limited coverage area, signal frequency range are vulnerable to interference etc., development prospect is limited.
A kind of mobile communication positioning method based on time of arrival (toa) provided by the invention, can substantially improve above-mentioned ask
Topic.But in actual wireless communication environment, the time of arrival (toa) TOA data of measurement include measurement error and systematic error,
And influence of the non-line-of-sight propagation (NLOS) to time of arrival (toa) TOA is more significant.Therefore in measurement error and systematic error
Under the premise of inevitable, a kind of mobile communication positioning method with high accuracy is provided with regard to necessary.
Summary of the invention
The purpose of the present invention is to provide a kind of mobile communication positioning methods based on time of arrival (toa), can be effective
Improve mobile communication positioning accuracy.
The present invention provides a kind of mobile communication positioning method based on time of arrival (toa), including：S1, mobile terminal is established
Measure distance model；S2, the objective function for establishing mobile terminal location；S3, it determines constraint condition, it is excellent to establish mobile terminal location
Change model；S4, mobile terminal locations are obtained by solution optimization problem.
Further, the step S1 may comprise steps of：
S11, the present invention first consider base station between mobile terminal due to the time difference it is different caused by calculating error, calculate base
It stands and the practical transmitting range of the signal of mobile terminal, it is specific as follows：
Wherein, i is i-th of base station BSiSerial number, MS be mobile terminal symbol, ri,MSFor base station BSiWith mobile terminal
The practical transmitting range of the signal of MS, c are the spread speed of radio signal in air medium, value 3*108M/s,
Indicate base station BSiThe reception signal moment, T0Indicate that mobile terminal MS sends the signal moment,-T0For time of arrival (toa)
TOA, △ ti,MSIndicate base station BSiThe time difference synchronous with mobile terminal MS；
S12, then on the basis of signal practical transmitting range, multiplied by the confidence factor of a time of arrival (toa) TOA
Carry out the influence of restraining NLOS environment, the present invention is bigger with distance of mobile terminal in view of base station, and a possibility that encountering barrier gets over
Greatly, non line of sight degree is bigger, and the confidence factor of time of arrival (toa) TOA is lower, therefore the present invention provides a confidence factors
About the calculation formula of the practical transmitting range of signal, specific formula for calculation is as follows：
Here, λiFor base station BSiThe confidence factor of time of arrival (toa) TOA, r0The most long distance that can be reached for line-of-sight propagation
From working as ri,MS≤r0When, communication environments LOS, λi=1, work as ri,MS>r0When, communication environments NLOS, λi<1, and with letter
Number practical transmitting range is remoter, λiValue it is smaller and be intended to 0 but not less than 0；
S13, mobile terminal measurement distance model is finally established, it is specific as follows：
Wherein,For base station BSiWith the measurement range estimation of mobile mobile terminal MS.
Further, the step S2 may comprise steps of：
S21, i-th of base station BS is setiCoordinate be (Xi,Yi,Zi), the coordinate of mobile terminal MS is (x, y, z), then base
Stand BSiActual range to mobile terminal is di,MSFor：
S22, a possibility that considering that base station and distance of mobile terminal are remoter, encountering barrier is bigger, and non line of sight degree is got over
Greatly, error level is also bigger, so the measurement result for each base station is needed to give certain weight, the present invention provides one
Calculation base station weight equation gives lower weight for the base station remoter with distance of mobile terminal, and for mobile terminal
Higher weight is given in the closer base station of distance, and specific formula is as follows：
Wherein, βiFor base station BSiMeasurement result weight；
S23, pinpoint main purpose are to meet the gap minimum of measurement range estimation and actual range, are passed through
The measurement distance of step S13With step S21 actual range di,MSIt can establish the objective function of following mobile terminal location：
Further, the step S3 may comprise steps of：
S31, in actual wireless communication environment, since the measurement of electric signal receives the influence of NLOS environment so that survey
The time of arrival (toa) TOA measured is numerically greater than the real time of propagation of electrical signals.The corresponding practical transmitting range of signal
It is greater than the actual range of base station and terminal room, i.e.,：
In addition, base station is with mobile terminal, should also there be a lower limit △ t in the synchronous time difference0, as | △ ti,MS|≤△t0；
S32, the constraint condition according to step S31 can establish following mobile terminal location Optimized model：
|△ti,MS|≤△t0
Compared with prior art, a kind of mobile communication positioning method based on time of arrival (toa) that the present invention uses, fills
Divide and considers base station and influence of the distance of mobile terminal difference to positioning result, it is so effective that improve mobile communication positioning accuracy.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of mobile communication positioning method based on time of arrival (toa).
Specific embodiment
A kind of mobile communication positioning method based on time of arrival (toa) of the present invention includes following steps：
1, mobile terminal measurement distance model is established
Present invention assumes that there are the base station BS of m known location, a mobile terminal MSs to be positioned for system.In view of to obtain
The exact position for obtaining mobile terminal needs first to carry out inhibiting even to be eliminated to error present in actual environment.So the present invention exists
When establishing mobile terminal measurement distance model, consider first between base station and mobile terminal due to the time difference it is different caused by synchronous mistake
Difference, and the practical transmitting range of signal for calculating base station and mobile terminal, it is specific as follows：
Wherein, i is i-th of base station BSiSerial number, ri,MSFor base station BSiWith the signal of mobile terminal MS it is practical transmission away from
From c is the spread speed of radio signal in air medium, value 3*108M/s,Indicate base station BSiReception letter
Number moment, T0Indicate that mobile terminal MS sends the signal moment,-T0For time of arrival (toa) TOA, △ ti,MSIndicate base station BSi
The time difference synchronous with mobile terminal MS.
Then on the basis of signal practical transmitting range, press down multiplied by the confidence factor of a time of arrival (toa) TOA
A possibility that influence of NLOS environment processed, the present invention is bigger with distance of mobile terminal in view of base station, encounters barrier is bigger, non-
Sighting distance degree is bigger, and the confidence factor of time of arrival (toa) TOA is lower, therefore the present invention provides a confidence factors about letter
The calculation formula of number practical transmitting range, specific formula for calculation are as follows：
Here, λiFor base station BSiThe confidence factor of time of arrival (toa) TOA, r0The most long distance that can be reached for line-of-sight propagation
From working as ri,MS≤r0When, communication environments LOS, λi=1, work as ri,MS>r0When, communication environments NLOS, λi<1, and with letter
Number practical transmitting range is remoter, λiValue it is smaller and be intended to 0 but not less than 0.Restraining NLOS error in this way
It is advantageous in that do not need to distinguish whether TOA measurement data includes NLOS error.
Mobile terminal measurement distance model is finally established, it is specific as follows：
Wherein,For base station BSiWith the measurement range estimation of mobile mobile terminal MS.
2, the objective function of mobile terminal location is established
If i-th of base station BSiCoordinate be (Xi,Yi,Zi), the coordinate of mobile terminal MS is (x, y, z), then base station BSi
Actual range to mobile terminal is di,MSFor：
Bigger, the non line of sight degree of a possibility that present invention is remoter with distance of mobile terminal in view of base station, encounters barrier
Bigger, error level is also bigger, so the measurement result for each base station is needed to give certain weight, the present invention provides one
A calculation base station weight equation gives lower weight for the base station remoter with distance of mobile terminal, and for whole with movement
Higher weight is given in the end closer base station of distance, and specific formula is as follows：
Here, βiFor base station BSiMeasurement result weight；.
Due to pinpoint main purpose be to meet measurement range estimation and actual range gap it is minimum, so
It can establish the objective function of following mobile terminal location by formula (2) and formula (4)：
3, it determines constraint condition, establishes mobile terminal location Optimized model
In actual wireless communication environment, since the measurement of electric signal receives the influence of NLOS environment, so that measuring
TOA be numerically greater than real time of propagation of electrical signals.The corresponding practical transmitting range of signal is greater than base station and terminal
Between actual range, i.e.,：
This is also main constraint condition.In addition, base station is with mobile terminal, should also there be a lower limit △ t in the synchronous time difference0,
As | △ ti,MS|≤△t0。
In conclusion mobile terminal location Optimized model can be obtained being：
4, finally, obtaining mobile terminal locations by the optimization problem for solving above-mentioned (8) formula.
Claims (4)
1. a kind of mobile communication positioning method based on time of arrival (toa), it is characterised in that comprise the steps of：
S1, mobile terminal measurement distance model is established；
S2, the objective function for establishing mobile terminal location；
S3, it determines constraint condition, establishes mobile terminal location Optimized model；
S4, mobile terminal locations are obtained by solution optimization problem.
2. a kind of mobile communication positioning method based on time of arrival (toa) as described in claim 1, the step S1 is into one
Step includes the following steps：
S11, the present invention first consider base station between mobile terminal due to the time difference it is different caused by calculating error, calculate base station and
The practical transmitting range of the signal of mobile terminal, it is specific as follows：
ri,MS=c (Ti (toa)-T0-△ti,MS)
Wherein, i is i-th of base station BSiSerial number, MS be mobile terminal symbol, ri,MSFor base station BSiWith mobile terminal MS
The practical transmitting range of signal, c are the spread speed of radio signal in air medium, value 3*108M/s, Ti (toa)It indicates
Base station BSiThe reception signal moment, T0Indicate that mobile terminal MS sends signal moment, Ti (toa)-T0For time of arrival (toa) TOA,
△ti,MSIndicate base station BSiThe time difference synchronous with mobile terminal MS；
S12, then on the basis of signal practical transmitting range, press down multiplied by the confidence factor of a time of arrival (toa) TOA
A possibility that influence of NLOS environment processed, the present invention is bigger with distance of mobile terminal in view of base station, encounters barrier is bigger, non-
Sighting distance degree is bigger, and the confidence factor of time of arrival (toa) TOA is lower, therefore the present invention provides a confidence factors about letter
The calculation formula of number practical transmitting range, specific formula for calculation are as follows：
Here, λiFor i-th of base station BSiThe confidence factor of time of arrival (toa) TOA, r0It can be reached for line-of-sight propagation farthest
Distance works as ri,MS≤r0When, communication environments LOS, λi=1, work as ri,MS>r0When, communication environments NLOS, λi<1, and with
The practical transmitting range of signal is remoter, λiValue it is smaller and be intended to 0 but not less than 0；
S13, mobile terminal measurement distance model is finally established, it is specific as follows：
Wherein,For i-th of base station BSiEach symbol to the measurement range estimation of mobile terminal MS, in right side of the equal sign formula
Definition provided in S11 and S12.
3. a kind of mobile communication positioning method based on time of arrival (toa) as described in claim 1, the step S2 is into one
Step includes the following steps：
S21, i-th of base station BS is setiCoordinate be (Xi,Yi,Zi), the coordinate of mobile terminal MS is (x, y, z), then base station BSi
Actual range to mobile terminal is di,MS, specific calculation formula is as follows：
S22, a possibility that considering that base station and distance of mobile terminal are remoter, encountering barrier is bigger, and non line of sight degree is bigger, accidentally
Poor horizontal also bigger, so the measurement result for each base station is needed to give certain weight, the present invention provides a calculating
Base station weight equation gives lower weight for the base station remoter with distance of mobile terminal, and for distance of mobile terminal
Higher weight is given in closer base station, and specific formula is as follows：
Wherein, βiFor i-th of base station BSiMeasurement result weight, di,MSFor base station BSiTo the actual range of mobile terminal；
S23, pinpoint main purpose are to meet the gap minimum of measurement range estimation and actual range, pass through step
The measurement distance of S13With step S21 actual range di,MSIt can establish the objective function of following mobile terminal location：
Wherein, min indicates to seek the minimum value of formula below, and ∑ is a summation operation symbol, and i is i-th of base station BSiSerial number, m
For the sum of base station, βiFor base station BSiMeasurement result weight, di,MSFor base station BSiTo the actual range of mobile terminal,
For base station BSiTo the measurement range estimation of mobile terminal MS.
4. a kind of mobile communication positioning method based on time of arrival (toa) as described in claim 1, the step S3 is into one
Step includes the following steps：
S31, in actual wireless communication environment, since the measurement of electric signal receives the influence of NLOS environment, so that measuring
Time of arrival (toa) TOA be numerically greater than real time of propagation of electrical signals.The corresponding practical transmitting range of signal is big
Actual range in base station and terminal room, as：
Wherein, (Xi,Yi,Zi) it is i-th of base station BSiCoordinate, (x, y, z) be mobile terminal MS coordinate,Root is opened for one
Number symbol, c are the spread speed of radio signal in air medium, Ti (toa)Indicate base station BSiThe reception signal moment, T0Table
Show that mobile terminal MS sends signal moment, △ ti,MSIndicate base station BSiThe time difference synchronous with mobile terminal MS, in addition, base station and shifting
The synchronization time difference △ t of dynamic terminali,MSAlso there should be a lower limit △ t0, as | △ ti,MS|≤△t0；
S32, the constraint condition according to step S31 can establish following mobile terminal location Optimized model：
Here, min indicates to seek the minimum value of formula below, and (x, y, z) is the coordinate of mobile terminal MS to be asked, and ∑ is one and asks
And operator, i are i-th of base station BSiSerial number, m be base station sum, βiFor base station BSiMeasurement result weight, | | be
Ask absolute value sign, di,MSFor base station BSiTo the actual range of mobile terminal,For base station BSiTo the measurement of mobile terminal MS
Range estimation, s.t. are the abbreviation of subject to, the controlled meaning, each symbol in the constraint condition formula after s.t.
Definition provided in S31.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113068127A (en) * | 2021-02-23 | 2021-07-02 | 中睿通信规划设计有限公司 | Positioning method of NB-IoT terminal |
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| CN101282577A (en) * | 2008-04-09 | 2008-10-08 | 山东大学 | Method for eliminating NLOS positioning error based on Ad-hoc network technique |
| US20160327628A1 (en) * | 2015-05-07 | 2016-11-10 | Alcatel-Lucent Usa Inc. | Method And Apparatus For Determining Non-Line Of Sight Bias Estimation |
| CN107271956A (en) * | 2017-04-24 | 2017-10-20 | 宁波大学 | The localization method based on arrival time of unknown initial time in nlos environment |
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2018
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| CN1398129A (en) * | 2001-07-18 | 2003-02-19 | 华为技术有限公司 | Method for locating user devices in cellular mobile communication system |
| CN101282577A (en) * | 2008-04-09 | 2008-10-08 | 山东大学 | Method for eliminating NLOS positioning error based on Ad-hoc network technique |
| US20160327628A1 (en) * | 2015-05-07 | 2016-11-10 | Alcatel-Lucent Usa Inc. | Method And Apparatus For Determining Non-Line Of Sight Bias Estimation |
| CN107271956A (en) * | 2017-04-24 | 2017-10-20 | 宁波大学 | The localization method based on arrival time of unknown initial time in nlos environment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113068127A (en) * | 2021-02-23 | 2021-07-02 | 中睿通信规划设计有限公司 | Positioning method of NB-IoT terminal |
| CN113068127B (en) * | 2021-02-23 | 2022-08-19 | 中睿通信规划设计有限公司 | Positioning method of NB-IoT terminal |
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Application publication date: 20181127 |