CN108896960A - Positioning system and route guidance system and its method - Google Patents
Positioning system and route guidance system and its method Download PDFInfo
- Publication number
- CN108896960A CN108896960A CN201810667536.7A CN201810667536A CN108896960A CN 108896960 A CN108896960 A CN 108896960A CN 201810667536 A CN201810667536 A CN 201810667536A CN 108896960 A CN108896960 A CN 108896960A
- Authority
- CN
- China
- Prior art keywords
- base station
- antenna
- locating base
- finder
- telemetry
- 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.)
- Granted
Links
Classifications
-
- 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
- G01S5/0009—Transmission of position information to remote stations
-
- 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
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
Disclose a kind of positioning system and route guidance system and its method, wherein, positioning system includes the device to be positioned configured with telemetry antenna and direction-finder antenna, it is communicated between locating base station system and telemetry antenna to resolve the position of telemetry antenna, it is formed and is communicated between direction finding base station system and direction-finder antenna, positioning system records the call duration time information between direction finding base station system and direction-finder antenna, and the position of direction-finder antenna is resolved by the position of call duration time information, the distance of telemetry antenna and direction-finder antenna, the position of telemetry antenna and direction finding base station system.The position coordinates of the present invention not only available device to be positioned, it can also determine its direction relative to locating base station system, to guide personnel to be positioned to enter default route from direction and the level of position two under path low visibility to be guided or when personnel to be positioned can not take one's bearings.
Description
Technical field
This disclosure relates to the communications field, more specifically, this disclosure relates to positioning and navigation field.
Background technique
Short distance, high precision wireless indoor positioning technologies are widely used in urban compact region and indoor enclosure space
It is general, such as security monitoring, emergency relief to personnel.And transportation management, allocation schedule etc. to goods and materials.In recent years, it builds
The dangerous situations accident such as fire in object happens occasionally, even if guidance is stranded due to the limitation on rescue personnel's rescue time and speed
Personnel independently rescue and tend to greatly improve rescue efficiency.Realize that self-service rescue is believed firstly the need of the position for knowing trapped person
Breath, positioning system in the prior art can only often know the location information of target to be positioned, when target to be positioned is in building
In when getting lost, over-the-counter control centre can not guide it to enter into safety to escape according only to the location information of the target to be positioned measured
Means of livelihood line.
Therefore, how on the basis of knowing target position information to be positioned and meanwhile can know target to be positioned be based on to
The directional information of path of navigation is asked so that realization is that those skilled in the art are urgently to be resolved to the Route guiding of target to be positioned
Topic.
Summary of the invention
According to one aspect of the present invention, disclose a kind of positioning system, including device to be positioned, locating base station system with
And direction finding base station system.Wherein, device to be positioned is configured with telemetry antenna and direction-finder antenna, telemetry antenna and direction-finder antenna away from
From known；It is communicated between locating base station system and telemetry antenna to resolve the position of telemetry antenna；Direction finding base station system with
Communication is formed between direction-finder antenna, positioning system records the call duration time information between direction finding base station system and direction-finder antenna, and
Pass through the distance of call duration time information, telemetry antenna and direction-finder antenna, the position of the position of telemetry antenna and direction finding base station system
To resolve the position of direction-finder antenna.
According to another aspect of the invention, a kind of route guidance system, including foregoing positioning system are disclosed
And master controller.Wherein, master controller be used for according to the position and preset path of telemetry antenna and direction-finder antenna to
Device to be positioned issues instruction of advancing.
Another aspect according to the present invention discloses a kind of path guide method, including：It is arranged on device to be positioned
Apart from known telemetry antenna and direction-finder antenna；It is communicated using locating base station system with telemetry antenna to determine telemetry antenna
Position；It is communicated using direction finding base station system with direction-finder antenna to obtain call duration time information；By call duration time information,
The position of the distance of telemetry antenna and direction-finder antenna, the position of telemetry antenna and direction finding base station system is to resolve the position of direction-finder antenna
It sets；And according to the position of telemetry antenna, the position of direction-finder antenna, direction finding base station system position determine device to be positioned to
Position and direction in path of navigation.
The invention has the advantages that the not only position coordinates of available device MS to be positioned, can also determine its phase
For the direction of locating base station, thus when under path low visibility to be guided or it is undetermined for personnel can not take one's bearings when,
From direction and displacement, two levels guide personnel to be positioned to enter default route.
Detailed description of the invention
Fig. 1 provides a kind of structural schematic diagram of the route guidance system 100 of embodiment according to the present invention；
Fig. 2 provides the geometrical relationship schematic diagram of each component in the route guidance system 100 of embodiment illustrated in fig. 1；
Fig. 3 provides a kind of structural schematic diagram of another route guidance system 300 of embodiment according to the present invention；
Fig. 4 provides a kind of structural schematic diagram of another route guidance system 400 of embodiment according to the present invention；
Fig. 5 provides a kind of application scenarios schematic diagram of the route guidance system 500 of embodiment according to the present invention；
Fig. 6 provides a kind of modular diagram of the locating base station 600 of embodiment according to the present invention；
Fig. 7 provides a kind of modular diagram of the device to be positioned 700 of embodiment according to the present invention；
Fig. 8 goes out a kind of flow chart of the path guide method 800 of embodiment according to the present invention.
Specific embodiment
Specific embodiments of the present invention are described more fully below, it should be noted that the embodiments described herein is served only for illustrating
Illustrate, is not intended to restrict the invention.In the following description, in order to provide a thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that：This hair need not be carried out using these specific details
It is bright.In other instances, in order to avoid obscuring the present invention, well known circuit, material or method are not specifically described.
Throughout the specification, meaning is referred to " one embodiment ", " embodiment ", " example " or " example "
?：A particular feature, structure, or characteristic described in conjunction with this embodiment or example is comprised at least one embodiment of the invention.
Therefore, the phrase " in one embodiment ", " in embodiment ", " example " occurred in each place of the whole instruction
Or " example " is not necessarily all referring to the same embodiment or example.Furthermore, it is possible in any suitable combination and or sub-portfolio will be specific
Feature, structure or characteristic combine in one or more embodiment or examples.In addition, those of ordinary skill in the art should manage
Solution, diagram is provided to the purpose of explanation provided herein, and diagram is not necessarily drawn to scale.It should be appreciated that working as
Claim " element " " being connected to " or when " coupled " to another element, it, which can be, is directly connected or coupled to another element or can be with
There are intermediary elements.On the contrary, cental element is not present when claiming element " being directly connected to " or " being directly coupled to " another element
Part.Identical appended drawing reference indicates identical element.Term "and/or" used herein includes that one or more correlations are listed
Any and all combinations of project.
Fig. 1 provides a kind of structural schematic diagram of the route guidance system 100 of embodiment according to the present invention.Route guidance system
100 include positioning system and master controller (not shown), and positioning system illustratively includes locating base station system, direction finding
Base station system and device MS to be positioned.Device MS to be positioned includes telemetry antenna and direction-finder antenna, wherein telemetry antenna and survey
Known to the distance of antenna.It is communicated between locating base station system and telemetry antenna to resolve the position of telemetry antenna.Direction finding
It is formed and is communicated between base station system and direction-finder antenna.When positioning system records the communication between direction finding base station system and direction-finder antenna
Between information, and pass through call duration time information, the distance of telemetry antenna and direction-finder antenna, the position of telemetry antenna and direction finding base station system
The position of system is to resolve the position of direction-finder antenna.
In the embodiment shown in fig. 1, locating base station system includes locating base station BS1 and locating base station BS2, wherein positioning
Base station BS 1 and locating base station BS2 are fixed in path to be guided, and device MS to be positioned is moveable.In one embodiment,
The position of locating base station BS1 and locating base station BS2 in path to be guided is previously known, for example, locating base station is laid in advance
In path in building.Again in one embodiment, the position of locating base station BS1 and locating base station BS2 in path to be guided
Set unknown in advance, locating base station BS1 and locating base station BS2 are placed in path to be guided with a certain known referring-to relation, example
Such as, locating base station BS1 is placed on the inlet in path to be guided, a certain boundary (example of the locating base station BS2 along path to be guided
Such as, wall) place, between locating base station BS1 and locating base station BS2 can by the distance between being measured from ranging, from
And determine the position of locating base station BS2.In the embodiment shown in fig. 1, the ranging between locating base station BS1 and locating base station BS2
It is to be realized by round trip ranging.Locating base station BS1 emits distance measuring signal S1-2, positioning to locating base station BS2 by antenna ABS1
Distance measuring signal S1-2 is returned to locating base station BS1 by antenna ABS2 again after receiving distance measuring signal S1-2 by base station BS 2, positioning
Base station BS 1 by emit and receive distance measuring signal S1-2 time difference, obtain between locating base station BS1 and locating base station BS2 away from
From.Positioning system is by locating base station BS1 and locating base station the BS2 known referring-to relation placed in path to be guided and determines
Position the distance between base station BS 1 and locating base station BS2, obtain locating base station BS1 and locating base station BS2 in path to be guided
Position.In another embodiment, the position of locating base station BS1 and locating base station BS2 in path to be guided is unknown in advance, positioning
Base station BS 2 can be by being temporarily laid with realization, and installation apparatus or laying personnel are configured with for measurement and positioning base station BS 2 and positioning base
Stand between BS1 the antenna of distance and between measurement and positioning base station BS 2 and locating base station BS1 relative to a certain object of reference it
Between angle antenna, pass through above-mentioned distance and angle, it may be determined that the position of locating base station BS2.
In the embodiment shown in fig. 1, device MS to be positioned include telemetry antenna A0, be used for locating base station BS1 and
It is received between locating base station BS2 or emits distance measuring signal to measure telemetry antenna A0 and locating base station by round trip ranging
The distance between BS1 and the distance between telemetry antenna A0 and locating base station BS2.Specifically, in the embodiment shown in fig. 1,
Locating base station BS1 emits distance measuring signal S1-M, and telemetry antenna A0 is returned to locating base station after receiving distance measuring signal S1-M again
BS1, locating base station BS1 obtain locating base station BS1 and telemetry antenna A0 by the time difference of transmitting and reception distance measuring signal S1-M
Between distance.Similarly, locating base station BS2 emits distance measuring signal S2-M, and telemetry antenna A0 again will after receiving distance measuring signal S2-M
It returns to locating base station BS2, and locating base station BS2 obtains positioning base by the time difference of transmitting and reception distance measuring signal S2-M
The distance stood between BS2 and telemetry antenna A0.It certainly, can be by ranging it will be appreciated by those skilled in the art that in another embodiment
Antenna A0 first again will after receiving distance measuring signal to locating base station BS1 and BS2, locating base station BS1 and BS2 respectively by transmitting distance measuring signal
It returns to mode as telemetry antenna A0 to determine the distance between telemetry antenna A0 and locating base station BS1 and BS2.Positioning
System passes through locating base station BS1 and the distance between locating base station BS2 and telemetry antenna A0 and locating base station BS1 and positioning
The position coordinates of telemetry antenna A0 can be obtained by the method for solving a triangle for the position coordinates of base station BS 2.
In one embodiment, positioning system realizes the positioning to telemetry antenna A0 using TDOA location algorithm, at this point, fixed
Position system includes locating base station known at least three positions.In one embodiment, these locating base stations are to telemetry antenna A0
Emitting positioning signal, the positioning signal that positioning system records each locating base station transmitting reaches the time difference of telemetry antenna A0, and
The location information of telemetry antenna A0 is resolved using the location information of the time difference and each locating base station.In another embodiment
In, telemetry antenna A0 emits positioning signal, and positioning system record location signal reaches the time difference of each locating base station, and utilizes
The location information of the location information of the time difference and each locating base station resolving telemetry antenna A0.
Above embodiment illustrates resolve the position telemetry antenna A0 using double ranging localization algorithms and TDOA location algorithm
Information, however, it is understood by those of ordinary skill in the art that, it is any by being communicated between locating base station system and telemetry antenna
It is a part of the invention to be suitable for the present invention come the method for resolving telemetry antenna A0 location information.
In the embodiment shown in fig. 1, device MS to be positioned further includes direction-finder antenna A1 and A2, wherein direction-finder antenna A1 and
A2 and telemetry antenna A0 is on same straight line and it is relative to being known at a distance from telemetry antenna A0.In one embodiment
In, direction-finder antenna A1 and A2 is equal with the distance between telemetry antenna A0, in a further embodiment, direction-finder antenna A1 and A2 with
The distance between telemetry antenna A0 can also be unequal.In the embodiment shown in fig. 1, direction finding base station system is multiplexed locating base station system
Locating base station BS1 in system comes as direction finding base station, and direction finding base station BS 1 emits two-way direction-finding signal, respectively S-TD1 and S-
TD2, wherein direction-finding signal S-TD1 and direction-finding signal S-TD2 has known transmitting sequential relationship.In one embodiment, two
The one known time of the road interval direction-finding signal S-TD1 and S-TD2 is emitted；In another embodiment, two-way direction finding is believed
Number S-TD1 and S-TD2 emits simultaneously.In yet another embodiment, the transmitting of direction finding base station BS 1 all the way believe by direction-finding signal, the direction finding
It number is received respectively by direction-finder antenna A1 and A2.The direction-finder antenna A1 and A2 of device MS to be positioned receives two-way direction-finding signal respectively
S-TD1 and S-TD2, and device MS to be positioned record direction-finder antenna A1 and A2 are respectively received direction-finding signal S-TD1 and direction finding letter
The temporal information of number S-TD2 to obtain direction-finder antenna A1 and A2 receive direction-finding signal S-TD1 and direction-finding signal S-TD2 when
Between difference TD.Using time difference TD, the position coordinates and telemetry antenna A0 and direction-finder antenna of telemetry antenna A0 and direction finding base station BS 1
The distance between A1 and A2, available direction-finder antenna A1 and A2 is relative to direction finding base station BS 1 towards angle.In the present invention
In, direction-finder antenna A1 and A2 also can be described as device MS to be positioned towards angle relative to survey relative to direction finding base station BS 1
To base station BS 1 towards angle.In order to illustrate more clearly of above-mentioned geometrical relationship, the path that Fig. 2 provides embodiment illustrated in fig. 1 is drawn
The geometrical relationship schematic diagram of each component in guiding systems 100.
It, can be with as shown in Fig. 2, by ranging two-by-two between locating base station BS1, locating base station BS2 and telemetry antenna A0
Obtain the distance L1-M between distance L1-2, locating base station BS1 and the telemetry antenna A0 between locating base station BS1 and locating base station BS2
And the distance L2-M between locating base station BS2 and telemetry antenna A0.Utilize locating base station BS1, locating base station BS2 and telemetry antenna
The position coordinates of A0 distance between any two and locating base station BS1 and locating base station BS2 can by the operation of solving a triangle
To obtain the position coordinates of telemetry antenna A0.In the present invention, the position coordinates of telemetry antenna A0 also can be described as dress to be positioned
Set the position coordinates of MS.In the embodiment shown in fig. 1, the locating base station BS1 in direction finding base station system multiplexing locating base station system
As direction finding base station, direction finding base station BS 1 emits two-way direction-finding signal to device MS to be positioned, respectively S-TD1 and S-TD2 (see
Fig. 1), wherein direction-finding signal S-TD1 and direction-finding signal S-TD2 has known transmitting sequential relationship.In one embodiment, two
Drive test was emitted to the one known time of sigtnal interval；In another embodiment, two-way direction-finding signal emits simultaneously.It is logical
It crosses direction finding base station BS 1 and emits direction-finding signal S-TD1 and direction-finding signal S-TD2, direction-finder antenna A1 and A2 to direction-finder antenna A1 and A2
Above-mentioned direction-finding signal S-TD1 and direction-finding signal S-TD2 is received respectively, and records the time difference that two-way direction-finding signal reaches itself
TD, so as to obtain the range difference LTD1-LTD2 that direction finding base station BS 1 arrives direction-finder antenna A1 and A2, wherein LTD1 is direction finding base
Stand BS1 between direction-finder antenna A1 at a distance from, LTD2 be direction finding base station BS 1 between direction-finder antenna A2 at a distance from.Implementation shown in Fig. 2
In example, three antennas of device MS to be positioned, i.e. antenna A0, antenna A1 and antenna A2 are on same straight line, antenna A1 and day
Distance between line A2 is it is known that be LM.Utilize the distance of the direction-finder antenna A1 and antenna A2 of direction finding base station BS 1 to device MS to be positioned
Distance LM between poor LTD1-LTD2, the position coordinates of telemetry antenna A0 and direction-finder antenna A1 and A2 is available with antenna A1
It is hyp one of focus with A2, and direction finding base station BS 1 is located on above-mentioned hyperbola, therefore, can calculate direction finding day
The specific location of line A1 and A2, so that it is determined that the direction of device MS to be positioned out.More specifically, using direction finding base station BS 1 and surveying
Distance L1-M away from antenna A0, the line of the line of available two focuses of above-mentioned hyperbola, that is, between antenna A1 and antenna A2,
The angle theta of line between direction finding base station BS 1 and antenna A0, the angle theta symbolize the direction of device MS to be positioned.
In the embodiment shown in fig. 1, the locating base station in positioning system multiplexing locating base station system is as direction finding base station.
However, it is understood by those of ordinary skill in the art that in other embodiments, direction finding base station be also possible to different from locating base station its
His base station.In addition, in one embodiment, multiple base stations are equipped on path to be guided, positioning system can choose these bases
Distance device MS to be positioned is nearest in standing one is used as direction finding base station, no matter whether it is positioning base in locating base station system
It stands.
In the illustrated embodiment of Fig. 1~2, device MS to be positioned includes two direction-finder antennas A1 and A2.However, this field skill
Art personnel should be appreciated that in another embodiment device MS to be positioned can be multiplexed telemetry antenna A0 as a direction finding day
Line.
Route guidance system 100 shown in Fig. 1 and 2 further includes master controller, is used for according to telemetry antenna A0 and survey
Instruction of advancing is issued to the position of antenna A1 and A2 and preset path to device MS to be positioned.
Fig. 3 shows the route guidance system 300 of another embodiment according to the present invention.Draw with Fig. 1 and path shown in Fig. 2
Guiding systems 100 are compared, and in route guidance system 300, direction finding base station system includes two direction finding base stations, are multiplexed locating base station
Locating base station BS1 and BS2 in system, and device MS to be positioned include a direction-finder antenna A1, and the direction-finder antenna A1 with
Known to the distance of telemetry antenna A0.Described two direction finding base station BSs 1 and BS2 to direction-finder antenna A1 transmitting direction-finding signal S-TD1 and
S-TD2.The direction-finding signal S-TD1 and S-TD2 has known transmitting sequential relationship, in one embodiment, direction-finding signal
S-TD1 and S-TD2 emit simultaneously, and in another embodiment, duration known to the interval direction-finding signal S-TD1 and S-TD2 is successively sent out
It penetrates.Positioning system records the time difference that the direction-finding signal S-TD1 and S-TD2 reaches direction-finder antenna A1, and then available survey
To the range difference of base station BS 1 and BS2 and direction-finder antenna A1.Route guidance system 300 is according to the range difference and direction finding base station
The position coordinates of BS1 and BS2, it is available using direction finding base station BS 1 and BS2 as hyp one of focus, and direction-finder antenna
A1 is located on above-mentioned hyperbola, the position coordinates and direction-finder antenna A1 further according to telemetry antenna A0 and telemetry antenna A0 away from
From the specific location of direction-finder antenna A1 can be calculated.To further, it may be determined that go out device MS to be positioned relative to direction finding
The direction of base station BS 1 or BS2.
Fig. 4 shows the route guidance system 400 of another embodiment according to the present invention.Draw with Fig. 1 and path shown in Fig. 2
Guiding systems 100 are compared, and in route guidance system 400, device MS to be positioned includes a direction-finder antenna A1, and the direction finding day
Known at a distance from line A1 and telemetry antenna A0.Route guidance system 400 is using locating base station BS1 as direction finding base station, the direction finding
It is received between base station BS 1 and direction-finder antenna A1 or emits distance measuring signal S-TD1 to measure direction finding base station by round trip ranging
The distance between BS1 and direction-finder antenna A1.Specifically, in the embodiment shown in fig. 4, direction finding base station BS 1 emits direction-finding signal S-
TD1, direction-finder antenna A1 are returned to direction finding base station BS 1 after receiving direction-finding signal S-TD1 again.Certainly, in another embodiment
In, direction-finding signal S-TD1 can be emitted by direction-finder antenna A1, direction finding base station BS 1 returns it into again after receiving direction-finding signal S-TD1
Give direction-finder antenna A1.Route guidance system 400 utilizes the distance between direction finding base station BS 1 and direction-finder antenna A1 and direction finding base
The position coordinates of BS1 of standing are obtained with direction finding base station BS 1 as the center of circle, using the distance as the circumference of radius, further according to telemetry antenna
The position coordinates and the distance between telemetry antenna A0 and direction-finder antenna A1 of A0 are available using telemetry antenna A0 as the center of circle, with
The distance between telemetry antenna A0 and direction-finder antenna A1 are another circumference of radius.The intersection point of above-mentioned two circumference is direction-finder antenna
The specific location of A1.Thus it is possible to further determine direction of the device MS to be positioned relative to direction finding base station BS 1.
It can be seen that in invention from the illustrated embodiment of Fig. 1~4, formed between direction finding base station system and direction-finder antenna
Communication can be two-way communication or communicate all the way, can be two-way communication and is also possible to one-way communication, can be direction finding base station system
System emits signal and direction-finder antenna reception signal can also be conversely, should be depending on specific communication structure.Correspondingly, according to different
Communication means, the temporal information communicated between direction finding base station system and direction-finder antenna can be the time and be also possible to the time difference.
In the illustrated embodiment of Fig. 1~4, locating base station multiplexing is used as direction finding base station, and certainly, those skilled in the art should
Understand, in other embodiments, the direction finding base station in direction finding base station system, which may not necessarily be also multiplexed in locating base station system, determines
Position base station, or the part locating base station that can also be multiplexed in locating base station system.
It in one embodiment, include multiple base stations in path to be guided, direction finding base station is in these base stations apart from direction finding
The nearest base station of antenna.
In one embodiment, distance measuring signal and direction-finding signal are ultra wide band (UWB, Ultra Wideband) signal.
In illustrated embodiment of the present invention, not only the position coordinates of available device MS to be positioned, can also determine it
Relative to the direction of locating base station, under the path low visibility to be guided or undetermined can not take one's bearings for personnel
When, from direction and displacement, two levels guide personnel to be positioned to enter default route.For example, in the situation of fire-fighting fire extinguishing, hair
May be dense due to smog in the building for calamity of lighting a fire, cause the fire fighter in building that can not identify rescue or best-effort path,
At this point, can be guided using the present invention to it.
Fig. 5 provides a kind of application scenarios schematic diagram of the route guidance system 500 of embodiment according to the present invention.Wherein, road
It illustratively includes locating base station BS1, locating base station BS2 and locating base station BS3 and device to be positioned that diameter, which guides system 500,
MS.By ranging and locating base station BS1 between device MS to be positioned distance nearest two locating base stations BS1 and BS2 and
The locating base station BS2 ranging between device MS to be positioned respectively, can know the position coordinates of device MS to be positioned.In a reality
Apply in example, the method for determining two locating base stations with device MS to be positioned recently be where controlling device MS to be positioned to
Whole locating base stations and device MS to be positioned in path of navigation carry out ranging, therefrom two nearest locating base stations of selected distance
As the direction finding base station in Fig. 1 or embodiment illustrated in fig. 2, and realize subsequent step.Device to be positioned in embodiment illustrated in fig. 5
The route to be reached of MS is in Fig. 5 shown in arrow, and therefore, locating base station BS2 is in device MS to be positioned and route to be reached
With device MS to be positioned apart from nearest locating base station, so that route guidance system 500 is using locating base station BS2 as direction finding base
It stands, and controls direction finding base station BS 2 and emit direction-finding signal to device MS to be positioned.And it is determined using the method for embodiment illustrated in fig. 2
The position and orientation of device MS to be positioned, master controller further according to device to be positioned position and orientation to device MS to be positioned
Instruction of advancing is sent, is made it into route to be reached.Route guidance system 500 is repeated once above-mentioned step at interval of certain realization
Suddenly, to obtain the position and orientation after device MS following time interval to be positioned, until completion guidance of reaching home.
Fig. 6 provides a kind of modular diagram of the locating base station 600 of embodiment according to the present invention.Locating base station 600 is wrapped
Include range finder module 601, direction-finding signal transmitting module 602, wireless communication module 603 and antenna 604.Range finder module 601 is used for
Realization and the distance measurement function between device MS to be positioned or other locating base stations.In one embodiment, range finder module 601 generates fixed
Position signal, and via other devices of the transmitting of antenna 604 to ranging therewith, antenna 604 also receives other devices of ranging therewith
The positioning signal of return, and it is back to range finder module 601, range finder module 601 is returned by calculating transmitting positioning signal and receiving
The time difference information for the positioning signal returned, obtains the range information of locating base station 600 Yu other devices, and be sent to wireless communication
Above-mentioned range information is sent to master controller by module 603, wireless communication module 603.In another embodiment, antenna 604
The positioning signal for receiving the transmitting of other devices is transferred to range finder module 601, and range finder module 601 returns to a drive test by antenna 604
Away from signal.Route guidance system sends direction finding instruction to locating base station 600, after wireless communication module 603 receives direction finding instruction
It is transmitted to direction-finding signal transmitting module 602, is sent out after the reception direction finding instruction of direction-finding signal transmitting module 602 to device MS to be positioned
Direction-finding signal is penetrated, the direction-finding signal can be signal all the way, be also possible to the two paths of signals of known transmission time interval.One
In a embodiment, distance measuring signal and direction-finding signal are ultra-broadband signal.Again in one embodiment, locating base station 600 will be surveyed
Direction-finding signal receiving module is replaced with to signal emission module, receives the direction-finding signal that device MS to be positioned is sent, and record it
The temporal information of itself is reached, and with the temporal information phase operation of other locating base stations record, it is above-mentioned to obtain direction-finding signal arrival
The time difference of locating base station, and then obtain the orientation information of device to be positioned.
Fig. 7 provides a kind of modular diagram of the device to be positioned 700 of embodiment according to the present invention.Device to be positioned
700 include range finder module 701, direction-finding signal receiving module 702, wireless communication module 703, telemetry antenna 704 and the first survey
To antenna 705 and the second direction-finder antenna 706.The ranging in range finder module 701 and locating base station 600 in device 700 to be positioned
The effect of module 601 is identical, contributes to realize the distance measurement function with other devices.In one embodiment, range finder module 701
Positioning signal is generated, and via other devices of the transmitting of telemetry antenna 704 to ranging therewith, telemetry antenna 704 is also received therewith
The positioning signal that other devices of ranging return, and it is back to range finder module 701, range finder module 701 is by calculating transmitting positioning
The time difference information of signal and the positioning signal for receiving return obtains the range information of device 700 and other devices to be positioned,
And it is sent to wireless communication module 703, above-mentioned range information is sent to master controller by wireless communication module 703.Another
In embodiment, the positioning signal that telemetry antenna 704 receives the transmitting of other devices is transferred to range finder module 701, and range finder module 701 is logical
It crosses telemetry antenna 704 and returns to distance measuring signal all the way.First direction-finder antenna 705 and the second direction-finder antenna 706 are received respectively from certain
The direction-finding signal of one locating base station, and it is transmitted to direction-finding signal receiving module 702, direction-finding signal receiving module 702 records ranging
Signal arrives separately at the temporal information of the first direction-finder antenna 705 and the second direction-finder antenna 706, in one embodiment, when described
Between information be time difference information.Above-mentioned temporal information is transmitted to wireless communication module 703, nothing by direction-finding signal receiving module 702
Above-mentioned temporal information is transmitted to master controller in turn by line communication module.In one embodiment, telemetry antenna 704 can be with
One side is multiplexed to antenna 705 or the second side to antenna 706.Again in one embodiment, device 700 to be positioned connects direction-finding signal
It receives module and replaces with direction-finding signal transmitting module, direction-finding signal transmitting module generates direction-finding signal, and via a certain lateral antenna
Transmitting is to two direction finding base stations, at this point, the lateral antenna is different antennas from telemetry antenna 704.
Fig. 8 provides the stream of a kind of method 800 that Route guiding is carried out in path to be guided of embodiment according to the present invention
Cheng Tu.Path guide method 800 includes：
Step 801：It is arranged on device to be positioned apart from known telemetry antenna and direction-finder antenna；
Step 802：Utilize the position communicated between locating base station system and telemetry antenna to determine telemetry antenna；
Step 803：It is communicated using direction finding base station system with direction-finder antenna to obtain call duration time information；
Step 804：Pass through the distance of call duration time information, telemetry antenna and direction-finder antenna, the position of telemetry antenna and survey
The position of direction-finder antenna is resolved to the position of base station system；
Step 805：According to the position of telemetry antenna, the position of direction-finder antenna, direction finding base station system position determine it is undetermined
Position and direction of the position device relative to direction finding base station system.
In one embodiment, path guide method 800 further includes that multiple locating base stations are arranged in path to be guided, often
Distance measuring signal is received and dispatched between two neighboring locating base station with mutual ranging so that it is determined that each locating base station is in path to be guided
Position.In one embodiment, Radio Link is established between each adjacent two locating base station to realize the distal end relay of information
Transmitting.These information can be the position of telemetry antenna, the position of direction-finder antenna, direction finding base station system position, be also possible to
Call duration time information etc..In one embodiment, path guide method 800 further includes according to device to be positioned in path to be guided
In position and towards and preset path to device to be positioned issue advance instruction.
The invention discloses a kind of path guiding device, system and method, realizes and treating positioning device MS progress
While positioning, can also determine its direction relative to locating base station, thus under the path low visibility to be guided or
Undetermined when can not take one's bearings for personnel, from direction and displacement, two levels guide personnel to be positioned to enter default route.
As the above mentioned, although having illustrated and described the preferred embodiment of the present invention, without departing substantially from this hair
In the case where bright spirit and scope, many changes can be carried out.The scope of the present invention is not by the open institute of preferred embodiment as a result,
Limitation.But the present invention should be determined entirely by reference to following claims.
Claims (12)
1. a kind of positioning system, including：
Device to be positioned, configured with telemetry antenna and direction-finder antenna, known to the distance of telemetry antenna and direction-finder antenna；
Locating base station system is communicated between telemetry antenna to resolve the position of telemetry antenna；And
Direction finding base station system is formed between direction-finder antenna and is communicated, positioning system record direction finding base station system and direction-finder antenna it
Between the temporal information that communicates, and by call duration time information, the distance of telemetry antenna and direction-finder antenna, telemetry antenna position and
The position of direction finding base station system is to resolve the position of direction-finder antenna.
2. positioning system as described in claim 1, which is characterized in that locating base station system includes the first locating base station and second
Locating base station, wherein received and dispatched between the first locating base station and telemetry antenna and between the second locating base station and telemetry antenna
Distance measuring signal is to measure between the first locating base station and telemetry antenna and the distance between the second locating base station and telemetry antenna
To by the distance between the distance between the first locating base station and telemetry antenna, the second locating base station and telemetry antenna and
The position of the position of first locating base station and the second locating base station resolving telemetry antenna.
3. positioning system as claimed in claim 2, which is characterized in that the position of the first locating base station is it is known that the second positioning base
The position stood is by receiving and dispatching distance measuring signal between the first locating base station and the second locating base station to measure the first locating base station
The distance between second locating base station is resolved.
4. positioning system as described in claim 1, which is characterized in that direction finding base station system includes a direction finding base station, direction finding
Antenna includes the first direction-finder antenna and the second direction-finder antenna, direction finding base station and the first direction-finder antenna and the second direction-finder antenna respectively into
Row communication is poor with the call duration time for obtaining two-way communication, and positioning system is poor by call duration time, telemetry antenna and the first direction finding day
The position of the distance of line, the position of telemetry antenna and direction finding base station is to resolve the position of the first direction-finder antenna.
5. positioning system as described in claim 1, which is characterized in that direction finding base station system includes the first direction finding base station and second
Direction finding base station, the first direction finding base station and the second direction finding base station are communicated with direction-finder antenna respectively to obtain the communication of two-way communication
Time difference, positioning system is poor by call duration time, the position and first of the distance of telemetry antenna and direction-finder antenna, telemetry antenna
The position of direction finding base station and the second direction finding base station is to resolve the position of direction-finder antenna.
6. positioning system as described in claim 1, wherein locating base station system and direction finding base station system are multiplexed base station to resolve
The position of telemetry antenna and direction-finder antenna.
7. a kind of route guidance system, including：
Positioning system as described in any one of claim 1 to 6；And
Master controller is issued to device to be positioned for the position and preset path according to telemetry antenna and direction-finder antenna and is gone
Into instruction.
8. route guidance system as claimed in claim 7, wherein positioning system includes multiple base stations, the locating base station system
In system direction finding base station included in included locating base station and direction finding base station system be in positioning system with device to be positioned
Apart from nearest base station.
9. a kind of method that Route guiding is carried out in path to be guided, including：
It is arranged on device to be positioned apart from known telemetry antenna and direction-finder antenna；
The position to determine telemetry antenna is communicated with telemetry antenna using locating base station system；
It is communicated using direction finding base station system with direction-finder antenna to obtain call duration time information；
Pass through the distance of call duration time information, telemetry antenna and direction-finder antenna, the position of telemetry antenna and direction finding base station system
Position is to resolve the position of direction-finder antenna；And
Determine device to be positioned wait draw according to the position of the position of telemetry antenna, the position of direction-finder antenna, direction finding base station system
Position and direction in guiding path.
10. path guide method as claimed in claim 9 further includes arranging multiple locating base stations in path to be guided, often
Distance measuring signal is received and dispatched between two neighboring locating base station with mutual ranging so that it is determined that each locating base station is in path to be guided
Position.
11. path guide method as claimed in claim 10, wherein establish Radio Link between each adjacent two locating base station
To realize that the distal end of information is delivered in relays.
12. path guide method as claimed in claim 9 further includes the position according to device to be positioned in path to be guided
Instruction of advancing is issued to device to be positioned with direction and preset path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810667536.7A CN108896960B (en) | 2018-06-26 | 2018-06-26 | Positioning system and path guiding system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810667536.7A CN108896960B (en) | 2018-06-26 | 2018-06-26 | Positioning system and path guiding system and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108896960A true CN108896960A (en) | 2018-11-27 |
| CN108896960B CN108896960B (en) | 2022-08-23 |
Family
ID=64346379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810667536.7A Active CN108896960B (en) | 2018-06-26 | 2018-06-26 | Positioning system and path guiding system and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108896960B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110646778A (en) * | 2019-08-27 | 2020-01-03 | 四川中电昆辰科技有限公司 | Time difference of flight acquisition system and method |
| GB2622778A (en) * | 2022-09-26 | 2024-04-03 | Nokia Technologies Oy | Orientation determination in telecommunication systems |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020097184A1 (en) * | 2000-02-17 | 2002-07-25 | Mayersak Joseph R. | Location of radio frequency emitting targets |
| US20040023671A1 (en) * | 2002-07-31 | 2004-02-05 | Interdigital Technology Corporation | Method for enhanced mobile assisted positioning |
| US20070252761A1 (en) * | 2006-04-27 | 2007-11-01 | Havish Koorapaty | Method and arrangement for base station location, base station synchronization, and mobile station location |
| JP2010028527A (en) * | 2008-07-22 | 2010-02-04 | Fujitsu Ltd | Wireless positioning system |
| CN101685152A (en) * | 2003-06-30 | 2010-03-31 | 樊天蔚 | Method and system for determining a location of a wireless transmitting device and guiding the search for the same |
| WO2010099900A1 (en) * | 2009-03-03 | 2010-09-10 | Deutsche Telekom Ag | Method and system for locating in mobile radio communication networks by means of direction finding with directional antennas |
| WO2011091641A1 (en) * | 2010-01-29 | 2011-08-04 | 中兴通讯股份有限公司 | System and method for terminal location |
| CN105158728A (en) * | 2015-09-14 | 2015-12-16 | 镇江亿海软件有限公司 | Search and rescue apparatus and method based on wireless direction finding and positioning |
| CN107426692A (en) * | 2017-05-31 | 2017-12-01 | 杨涌 | A kind of localization method and system based on more radio frequency multi-antennas |
-
2018
- 2018-06-26 CN CN201810667536.7A patent/CN108896960B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020097184A1 (en) * | 2000-02-17 | 2002-07-25 | Mayersak Joseph R. | Location of radio frequency emitting targets |
| US20040023671A1 (en) * | 2002-07-31 | 2004-02-05 | Interdigital Technology Corporation | Method for enhanced mobile assisted positioning |
| CN101685152A (en) * | 2003-06-30 | 2010-03-31 | 樊天蔚 | Method and system for determining a location of a wireless transmitting device and guiding the search for the same |
| US20070252761A1 (en) * | 2006-04-27 | 2007-11-01 | Havish Koorapaty | Method and arrangement for base station location, base station synchronization, and mobile station location |
| JP2010028527A (en) * | 2008-07-22 | 2010-02-04 | Fujitsu Ltd | Wireless positioning system |
| WO2010099900A1 (en) * | 2009-03-03 | 2010-09-10 | Deutsche Telekom Ag | Method and system for locating in mobile radio communication networks by means of direction finding with directional antennas |
| WO2011091641A1 (en) * | 2010-01-29 | 2011-08-04 | 中兴通讯股份有限公司 | System and method for terminal location |
| CN105158728A (en) * | 2015-09-14 | 2015-12-16 | 镇江亿海软件有限公司 | Search and rescue apparatus and method based on wireless direction finding and positioning |
| CN107426692A (en) * | 2017-05-31 | 2017-12-01 | 杨涌 | A kind of localization method and system based on more radio frequency multi-antennas |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110646778A (en) * | 2019-08-27 | 2020-01-03 | 四川中电昆辰科技有限公司 | Time difference of flight acquisition system and method |
| GB2622778A (en) * | 2022-09-26 | 2024-04-03 | Nokia Technologies Oy | Orientation determination in telecommunication systems |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108896960B (en) | 2022-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10979567B1 (en) | Alarm method and system | |
| USRE47013E1 (en) | Method for measuring location of radio frequency identification reader by using beacon | |
| ES2752756T3 (en) | Zone-based lighting access | |
| KR101214503B1 (en) | Indoor measuring service system using beacon nodes | |
| EP1851978B1 (en) | System and method for asset location in wireless networks | |
| US6741863B1 (en) | Method and apparatus for locating a wireless mobile unit | |
| AU2004301199A1 (en) | A method and apparatus for finding a mobile radio terminal | |
| JP2009504529A (en) | Elevator car calling method using wireless node network and system therefor | |
| KR101247964B1 (en) | Method for Measuring Location of Radio Frequency Identification Reader by Using Beacon | |
| ITRM970525A1 (en) | PROCESS AND LOCALIZATION APPARATUS IN WIRELESS COMMUNICATION SYSTEMS | |
| CN107172592B (en) | Indoor positioning method and mobile equipment | |
| KR20130085024A (en) | Method for measuring 3 dimensional location using visible light communication indoor and system thereof, and method for providing location based service | |
| KR20150141299A (en) | Solution for providing real-time positioning and escaping route correspond to disaster | |
| CN108896960A (en) | Positioning system and route guidance system and its method | |
| KR101711275B1 (en) | Node network and device for providing location information | |
| KR101081684B1 (en) | Urgency rescue system and method of detecting location of target | |
| KR20160121038A (en) | Location and route guidance system and method at inside of ship and ship with the same | |
| US9622028B2 (en) | Methods and arrangements for high accuracy positioning | |
| KR20190060266A (en) | Apparatus and method for recognizing location of target using two unmanned aerial vehicles | |
| US20230336942A1 (en) | Medical device alarm method and system | |
| WO2019182179A1 (en) | Wireless positioning method based on combination of wi-fi ap and ibeacon | |
| Eduard et al. | Infrastructure-Less Long-Range Train-Arrival Notification System | |
| US20220390547A1 (en) | Indoor Localization Using Bluetooth High-Accuracy Distance Measurement | |
| KR102564549B1 (en) | System for monitering occupant and guiding evacuation route and method thereof | |
| US20230165464A1 (en) | Medical device alarm method and system |
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 |