CN109392086A - A kind of method and system of the more base station locations of multizone - Google Patents

A kind of method and system of the more base station locations of multizone Download PDF

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Publication number
CN109392086A
CN109392086A CN201710671758.1A CN201710671758A CN109392086A CN 109392086 A CN109392086 A CN 109392086A CN 201710671758 A CN201710671758 A CN 201710671758A CN 109392086 A CN109392086 A CN 109392086A
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China
Prior art keywords
base station
calculation unit
coordinate
minimum calculation
distance
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CN201710671758.1A
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钟裕山
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Shenzhen Runan Science And Technology Development Co Ltd
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Shenzhen Runan Science And Technology Development Co Ltd
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Priority to CN201710671758.1A priority Critical patent/CN109392086A/en
Publication of CN109392086A publication Critical patent/CN109392086A/en
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W56/00Synchronisation arrangements
    • H04W56/001Synchronization between nodes

Abstract

The embodiment of the invention discloses a kind of method and system of the more base station locations of multizone, the grade classification of principal and subordinate is done to each base station in LE engine of positioning, each base station and the LE engine of positioning are by CCP synchronization packets come transmission time synchronizing information;The coordinate of more base stations in each region is obtained respectively;Obtain the position of the base station in each region;The vertical point of each base station is obtained to the second distance between each base station in the first distance of preset coordinate axis origin and the same area, and obtains the third distance on the antenna distance ground of each base station;The coordinate of the base station is determined according to the first distance, the second distance and third distance.Coordinate system can be unified into a coordinate system through this embodiment and carry out location information displaying to 2D map or 3D model.

Description

A kind of method and system of the more base station locations of multizone
Technical field
The present embodiments relate to the method for the technical field of communication more particularly to a kind of more base station locations of multizone and it is System.
Background technique
In recent years, with the continuous development of wireless near field communication and mobile network's technology, location based service (location-based service, LBS) is increasingly valued by people.Global positioning system (global Positioning system, GPS) in outdoor location information can be provided, but indoors due to building under environment Block, the features such as floor density is larger and can not work normally.In this case, occur using infrared ray, WiFi, The indoor positioning scheme of the carrier technology such as Zigbee, but all do not reach extraordinary effect.WiFi technology is due to its energy consumption It is larger, and it is easy the interference by signal, the range of signal covering is also limited only to the space within 90m, so the technology Advantage is not obvious;ZigBee technology is although have many advantages, such as that low-power consumption, low cost, communication efficiency are high, positioning result Unstable, system reliability is not strong.
Ultra wide band (ultra-wide band, UWB) technology is to transmit data by ultra-narrow pulse rather than pass through tradition Carrier wave transmit data, cause its data transmission bauds high, in addition to this, UWB technology has that system complexity is low, information Highly-safe, the advantages that anti-multipath fading ability is strong, become the spotlight in wireless positioning field.But in practical application often It is related to the accurate positioning to multiple big regions but is only limitted to a zonule accurate positioning using UWB technology on the market at present, It is difficult to meet practical application.
Summary of the invention
The purpose of the embodiment of the present invention is to propose a kind of method and system of more base station locations of multizone, it is intended to solve such as What realizes the problem of more base station locations in multizone.
For this purpose, the embodiment of the present invention uses following technical scheme:
In a first aspect, a kind of method of the more base station locations of multizone, which comprises
The grade classification of principal and subordinate is done to each base station in LE engine of positioning, each base station and the LE engine of positioning pass through CCP synchronization packets carry out transmission time synchronizing information;Wherein, main subdivision is main main and secondary master, is chosen in the preset range A base station in base station to be positioned is decided master base station, and the main master base station pairing is successively associated with master base station from base station, if There is secondary master base station, then time main pairing is successively associated with secondary master base station from base station, and secondary master base station is associated with main master base station again;
The coordinate of more base stations in each region is obtained respectively;
The position of the base station in each region is obtained, the position is with the vertical point of antenna for base station to ground;
The vertical point of each base station is obtained to each base station in the first distance of preset coordinate axis origin and the same area Between second distance, and obtain the third distance on the antenna distance ground of each base station;
The coordinate of the base station is determined according to the first distance, the second distance and third distance.
Optionally, the coordinate for obtaining more base stations in each region respectively, comprising:
Base station to be positioned in preset range is split as a minimum calculation unit, and each minimum calculation unit is set The adjacent minimum calculation unit of all directions;
The first coordinate value for calculating at least minimum calculation unit of n times, the root again after first coordinate value is stablized Current minimum calculation unit is obtained according to first coordinate value and geometry injection collimation method traversal;
The second coordinate value for calculating at least M current minimum calculation unit, if between second coordinate value Difference then obtains the corresponding coordinate average value of second coordinate value in preset first threshold value;
Using the coordinate average value as the static coordinate value of positioning label, using the data structure of map nesting according to pass Key value Key quickly finds next minimum calculation unit that positioning label is moved to.
Optionally, the method also includes:
If the difference between second coordinate value not in the first threshold, uses the data structure of map nesting Next minimum calculation unit that positioning label is moved to quickly is found according to key value Key;
Obtain the coordinate value of at least K next minimum calculation unit;
If at least K coordinate value differs by more than second threshold, terminate more base station location programs, and return to execution The step of adjacent minimum calculation unit of each minimum calculation unit all directions is set.
Optionally, the method also includes:
If at least K coordinate value is not more than the second threshold, the seat of next minimum unit is exported Scale value, and return to the step of executing the adjacent minimum calculation unit that each minimum calculation unit all directions are set.
Optionally, the method also includes:
If there are delay time errors between more base stations, delay time error is reduced using least square method.
Second aspect, a kind of system of the more base station locations of multizone, the system comprises:
LE engine of positioning, positioning label and at least four base stations;
The LE engine of positioning, for doing the grade classification of principal and subordinate to each base station, each base station and LE positioning are drawn It holds up through CCP synchronization packets come transmission time synchronizing information;Wherein, main subdivision is main main and secondary master, chooses the default model A base station in base station to be positioned in enclosing is decided master base station, and the main master base station pairing is successively closed with master base station from base station Connection, if there is secondary master base station, time main pairing is successively associated with secondary master base station from base station, secondary master base station again with main master base station Association;The coordinate of more base stations in each region is obtained respectively;The position of the base station in each region is obtained, the position is with base station Vertical point of the antenna to ground;The vertical point of each base station is obtained to the first distance and the same area of preset coordinate axis origin Second distance between interior each base station, and obtain the third distance on the antenna distance ground of each base station;According to described first Distance, the second distance and third distance determine the coordinate of the base station;
The positioning label, for timing and the base station communication, the base station Xiang Suoshu sends unique identification information.
Optionally, the LE engine of positioning, also particularly useful for:
Base station to be positioned in preset range is split as a minimum calculation unit, and each minimum calculation unit is set The adjacent minimum calculation unit of all directions;The first coordinate value for calculating at least minimum calculation unit of n times, described First coordinate value traverses further according to first coordinate value and geometry injection collimation method after stablizing and obtains current minimum calculation unit;Meter The second coordinate value of at least M current minimum calculation unit is calculated, if the difference between second coordinate value is default In first threshold, then the corresponding coordinate average value of second coordinate value is obtained;Using the coordinate average value as positioning label Static coordinate value, using the data structure of map nesting according to key value Key quickly find positioning label be moved to it is next A minimum calculation unit.
Optionally, the LE engine of positioning, also particularly useful for:
If the difference between second coordinate value not in the first threshold, uses the data structure of map nesting Next minimum calculation unit that positioning label is moved to quickly is found according to key value Key;It obtains under at least K times described The coordinate value of one minimum calculation unit;If at least K coordinate value differs by more than second threshold, it is fixed to terminate more base stations Position program, and return to the adjacent minimum calculation unit for executing and each minimum calculation unit all directions being set.
Optionally, the LE engine of positioning, also particularly useful for:
If at least K coordinate value is not more than the second threshold, the seat of next minimum unit is exported Scale value, and return to the adjacent minimum calculation unit for executing and each minimum calculation unit all directions being set.
Optionally, the LE engine of positioning, also particularly useful for:
If there are delay time errors between more base stations, delay time error is reduced using least square method.
The method and system of the more base station locations of a kind of multizone provided in an embodiment of the present invention, to every in LE engine of positioning The grade classification of principal and subordinate is done in a base station, and each base station and the LE engine of positioning are same come transmission time by CCP synchronization packets Walk information;Wherein, main subdivision is main main and secondary master, and the base station chosen in the base station to be positioned in the preset range is decided Master base station, the main master base station pairing is successively associated with master base station from base station, if there is secondary master base station, described main pairing It is successively associated with from base station with time master base station, secondary master base station is associated with main master base station again;More base stations in each region are obtained respectively Coordinate;The position of the base station in each region is obtained, the position is with the vertical point of antenna for base station to ground;Obtain each base station Vertical point to the second distance between each base station in the first distance of preset coordinate axis origin and the same area, and obtain The third distance on the antenna distance ground of each base station;According to the first distance, the second distance and the third distance Determine the coordinate of the base station.An engine of positioning LE can at most access 100 base stations in practical applications, a building having With regard to needing multiple LE, LE each in this way to have an independent coordinate system.When all localization regions have oneself independently LE engine of positioning and corresponding coordinate system.It, through this embodiment can be by coordinate on over all Integration interface (interface 2D, 3D) System is unified into a coordinate system and carries out location information displaying to 2D map or 3D model.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the method for the more base station locations of multizone provided in an embodiment of the present invention;
Fig. 2 is a kind of method schematic diagram of base station location provided in an embodiment of the present invention;
Fig. 3 is the flow diagram of the method for the more base station locations of another multizone provided in an embodiment of the present invention;
Fig. 4 is the flow diagram of the method for the more base station locations of another multizone provided in an embodiment of the present invention;
Fig. 5 is a kind of structural schematic diagram of the system of the more base station locations of multizone provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this Locate described specific embodiment and is used only for explaining the embodiment of the present invention, rather than the restriction to the embodiment of the present invention.In addition also It should be noted that only parts related to embodiments of the present invention are shown rather than entire infrastructure for ease of description, in attached drawing.
It is a kind of process signal of the method for the more base station locations of multizone provided in an embodiment of the present invention with reference to Fig. 1, Fig. 1 Figure.
As shown in Figure 1, the method for the more base station locations of multizone includes:
Step 101, the grade classification of principal and subordinate, each base station and LE positioning are done to each base station in LE engine of positioning Engine is by CCP synchronization packets come transmission time synchronizing information;Wherein, main subdivision is main main and secondary master, is chosen described default A base station in base station to be positioned in range is decided master base station, the main master base station pairing from base station successively and master base station Association, if there is secondary master base station, time main pairing is successively associated with secondary master base station from base station, secondary master base station again with main base It stands association;
If base station 1 is main master base station, base station specifically, number consecutively is base station 1-8 as shown in Fig. 2, there is 8 base stations 2, base station 3, base station 4 are them from base station, base station 6 be it is time main, base station 3, base station 4, base station 5, base station 7, base station 8 are its slave bases It stands, the group of 6,4,3,5 connection of base station is base station 1,2,3,4 and base station 6,5,8,7, i.e. label only can be mobile in 3 regions, fortune It is carried out chasing after total direction of motion with this principle, to improve registration in a wide range of positioning.
TDOA (reaching time-difference) is the time difference that two base stations are reached by detection signal, rather than the absolute time reached Between determine the position of mobile station, reduce time synchronization requirement.4 TDOA, label position are measured using 4 base station bidirectional rangings In on the hyp intersection point that two TDOA are determined, other two TDAO, to be increased to the accuracy of time, changes as correction The accuracy of kind positioning.
Step 102, the coordinate of more base stations in each region is obtained respectively;
Wherein, a computing unit of minimum calculation unit i.e. 4 base station composition.
Optionally, the coordinate for obtaining more base stations in each region respectively, comprising:
Base station to be positioned in preset range is split as a minimum calculation unit, and each minimum calculation unit is set The adjacent minimum calculation unit of all directions;
The first coordinate value for calculating at least minimum calculation unit of n times, the root again after first coordinate value is stablized Current minimum calculation unit is obtained according to first coordinate value and geometry injection collimation method traversal;
Specifically, calculating step:
1) TDOA value is calculated with the time that the time of antenna for base station return pulse signal and positioning label send pulse signal, Reach the difference of arrival time;
2) the TDOA value of calculating is calculated into positioning coordinate value with mathematics least square method.
The first coordinate value for calculating at least minimum calculation unit of n times, in the first coordinate value error in 5 meters It is as stable, after stablizing (successively to multiple minimum calculation units further according to first coordinate value and geometry injection collimation method traversal Determine the first coordinate value in that minimum calculation unit area coordinate), obtain current minimum calculation unit.
The second coordinate value for calculating at least M current minimum calculation unit, if between second coordinate value Difference then obtains the corresponding coordinate average value of second coordinate value in preset first threshold value;
Using the coordinate average value as the static coordinate value of positioning label, using the data structure of map nesting according to pass Key value Key quickly finds next minimum calculation unit that positioning label is moved to.
Wherein, the key value Key is minimum calculation unit unique key value Key.
Specifically, a wide range of interior all base stations for participating in positioning are split into minimum calculation unit i.e. 4 one by one by this algorithm A base station is a computing unit, and the adjacent minimum calculation unit of each minimum calculation unit all directions is then arranged, by It is random in the movement of positioning label, so first calculating coordinate value more than three times, is sat after waiting coordinates to stablize further according to current The injection collimation method of scale value geometry judges in that minimum calculation unit, is less than or equal to 0.3 meter according to continuous 3 coordinate values difference Judge whether label is static, be averaged as label static coordinate value, then using the data structure of map nesting according to key Value Key quickly finds next minimum calculation unit that label is moved to, and further according to the continuity of tag location, rejects 2 times Coordinate value differs by more than 5 meters of location data, and calculated value corrects out accurate coordinate value next time.
Step 103, the position of the base station in each region is obtained, the position is with the vertical point of antenna for base station to ground;
Wherein, multiple base stations are fixed on a place, such as roof, bracket, wall etc..
Step 104, it obtains in the vertical point to the first distance of preset coordinate axis origin and the same area of each base station Each base station between second distance, and obtain the third distance on the antenna distance ground of each base station;
Step 105, the seat of the base station is determined according to the first distance, the second distance and third distance Mark.
The method of the more base station locations of a kind of multizone provided in an embodiment of the present invention, to each base station in LE engine of positioning Do the grade classification of principal and subordinate, each base station and the LE engine of positioning are by CCP synchronization packets come transmission time synchronizing information; Wherein, main subdivision is main main and secondary master, chooses a base station in the base station to be positioned in the preset range and decides master base station, The main master base station pairing successively be associated with master base station from base station, if there is secondary master base station, the secondary main pairing from base station It is successively associated with time master base station, secondary master base station is associated with main master base station again;The coordinate of more base stations in each region is obtained respectively;It obtains The position of the base station in each region is taken, the position is with the vertical point of antenna for base station to ground;Obtain the vertical of each base station Second distance between each base station of the point to the first distance of preset coordinate axis origin and in the same area, and obtain each base The third distance on the antenna distance ground stood;Institute is determined according to the first distance, the second distance and third distance State the coordinate of base station.As soon as engine of positioning LE can at most access 100 base stations in practical applications, a building having needs Multiple LE, LE each in this way have an independent coordinate system.When all localization regions have oneself independent LE positioning Engine and corresponding coordinate system.It, through this embodiment can be by coordinate system completely on over all Integration interface (interface 2D, 3D) 11% coordinate system carries out location information displaying to 2D map or 3D model.
It is the process signal of the method for the more base station locations of another multizone provided in an embodiment of the present invention with reference to Fig. 3, Fig. 3 Figure.
As shown in figure 3, the method for the more base station locations of multizone includes:
Step 301, the grade classification of principal and subordinate, each base station and LE positioning are done to each base station in LE engine of positioning Engine is by CCP synchronization packets come transmission time synchronizing information;Wherein, main subdivision is main main and secondary master, is chosen described default A base station in base station to be positioned in range is decided master base station, the main master base station pairing from base station successively and master base station Association, if there is secondary master base station, time main pairing is successively associated with secondary master base station from base station, secondary master base station again with main base It stands association;
Step 302, the coordinate of more base stations in each region is obtained respectively;
Step 303, if the difference between second coordinate value is not in the first threshold, nested using map Data structure quickly finds next minimum calculation unit that positioning label is moved to according to key value Key;It obtains at least K times Next minimum calculation unit coordinate value;If at least K coordinate value differs by more than second threshold, terminate More base station location programs, and return to the step for executing the adjacent minimum calculation unit that each minimum calculation unit all directions are set Suddenly;If at least K coordinate value is not more than the second threshold, the coordinate value of next minimum unit is exported, And return to the step of executing the adjacent minimum calculation unit that each minimum calculation unit all directions are set.
Step 304, the position of the base station in each region is obtained, the position is with the vertical point of antenna for base station to ground;
Step 305, it obtains in the vertical point to the first distance of preset coordinate axis origin and the same area of each base station Each base station between second distance, and obtain the third distance on the antenna distance ground of each base station;
Step 306, the seat of the base station is determined according to the first distance, the second distance and third distance Mark.
It is the process signal of the method for the more base station locations of another multizone provided in an embodiment of the present invention with reference to Fig. 4, Fig. 4 Figure.
As shown in figure 4, the method for the more base station locations of multizone includes:
Step 401, the grade classification of principal and subordinate, each base station and LE positioning are done to each base station in LE engine of positioning Engine is by CCP synchronization packets come transmission time synchronizing information;Wherein, main subdivision is main main and secondary master, is chosen described default A base station in base station to be positioned in range is decided master base station, the main master base station pairing from base station successively and master base station Association, if there is secondary master base station, time main pairing is successively associated with secondary master base station from base station, secondary master base station again with main base It stands association;
Step 402, the coordinate of more base stations in each region is obtained respectively;
Step 403, the position of the base station in each region is obtained, the position is with the vertical point of antenna for base station to ground;
Step 404, it obtains in the vertical point to the first distance of preset coordinate axis origin and the same area of each base station Each base station between second distance, and obtain the third distance on the antenna distance ground of each base station;
Step 405, the seat of the base station is determined according to the first distance, the second distance and third distance Mark;
Step 406, if there are delay time errors between more base stations, delay time error is reduced using least square method.
It is a kind of structural representation of the system of the more base station locations of multizone provided in an embodiment of the present invention with reference to Fig. 5, Fig. 5 Figure.
As shown in figure 5, the system comprises:
LE engine of positioning 501, positioning label 502 and at least four base stations 503;
The LE engine of positioning, for doing the grade classification of principal and subordinate to each base station, each base station and LE positioning are drawn It holds up through CCP synchronization packets come transmission time synchronizing information;Wherein, main subdivision is main main and secondary master, chooses the default model A base station in base station to be positioned in enclosing is decided master base station, and the main master base station pairing is successively closed with master base station from base station Connection, if there is secondary master base station, time main pairing is successively associated with secondary master base station from base station, secondary master base station again with main master base station Association;The coordinate of more base stations in each region is obtained respectively;The position of the base station in each region is obtained, the position is with base station Vertical point of the antenna to ground;The vertical point of each base station is obtained to the first distance and the same area of preset coordinate axis origin Second distance between interior each base station, and obtain the third distance on the antenna distance ground of each base station;According to described first Distance, the second distance and third distance determine the coordinate of the base station;
The positioning label, for timing and the base station communication, the base station Xiang Suoshu sends unique identification information.
Optionally, the LE engine of positioning, also particularly useful for:
Base station to be positioned in preset range is split as a minimum calculation unit, and each minimum calculation unit is set The adjacent minimum calculation unit of all directions;The first coordinate value for calculating at least minimum calculation unit of n times, described First coordinate value traverses further according to first coordinate value and geometry injection collimation method after stablizing and obtains current minimum calculation unit;Meter The second coordinate value of at least M current minimum calculation unit is calculated, if the difference between second coordinate value is default In first threshold, then the corresponding coordinate average value of second coordinate value is obtained;Using the coordinate average value as positioning label Static coordinate value, using the data structure of map nesting according to key value Key quickly find positioning label be moved to it is next A minimum calculation unit.
Optionally, the LE engine of positioning, also particularly useful for:
If the difference between second coordinate value not in the first threshold, uses the data structure of map nesting Next minimum calculation unit that positioning label is moved to quickly is found according to key value Key;It obtains under at least K times described The coordinate value of one minimum calculation unit;If at least K coordinate value differs by more than second threshold, it is fixed to terminate more base stations Position program, and return to the adjacent minimum calculation unit for executing and each minimum calculation unit all directions being set.
Optionally, the LE engine of positioning, also particularly useful for:
If at least K coordinate value is not more than the second threshold, the seat of next minimum unit is exported Scale value, and return to the adjacent minimum calculation unit for executing and each minimum calculation unit all directions being set.
Optionally, the LE engine of positioning, also particularly useful for:
If there are delay time errors between more base stations, delay time error is reduced using least square method.
The system of the more base station locations of a kind of multizone provided in an embodiment of the present invention, to each base station in LE engine of positioning Do the grade classification of principal and subordinate, each base station and the LE engine of positioning are by CCP synchronization packets come transmission time synchronizing information; Wherein, main subdivision is main main and secondary master, chooses a base station in the base station to be positioned in the preset range and decides master base station, The main master base station pairing successively be associated with master base station from base station, if there is secondary master base station, the secondary main pairing from base station It is successively associated with time master base station, secondary master base station is associated with main master base station again;The coordinate of more base stations in each region is obtained respectively;It obtains The position of the base station in each region is taken, the position is with the vertical point of antenna for base station to ground;Obtain the vertical of each base station Second distance between each base station of the point to the first distance of preset coordinate axis origin and in the same area, and obtain each base The third distance on the antenna distance ground stood;Institute is determined according to the first distance, the second distance and third distance State the coordinate of base station.As soon as engine of positioning LE can at most access 100 base stations in practical applications, a building having needs Multiple LE, LE each in this way have an independent coordinate system.When all localization regions have oneself independent LE positioning Engine and corresponding coordinate system.It, through this embodiment can be by coordinate system completely on over all Integration interface (interface 2D, 3D) 11% coordinate system carries out location information displaying to 2D map or 3D model.
Describe the technical principle of the embodiment of the present invention in conjunction with specific embodiments above.These descriptions are intended merely to explain this The principle of inventive embodiments, and it cannot be construed to the limitation to protection scope of the embodiment of the present invention in any way.Based on herein Explanation, those skilled in the art, which does not need to pay for creative labor, can associate the other specific of the embodiment of the present invention Embodiment, these modes are fallen within the protection scope of the embodiment of the present invention.

Claims (10)

1. a kind of method of the more base station locations of multizone, which is characterized in that the described method includes:
The grade classification of principal and subordinate is done to each base station in LE engine of positioning, each base station and the LE engine of positioning pass through CCP Synchronization packets carry out transmission time synchronizing information;Wherein, main subdivision is main main and secondary master, is chosen undetermined in the preset range A base station in the base station of position is decided master base station, and the main master base station pairing successively be associated with master base station from base station, if having secondary Master base station, then time main pairing are successively associated with secondary master base station from base station, and secondary master base station is associated with main master base station again;
The coordinate of more base stations in each region is obtained respectively;
The position of the base station in each region is obtained, the position is with the vertical point of antenna for base station to ground;
First distance and same area of the vertical point of each base station to preset coordinate axis origin are obtained with infrared range-measurement system measurement The second distance between each base station in domain, and obtain the third distance on the antenna distance ground of each base station;
The coordinate of the base station is determined according to the first distance, the second distance and third distance.
2. the method according to claim 1, wherein the coordinate for obtaining more base stations in each region respectively, Include:
Base station to be positioned in preset range is split as a minimum calculation unit, and it is each that each minimum calculation unit is arranged The adjacent minimum calculation unit in direction;
The first coordinate value for calculating at least minimum calculation unit of n times, further according to institute after first coordinate value is stablized The first coordinate value and geometry injection collimation method traversal are stated, current minimum calculation unit is obtained;
The second coordinate value for calculating at least M current minimum calculation unit, if the difference between second coordinate value In preset first threshold value, then the corresponding coordinate average value of second coordinate value is obtained;
Using the coordinate average value as the static coordinate value of positioning label, using the data structure of map nesting according to key value Key quickly finds next minimum calculation unit that positioning label is moved to.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
If the difference between second coordinate value not in the first threshold, using map nesting data structure according to Key value Key quickly finds next minimum calculation unit that positioning label is moved to;
Obtain the coordinate value of at least K next minimum calculation unit;
If at least K coordinate value differs by more than second threshold, terminate more base station location programs, and return and execute setting The step of adjacent minimum calculation unit of each minimum calculation unit all directions.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
If at least K coordinate value is not more than the second threshold, the coordinate value of next minimum unit is exported, And return to the step of executing the adjacent minimum calculation unit that each minimum calculation unit all directions are set.
5. the method according to claim 1, which is characterized in that the method also includes:
If there are delay time errors between more base stations, delay time error is reduced using least square method.
6. a kind of system of the more base station locations of multizone, which is characterized in that the system comprises:
LE engine of positioning, positioning label and at least four base stations;
The LE engine of positioning, for doing the grade classification of principal and subordinate to each base station, each base station and the LE engine of positioning are logical It crosses CCP synchronization packets and carrys out transmission time synchronizing information;Wherein, main subdivision is main main and secondary master, is chosen in the preset range Base station to be positioned in a base station decide master base station, the main master base station pairing is successively associated with master base station from base station, If there is secondary master base station, described main pairing is successively associated with time master base station from base station, and secondary master base station is closed with main master base station again Connection;The coordinate of more base stations in each region is obtained respectively;The position of the base station in each region is obtained, the position is with base station day Vertical point of the line to ground;
The vertical point of each base station is obtained between each base station in the first distance of preset coordinate axis origin and the same area Second distance, and obtain the third distance on the antenna distance ground of each base station;According to the first distance, described second away from From the coordinate with the base station determining with a distance from the third;
The positioning label, for timing and the base station communication, the base station Xiang Suoshu sends unique identification information.
7. system according to claim 6, which is characterized in that the LE engine of positioning, also particularly useful for:
Base station to be positioned in preset range is split as a minimum calculation unit, and it is each that each minimum calculation unit is arranged The adjacent minimum calculation unit in direction;The first coordinate value for calculating at least minimum calculation unit of n times, described first Coordinate value traverses further according to first coordinate value and geometry injection collimation method after stablizing and obtains current minimum calculation unit;It calculates extremely Second coordinate value of few M current minimum calculation unit, if the difference between second coordinate value is default first In threshold value, then the corresponding coordinate average value of second coordinate value is obtained;Using the coordinate average value as the quiet of positioning label Only coordinate value, using the data structure of map nesting according to key value Key quickly find positioning label be moved to it is next most Small computing unit.
8. system according to claim 7, which is characterized in that the LE engine of positioning, also particularly useful for:
If the difference between second coordinate value not in the first threshold, using map nesting data structure according to Key value Key quickly finds next minimum calculation unit that positioning label is moved to;Obtain at least K times described next The coordinate value of minimum calculation unit;If at least K coordinate value differs by more than second threshold, terminate more base station location journeys Sequence, and return to the adjacent minimum calculation unit for executing and each minimum calculation unit all directions being set.
9. system according to claim 8, which is characterized in that the LE engine of positioning, also particularly useful for:
If at least K coordinate value is not more than the second threshold, the coordinate value of next minimum unit is exported, And return to the adjacent minimum calculation unit for executing and each minimum calculation unit all directions being set.
10. according to system described in claim 6 to 9 any one, which is characterized in that the LE engine of positioning, it is also specific to use In:
If there are delay time errors between more base stations, delay time error is reduced using least square method.
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