CN109819513A - The positioning system and its method of multiple locating base station transmitting synchronization signals - Google Patents
The positioning system and its method of multiple locating base station transmitting synchronization signals Download PDFInfo
- Publication number
- CN109819513A CN109819513A CN201910230573.6A CN201910230573A CN109819513A CN 109819513 A CN109819513 A CN 109819513A CN 201910230573 A CN201910230573 A CN 201910230573A CN 109819513 A CN109819513 A CN 109819513A
- Authority
- CN
- China
- Prior art keywords
- base station
- locating base
- positioning
- synchronization signal
- locating
- 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
- 238000000034 method Methods 0.000 title claims description 24
- 230000001360 synchronised effect Effects 0.000 claims abstract description 59
- 230000002123 temporal effect Effects 0.000 claims abstract description 22
- 230000004807 localization Effects 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 3
- 230000000644 propagated effect Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009885 systemic effect Effects 0.000 description 3
- 238000012512 characterization method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 108010076504 Protein Sorting Signals Proteins 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
Abstract
The invention discloses a kind of positioning systems of multiple locating base station transmitting synchronization signals, in a locating periodically, emit synchronization signal from multiple locating base stations to other locating base stations, so that other locating base stations at least receive the synchronization signal of locating base station transmitting；The locating base station for emitting the locating base station and the synchronization signal that can receive locating base station transmitting of synchronization signal constitutes a locating base station group, utilize the location information for the temporal information and locating base station for emitting and receiving synchronization signal, clock is carried out to the locating base station in locating base station group to synchronize, and realizes the positioning to positioning label using the locating base station in locating base station group.The invention enables locating base station distribution compared with wide, area to be targeted landform is complex when, each locating base station can receive synchronization signal, realize synchronous between other locating base stations.The synchronous signal transmission between each locating base station is avoided through Wireline, economy and human cost have been saved.
Description
Technical field
This disclosure relates to wirelessly communicate, more specifically, this disclosure relates to a kind of multiple locating base stations emit synchronization signal
Positioning system and its method.
Background technique
With quickling increase for data service and multimedia service, on the basis of short distance high-rate wireless communication, people
To location information perception demand also increasingly increase.Especially in complex environment, as airport hall, exhibition room, warehouse, supermarket,
Library, underground parking, mine etc. or some environment for needing that there is specific demand to personnel positioning, such as prison, child
Garden, hospital, home for destitute etc., it is often necessary to determine the location information of mobile terminal or its holder, facility and article, and then be used for
The demands such as monitoring management, security alarm, command scheduling, logistics, remote measuring and controlling and emergency relief.
In existing positioning system, common location algorithm includes, for example, TDOA (Time Difference of
Arrival, reaching time-difference) location algorithm, that is, positioning locating base station of the label to known location being placed on device to be positioned
Emit positioning signal, positioning system, which records each locating base station and receives time difference of positioning signal, resolves the position of device to be positioned
Information.Above-mentioned algorithm requires accurate time synchronization between each locating base station to can be only achieved higher positioning accurate in implementation process
Degree.Synchronous method common between each locating base station is mainly the following in the prior art, first is that each positioning base
Accurate synchronised clock, such as atomic clock, this method higher cost are respectively contained in standing, and need periodically to carry out clock school to it
It tests；Second is that synchronous signal transmission, the method need the cloth between each locating base station between each locating base station using Wireline
If Wireline, need to expend more economy and human cost, and need periodic maintenance, and in some particular surroundings, by
Geographical environment and aesthetic considerations are formed on, cannot achieve the laying of Wireline；Third is that using a certain device to all positioning bases
It stands wirelessly broadcast synchronization signal, however in locating base station distribution compared with wide, area to be targeted landform is complex
When, synchronization signal can not be received in the presence of the locating base station blocked farther out or between a certain device apart from a certain device, thus nothing
Method is realized synchronous between other locating base stations.Therefore, Low-cost, low-power consumption, high-precision synchronous positioning system become
The problem of this field researcher's urgent need to resolve.
Summary of the invention
A kind of positioning system of multiple locating base station transmitting synchronization signals is disclosed according to one aspect of the present invention, including
The locating base station of N number of known location, N are more than or equal to 3 integer and positioning label to be positioned, it is characterised in that: one
In a locating periodically T, emit synchronization signal from x locating base station to other locating base stations, so that other locating base stations at least connect
The synchronization signal of locating base station transmitting is received, x is the integer more than or equal to 2 and less than or equal to N；Transmitting synchronization signal is determined
Position base station and the locating base station for the synchronization signal that can receive locating base station transmitting constitute a locating base station group, utilize hair
The temporal information of synchronization signal and the location information of locating base station are penetrated and received, the locating base station in locating base station group is carried out
Clock is synchronous, and realizes the positioning to the positioning label using the locating base station in locating base station group, wherein a positioning week
It is interim, it is received and dispatched the period comprising synchronous period and positioning signal, each locating base station completes the transmitting of synchronization signal within the synchronous period
And reception, each positioning label and locating base station receive and dispatch positioning signal in the positioning signal transmitting-receiving period.
A kind of localization method of multiple locating base station transmitting synchronization signals, packet are disclosed according to another aspect of the invention
It includes: in a locating periodically T, enabling multiple locating base stations emit synchronization signal to other locating base stations, so that other positioning bases
It stands and at least receives the synchronization signal of locating base station transmitting, wherein emit the locating base station of synchronization signal and can receive
The locating base station of the synchronization signal emitted to the locating base station constitutes a locating base station；Record transmitting and reception synchronization signal
Temporal information；Using the location information for the temporal information and locating base station for emitting and receiving synchronization signal, to locating base station
It is synchronous that locating base station in group carries out clock；The positioning to the positioning label is realized using the locating base station in locating base station group,
Wherein, it in a locating periodically, is received and dispatched the period comprising synchronous period and positioning signal, each locating base station is complete within the synchronous period
At the transmitting and reception of synchronization signal, each positioning label and locating base station are in positioning signal transmitting-receiving period transmitting-receiving positioning signal.
In the positioning system of multiple locating base station transmitting synchronization signals disclosed by the invention, by enabling multiple locating base stations
Alternately send synchronization signal so that locating base station distribution compared with wide, area to be targeted landform is complex when, positioning system
In each locating base station can also receive synchronization signal, thus realize it is synchronous between other locating base stations.It avoids logical
Wireline synchronous signal transmission between each locating base station is crossed, economy and human cost have been saved.
Detailed description of the invention
Fig. 1 provides a kind of positioning system 100 of multiple locating base stations transmitting synchronization signal of embodiment according to the present invention
Schematic diagram；
Fig. 2 provides a kind of work of the positioning system 100 of multiple locating base stations transmitting synchronization signal of embodiment illustrated in fig. 1
Time diagram；
Fig. 3 provides a kind of locating base station grouping schematic diagram of the positioning system 100 of embodiment according to the present invention；
Fig. 4 provides the locating base station grouping schematic diagram of the positioning system 100 of another embodiment according to the present invention；
Fig. 5 provides another work of the positioning system 100 of multiple locating base stations transmitting synchronization signal of embodiment illustrated in fig. 1
Make time diagram；
Fig. 6 provides another work of the positioning system 100 of multiple locating base stations transmitting synchronization signal of embodiment illustrated in fig. 1
Make time diagram；
Fig. 7 provides a kind of localization method 700 of multiple locating base stations transmitting synchronization signal of embodiment according to the present invention
Flow chart.
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.
It will be appreciated by those skilled in the art that in this context, the positioning for treating positioning device is at least understood that
To obtain the resolving that the location information of device to be positioned either treats the position of positioning device.In addition, between locating base station
Clock synchronization at least can be understood as on the basis of one in the locating base station, obtain remaining locating base station clock relative to
The time relative difference of the reference clock.In addition, it will be appreciated by those skilled in the art that " the positioning referred in context
Period " refers to that each locating base station of synchronization signal to be emitted has emitted synchronization signal, and positioning system is completed to all undetermined
Time used in the positioning of position device.
Fig. 1 provides a kind of positioning system 100 of multiple locating base stations transmitting synchronization signal of embodiment according to the present invention
Schematic diagram.N number of locating base station BS1~BSN and M including the known location device MS1 to be positioned of positioning system 100~
MSM, wherein N is the integer more than or equal to 3, and M is the integer more than or equal to 1.Next, to Fig. 1 institute by taking N=6 and M=5 as an example
Show that positioning system 100 is described in detail.As shown in Figure 1, positioning system illustratively include locating base station BS1, BS2, BS3,
BS4, BS5 and BS6 and device MS1, MS2, MS3, MS4 and MS5 to be positioned, wherein device MS1, MS2 to be positioned, MS3,
The positioning label that can be realized with locating base station transmitting-receiving positioning signal is respectively arranged on MS4 and MS5.Since positioning label is placed in
On device to be positioned, it is believed that positioning label and device to be positioned have known relative positional relationship, or even in certain feelings
Under condition, since positioning the distance between label and device to be positioned are smaller, it can approximatively think to position label and dress to be positioned
The position set is identical, therefore, in this context, for ease of description, being as to dress to be positioned to the positioning of positioning label
The positioning set, relatively, for example, between locating base station and positioning label the such description of transmitting-receiving positioning signal and locating base station and
The such description declaration of will having the same of positioning signal is received and dispatched between device to be positioned.In one embodiment, be placed in
Positioning label in positioning device is that ultra wide band positions label, is interacted (in other words between each positioning label and the locating base station
Transmitting-receiving) ultra wide band positioning signal.
Positioning system 100 utilizes the sending time of positioning signal and/or the receiving time and locating base station of positioning signal
Position obtain the position of positioning label, and then realize and treat the positioning of positioning device.In one embodiment, positioning system system
Using TDOA (Time Difference of Arrival, reaching time-difference) or TOA, (Time of Arrival, is arrived system 100
Up to the time) location algorithm resolve positioning label location information.When being positioned using TOA location algorithm, it is each fixed to need
Position base station and positioning label between all accurately synchronized, and if be between each locating base station it is synchronous, positioning label only need
It is synchronized with one of locating base station, can be synchronous with all locating base stations, synchronous efficiency is high.In TOA location algorithm,
Emit positioning signal using locating base station and positions the temporal information that label receives positioning signal, or vice versa, it is marked using positioning
The temporal information for penetrating positioning signal and locating base station reception positioning signal is signed and issued, may be implemented to positioning label dress i.e. to be positioned
The positioning set.And when using TDOA location algorithm, it is only necessary to realize and synchronize between locating base station, utilize locating base station or positioning
The positioning to positioning label device i.e. to be positioned may be implemented in the temporal information that label receives positioning signal.The present invention is to use
Description is unfolded for resolving the location information for positioning label in TDOA location algorithm, however, those skilled in the art should understand that, this hair
The certain functions and its principle of bright middle positioning system, for example, the synchronizing function and its principle between locating base station using TOA for being calculated
The location information that method resolves positioning label is also equally applicable.
During positioning interaction positioning signal between label and locating base station, the recipient of positioning signal need to know positioning
Which sender signal comes from.In one embodiment, positioning system 100 is each positioning signal addition characterization positioning signal hair
The identity information for the side of sending, and in one embodiment, proprietary positioning signal, which is distributed, for each positioning signal receives and dispatches time slot.To subtract
The complexity of few positioning signal emitter, and detect and demodulate positioning signal convenient for positioning signal reception side, the present invention with
Proprietary positioning signal transmitting-receiving time slot is distributed for each positioning signal to know the positioning signal for which sender
Expansion description, however, those skilled in the art should understand that, technical solution of the present invention is for utilizing other methods to know positioning
Signal is also applicable from which sender.
Those skilled in the art should know, in a locating periodically T, as next will described in, positioning system
In 100 between at least some of locating base station (as next will described in same locating base station group in locating base station) carried out it is same
Step, their clocking errors to each other are smaller, therefore, as a kind of preferred embodiment, can choose and synchronized excessively to each other
Locating base station positioned to treat positioning device, the positioning accuracy being achieved in that is higher.Certainly, when the device to be positioned
With locating base station apart from relative close, when spatial occlusion is less, the communication effect of positioning signal is preferable, therefore, as another kind
Embodiment, the locating base station that the relative close with a distance from device to be positioned may be selected are positioned to treat positioning device, are obtained in this way
The error that the positioning signal obtained reaches the time difference is smaller.As shown in Figure 1, in positioning system 100 device MS1 to be positioned,
When MS2, MS3, MS4, MS5 are positioned, according to the location of device to be positioned, select apart from its closer three positioning base
It stands and it is positioned, for example, for device MS1 to be positioned, preferred orientation base station BS 1, BS2, BS4 position it；For to
Positioning device MS2, preferred orientation base station BS 1, BS2, BS3 position it；For device MS3 to be positioned, preferred orientation base station
BS2, BS3, BS4 position it；For device MS4 to be positioned, preferred orientation base station BS 3, BS4, BS6 position it；For to
Positioning device MS5, preferred orientation base station BS 4, BS5, BS6 position it.Certainly, no matter it will be appreciated by those skilled in the art that
Which kind of scheme even other schemes in above two scheme are selected, locating base station is not affected and synchronizes to each other.
The present invention sends synchronization signal to other locating base stations using locating base station, in one embodiment the synchronous letter
Number be wireless signal, and in one embodiment the synchronization signal be ultra-broadband signal, when ultra-broadband signal is higher with its
Clock resolving power brings higher synchronization accuracy for positioning system 100.However it is limited by the factors such as propagation distance, spatial occlusion
It influences, there are when spatial occlusion between the locating base station distribution in positioning system 100 is wider or locating base station, some
The synchronization signal of locating base station transmitting can not all be received by all locating base stations in positioning system 100.As shown in Figure 1 real
It applies in example, the synchronization signal that locating base station BS1 is sent can only be received by locating base station BS2 and BS4；Locating base station BS2 is sent
Synchronization signal can only be received by locating base station BS1 and BS3；The synchronization signal that locating base station BS3 is sent can only be by positioning base
Stand BS2, BS4 and BS6 is received；The synchronization signal that locating base station BS4 is sent can only be received by locating base station BS1, BS3 and BS5
It arrives；The synchronization signal that locating base station BS5 is sent can only be received by locating base station BS4 and BS6；Locating base station BS6 is sent same
Step signal can only be received by locating base station BS3 and BS5.I.e. in positioning system 100, none locating base station is sent same
Step signal can all be received by other all locating base stations.In order to enable all locating base stations in positioning system 100 all
It can be utilized, the present invention provides a kind of positioning systems 100 of multiple locating base station transmitting synchronization signals.
Fig. 2 provides a kind of work of the positioning system 100 of multiple locating base stations transmitting synchronization signal of embodiment illustrated in fig. 1
Time diagram.Fig. 2 gives the working sequence schematic diagram of 100 1 locating periodically T of positioning system, 100 basis of positioning system
In positioning system 100 emit synchronization signal locating base station number by each locating periodically T be divided into corresponding number when
Section.Specifically, locating base station BS1-BS6 sends synchronization signal in positioning system 100 shown in Fig. 2, and positioning system 100 is pressed
According to the sequence of locating base station BS1-BS6 transmitting synchronization signal, locating periodically T is divided into opposite with locating base station BS1-BS6
The period T1-T6 answered, locating base station BS1-BS6 emit synchronization signal within the correspondence period in period T1-T6 respectively.
In one embodiment, each period in period T1-T6 contains synchronous period and positioning signal transmitting-receiving again when
Section, for example, period T1 corresponding with locating base station BS1 contains synchronous period ST1 and positioning signal transmitting-receiving period PT1.It connects down
Come, by taking locating base station BS1 is in the work in period T1 as an example, its synchronization principles is described in detail.Locating base station BS1 is same
It walks period ST1 and emits synchronization signal S1, synchronization signal S1 is received by locating base station BS2 and locating base station BS4.Positioning system
T1 and locating base station BS2 and locating base station BS4 is received together at the time of 100 record location base station BSs 1 emit synchronization signal S1
T2 and t4 at the time of walking signal S1.Since the emission time of the synchronization signal of the record of positioning system 100 and arrival time are bases
It obtains in the respective clock of synchronization signal transmitting terminal and receiving end, and is synchronized not yet between locating base station, therefore, positioning
The clock of base station needs to be modified there are deviation.Since the position of the locating base station in positioning system 100 is it is known that therefore, often
It is known that in turn, the flight time that synchronization signal is propagated between every two locating base station is the distance between two locating base stations
It is known.Specific to locating base station BS1, BS2 and BS4, synchronization signal S1 from locating base station BS1 to locating base station BS2 and from
The flight time of locating base station BS1 to locating base station BS4 can be obtained based on the spread speed of synchronization signal, be expressed as
T12 and t14.In one embodiment, positioning system 100 is in the corresponding period T1 of locating base station BS1, with locating base station BS1
Clock on the basis of correct the clocks of other locating base stations.For correcting the clock of locating base station BS2, there are following public affairs
Formula, t1+t12=t2+ Δ t2, wherein Δ t2 is time complexity curve of the locating base station BS2 clock relative to locating base station BS1 clock
Value.By above-mentioned formula, time complexity curve value Δ t2 of the locating base station BS2 clock relative to locating base station BS1 clock can be obtained.Together
Reason can carry out clock amendment to the locating base station BS4 for receiving synchronization signal S1, obtain locating base station BS4 clock relative to positioning
The time complexity curve value of 1 clock of base station BS.
It will be appreciated by those skilled in the art that in the above-described embodiments, selecting to emit the locating base station BS1 of synchronization signal
On the basis of to carry out clock to the locating base station BS2 and BS4 that receive the synchronization signal it is synchronous, but due to the relativity of time,
In other embodiments, the locating base station of transmitting synchronization signal and appointing in the locating base station for receiving the synchronization signal can choose
On the basis of meaning one, as the clock reference of base station remaining in them, remaining base station is synchronized.
After receiving and dispatching period PT1 into positioning signal, positioning signal, positioning system are interacted between locating base station and device to be positioned
The arrival time information of 100 record location signals, and using the location information of the arrival time information and locating base station, it utilizes
TDOA location algorithm resolves the location information of device to be positioned.
In one embodiment, the positioning label being placed on device to be positioned emits positioning signal, positioning to locating base station
Base station receives the positioning signal and record location signal reaches itself temporal information.Again in one embodiment, described fixed
Position Base Transmitter positioning signal, it is described positioning label receive the positioning signal and record location signal reach itself time letter
Breath.
In one embodiment, the positioning signal transmitting-receiving mode of positioning system 100 is that device to be positioned is sent out to locating base station
Positioning signal is penetrated, positioning system 100 is that each device to be positioned distributes proprietary positioning signal transmitting-receiving time slot, and locating base station is in phase
The positioning signal transmitting-receiving time slot answered receives the positioning signal, in this way, can know that the positioning signal is undetermined from which
Position device.
In one embodiment, the positioning signal is ultra wide band positioning signal.
In the embodiment shown in Figure 2, the positioning signal in period T1 corresponding with locating base station BS1 receives and dispatches the period
In PT1, since to have carried out clock synchronous by locating base station BS1, BS2 and BS4, thus, using locating base station BS1, BS2 and BS4 as
The device MS1 to be positioned of preferred orientation base station has obtained the positioning of degree of precision.
Similarly, when containing synchronous period ST2 and positioning signal transmitting-receiving in period T2 corresponding with locating base station BS2
Section PT2, locating base station BS2 emit synchronization signal S2 in synchronous period ST2, and synchronization signal S2 is by locating base station BS1 and positioning base
The BS3 that stands is received.Positioning system 100 is in the corresponding period T2 of locating base station BS2, on the basis of the clock of locating base station BS2
The clock of other locating base stations is corrected, clock can be carried out to the locating base station BS1 and locating base station BS3 for receiving synchronization signal S2
Amendment.Thus, in positioning signal corresponding with locating base station BS2 transmitting-receiving period PT2, with locating base station BS1, BS2 and BS3 work
The positioning of degree of precision has been obtained for the device MS2 to be positioned of preferred orientation base station.
Similarly, in period T3 corresponding with locating base station BS3, when locating base station BS2, BS3, BS4, BS6 have been carried out
Clock is synchronous, and device MS3 and MS4 to be positioned has obtained the positioning of degree of precision；In period T5 corresponding with locating base station BS5,
Locating base station BS4, BS5, BS6 have carried out clock and have synchronized, and device MS5 to be positioned has obtained the positioning of degree of precision.Therefore, one
In a locating periodically T, the device to be positioned using any locating base station as preferred orientation base station can access degree of precision
Positioning.
In the embodiment depicted in figure 2, all locating base stations in positioning system 100 emit synchronization signal.However, at it
In his embodiment, positioning system 100, can selected section locating base station transmission synchronization according to the reception condition of synchronization signal
Signal improves the positioning refresh rate of positioning system 100 to shorten entire locating periodically T.In one embodiment, transmitting synchronizes
The locating base station of signal and the locating base station for the synchronization signal that can receive the locating base station transmitting constitute a positioning base
It stands group.For example, locating base station BS2 and BS4 can receive locating base station BS1 transmitting synchronization signal, then locating base station BS1,
BS2 and BS4 constitutes a locating base station group.
Fig. 3 provides a kind of locating base station grouping schematic diagram of the positioning system 100 of embodiment according to the present invention.Positioning system
100 only selective positioning base station BS 1 and locating base station BS6 emit synchronization signal, wherein locating base station BS2 and BS4 can be received
The synchronization signal of locating base station BS1 transmitting, locating base station BS1, BS2 and BS4 constitute locating base station group 301；Locating base station BS3 and
BS5 can receive the synchronization signal of locating base station BS6 transmitting, and locating base station BS3, BS5 and BS6 constitute locating base station group 302.
One locating periodically T of positioning system 100 can only comprising period T1 corresponding with locating base station BS1 and with BS6 pairs of locating base station
The period T6 answered, greatly shortens the duration of locating periodically T.In the embodiment shown in fig. 3, in locating base station group 301 and 302
It is mutually indepedent between two locating base station groups not comprising the locating base station for belonging to two locating base station groups simultaneously.
Again in one embodiment, 100 selected section locating base stations of positioning system send synchronization signal, each positioning base
Group of standing includes at least one identical locating base station at least one other locating base station group.Fig. 4 provides according to the present invention one
The locating base station of the positioning system 100 of kind embodiment is grouped schematic diagram.Only selective positioning base station BS 3 and the positioning of positioning system 100
Base station BS 4 emits synchronization signal, wherein locating base station BS2, BS4 can receive the synchronous of locating base station BS3 transmitting with BS6
Signal, locating base station BS2, BS3, BS4 and BS6 constitute locating base station group 401；Locating base station BS1, BS3 and BS5 can be received
The synchronization signal of locating base station BS4 transmitting, locating base station BS1, BS3, BS4 and BS5 constitute locating base station group 402.Positioning system
Each locating base station group in 100 includes at least one identical locating base station at least one other locating base station group, i.e.,
Locating base station group 401 and 402 includes locating base station BS3 and BS4.One locating periodically T of positioning system 100 can only comprising with
Locating base station BS3 corresponding period T3 and period T4 corresponding with locating base station BS4, greatly shorten locating periodically T when
It is long.
In one embodiment, the preferred orientation base station of device MS to be positioned belongs between two locating base station groups, example
Such as, as shown in figure 4, the preferred orientation base station of device MS to be positioned be the locating base station BS1 being closer with device MS to be positioned,
BS2 and BS4, wherein locating base station BS1 and locating base station BS2 belong to locating base station group 402 and locating base station group 401.With
In the corresponding synchronous period ST3 of locating base station BS3, locating base station BS2, BS3, BS4 and BS6 in locating base station group 401 are carried out
Synchronization；In positioning signal transmitting-receiving period PT3, device MS to be positioned emits positioning signal to each locating base station, and it is fixed to receive
The locating base station record location signal of position signal reaches the temporal information of itself.Among these, the locating base station BS2 of synchronized mistake and
BS4 can receive the positioning signal and record its temporal information for reaching itself, since locating base station BS2 and BS4 are in the period
It is synchronized in T3, therefore can accurately know that positioning signal reaches the time difference of locating base station BS2 and BS4.With positioning
In the corresponding synchronous period ST4 of base station BS 4, locating base station BS1, BS3, BS4 and BS5 in locating base station group 402 have been carried out together
Step；In positioning signal transmitting-receiving period PT4, device MS to be positioned emits positioning signal to each locating base station, receives positioning letter
Number locating base station record location signal reach itself temporal information.Among these, the locating base station BS1 and BS4 of synchronized mistake
The positioning signal can be received and record its temporal information for reaching itself, since locating base station BS1 and BS4 is in period T4
It is synchronized, therefore can accurately know that positioning signal reaches the time difference of locating base station BS1 and BS4.Due to period T3 and
The duration of T4 is shorter, and displacement of the device MS to be positioned in period T3 and T4 can be ignored, accordingly, it is believed that when
In section T3 and T4, device MS to be positioned relative to the position of locating base station BS1, BS2 and BS4 be it is constant, positioning system 100 can
To reach time difference and the positioning signal of locating base station BS2 and BS4 using the positioning signal obtained respectively in period T3 and T4
The time difference for reaching locating base station BS1 and BS4 treats positioning device MS and carries out TDOA positioning.The device to be positioned being achieved in that
The position of MS is also more accurate.
Fig. 5 provides another work of the positioning system 100 of multiple locating base stations transmitting synchronization signal of embodiment illustrated in fig. 1
Make time diagram.Fig. 5 gives the working sequence schematic diagram of 100 1 locating periodically T of positioning system, wraps in locating periodically T
Include synchronous period ST and positioning signal transmitting-receiving period PT.Different from embodiment illustrated in fig. 2, the locating base station of positioning system 100 is same
Step is realized in synchronous period ST.Positioning system 100 is synchronized according to the installation position of locating base station for locating base station transmitting
Signal sequence, in the embodiment shown in fig. 5, locating base station successively emits synchronization according to the sequence of BS1, BS2, BS3, BS4, BS5
Signal S1-S5, other than the locating base station BS1 of transmitting synchronization signal S1, other each locating base stations are default for it in system
The transmitting of a upper locating base station synchronization signal triggering under emit itself synchronization signal.
Locating base station BS1 first emits synchronization signal S1 to locating base station BS2, and records the time letter of transmitting synchronization signal S1
Breath, locating base station BS2 emits synchronization signal S2 under the triggering of synchronization signal S1, and records and receive synchronization signal S1 and transmitting
The temporal information of synchronization signal S2.In one embodiment, locating base station BS2 is sent same at once under the triggering of synchronization signal S1
Walk signal S2, and in one embodiment, locating base station BS2 be spaced under the triggering of synchronization signal S1 a systemic presupposition when
Between after retransmit synchronization signal S2.As shown in Figure 1, locating base station BS4 can also be received since Distance positioning base station BS 1 is relatively close
Synchronization signal S1, but since synchronization signal S1 is not the synchronization signal of the locating base station BS3 transmission of its systemic presupposition, because
This, will not trigger locating base station BS4 and send synchronization signal.
In one embodiment, characterization is carried in the synchronization signal S1-S5 in positioning system 100 respectively and emits synchronization letter
Number locating base station identity information.In one embodiment, the synchronization signal is ultra-broadband signal.Again in one embodiment
In, the synchronization signal is ultra-wideband pulse string signal, and the ultra wide band in each synchronization signal is in the way of pulse position coding
Carry identity information.For example, including two ultra-wideband pulses in synchronization signal, pass through the time between two ultra-wideband pulses of setting
The difference at interval, to characterize different synchronization signals.
As shown in figure 5, locating base station BS3 emits synchronization signal S3 under the triggering of synchronization signal S2, locating base station BS4 exists
Emit synchronization signal S4 under the triggering of synchronization signal S3, locating base station BS5 emits synchronization signal under the triggering of synchronization signal S4
S5, locating base station BS6 receive synchronization signal S5.Every two locating base station realizes synchronous mode in embodiment illustrated in fig. 5, with figure
Every two locating base station realizes that synchronous mode is identical in 2 illustrated embodiments.Pass through synchronization signal transmitting base station (transmitting terminal)
Emit with synchronous signal receiver base station (receiving end) and receive synchronization signal temporal information and synchronization signal in transmitting terminal and
Between the flight of receiving end, clock correction value is obtained, realizes that synchronization signal transmitting terminal is synchronous with the clock between receiving end.In addition,
Since the synchronization signal between each locating base station is successively to trigger transmitting in order, and the time of trigger interval is positioning system
100 is preset, it is thereby achieved that the clock of all locating base stations is synchronous in positioning system 100.
After receiving and dispatching period PT into positioning signal, positioning signal, positioning system are interacted between locating base station and device to be positioned
The arrival time information of 100 record location signals, and using the location information of the arrival time information and locating base station, it utilizes
TDOA location algorithm resolves the location information of device to be positioned.
Fig. 6 provides another work of the positioning system 100 of multiple locating base stations transmitting synchronization signal of embodiment illustrated in fig. 1
Make time diagram.Unlike embodiment illustrated in fig. 5, positioning system 100 is only selected according to the reception condition of synchronization signal
Part locating base station sends synchronization signal.In the embodiment shown in fig. 6,100 selective positioning base station BS 1 of positioning system, BS4 and
BS5 emits synchronization signal, and locating base station BS4 emits synchronization signal under the triggering for the synchronization signal S1 that locating base station BS1 emits
S4, locating base station BS5 emit positioning signal S5 under the triggering for the synchronization signal S4 that locating base station BS4 emits.It is same to reduce
The transmitting of signal is walked, the duration of locating periodically T is shortened, improves positioning refresh rate.And do not emit the locating base station of synchronization signal
Hardware resource needed for BS2, BS3 and BS6 can not have transmitting synchronization signal, saves system cost.
In the positioning system of multiple locating base station transmitting synchronization signals disclosed by the invention, by enabling multiple locating base stations
Alternately send synchronization signal so that locating base station distribution compared with wide, area to be targeted landform is complex when, positioning system
In each locating base station can also receive synchronization signal, thus realize it is synchronous between other locating base stations.It avoids logical
Wireline synchronous signal transmission between each locating base station is crossed, economy and human cost have been saved.
Fig. 7 provides a kind of localization method 700 of multiple locating base stations transmitting synchronization signal of embodiment according to the present invention
Flow chart, the localization method 700 include the following steps:
Step 701: in a locating periodically T, multiple locating base stations is enabled to emit synchronization signal to other locating base stations,
In, the locating base station for emitting the locating base station and the synchronization signal that can receive locating base station transmitting of synchronization signal constitutes one
A locating base station group.
In one embodiment, the synchronization signal and positioning signal are ultra-broadband signal.
In one embodiment, each locating base station group includes that at least one is identical at least one other locating base station group
Locating base station.
Step 702: record transmitting synchronization signal and the temporal information for receiving synchronization signal；
Step 703: utilizing the location information of locating base station, and transmitting synchronization signal and the time letter for receiving synchronization signal
Breath, corrects the clock of each locating base station；
Step 704: the time that each locating base station emits using revised clock log and/or receive positioning signal believes
Breath resolves device to be positioned using the location information of the temporal information and locating base station that emit and/or receive positioning signal
Location information.
Although it will be appreciated by those skilled in the art that step 703 is illustratively prior to step 704, at it in Fig. 7
In his embodiment, can be amendment locating base station clock the step of after the completion of carry out the step of resolving setting position to be positioned again,
It is also possible to carry out again the step of resolving setting position to be positioned after being partially completed the step of correcting locating base station clock, the two is handed over
For progress, for example, as shown in Fig. 2 embodiment.
In one embodiment, the method also includes in a locating periodically T, for each transmitting synchronization signal
Locating base station is distributed the corresponding period, and each period includes synchronous period and positioning signal transmitting-receiving period, each locating base station point again
Do not emit synchronization signal, each locating base station and positioning label in the synchronization period of corresponding period to hand in the positioning signal transmitting-receiving period
Mutual positioning signal.
Again in one embodiment, the method also includes including synchronous period and positioning in a locating periodically T
Signal transmitting and receiving period, each locating base station complete the transmitting and reception of synchronization signal in the synchronous period, and each locating base station and positioning are marked
Label are in positioning signal transmitting-receiving period interaction positioning signal.
In one embodiment, the method also includes enabling the locating base station of transmitting synchronization signal pre- according to positioning system
If sequential transmission synchronization signal.In a locating periodically T, in addition to the locating base station for emitting synchronization signal at first, Qi Tafa
The locating base station for penetrating synchronization signal receives the synchronization signal that the locating base station of a upper systemic presupposition emits, and in the synchronization signal
Triggering under emit itself synchronization signal.
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 (10)
1. a kind of positioning system of multiple locating base station transmitting synchronization signals, comprising:
The locating base station of N number of known location, wherein the x positioning base in a locating periodically, in N number of locating base station
It stands and emits synchronization signal, wherein N is the integer more than or equal to 3, and x is the integer more than or equal to 2 and less than or equal to N；And
Positioning label to be positioned, receives and dispatches positioning signal between locating base station, wherein using locating base station location information and
The temporal information for emitting and/or receiving positioning signal between locating base station and positioning label is realized to the positioning for positioning label；
Determine it is characterized in that, the locating base station of transmitting synchronization signal constitutes one with the locating base station for receiving the synchronization signal
Position group of base stations, the position using the temporal information and locating base station that emit and receive synchronization signal in a locating base station group are believed
Breath, it is synchronous between realization clock the locating base station in locating base station group；
Wherein, it in a locating periodically, is received and dispatched the period comprising synchronous period and positioning signal, each locating base station is in the synchronous period
The interior transmitting and reception for completing synchronization signal, each positioning label and locating base station are in positioning signal transmitting-receiving period transmitting-receiving positioning letter
Number.
2. positioning system as described in claim 1, wherein in the locating periodically, determine except synchronization signal is emitted at first
Outside the base station of position, touching of other locating base stations for emitting synchronization signals in the synchronization signal emitted from preset locating base station
Give the synchronization signal of transmitting itself.
3. positioning system as described in claim 1, wherein logical between realizing that clock synchronizes the locating base station in locating base station group
Cross the clock for obtaining the clock of the locating base station for receiving synchronization signal relative to the locating base station for emitting the synchronization signal when
Between correction value realize, wherein the time of locating base station transmitting synchronization signal indicates that locating base station receives the synchronization with t1
The time of signal indicates that synchronization signal is in the locating base station of transmitting synchronization signal and the positioning base of the reception synchronization signal with t2
The time propagated between standing is indicated with t12, then receives the clock of the locating base station of the synchronization signal relative to transmitting synchronization signal
Locating base station clock time complexity curve value Δ t2 are as follows: Δ t2=t1+t12-t2.
4. positioning system as described in claim 1, wherein utilize the location information of the locating base station in same locating base station group
And emits between the locating base station and positioning label and/or receive the temporal information realization of positioning signal to the positioning label
Positioning.
5. the positioning system as described in any one of claim 1-4, wherein each locating base station group and it is other at least one
Locating base station group includes at least one identical locating base station.
6. a kind of localization method of multiple locating base station transmitting synchronization signals, comprising:
In a locating periodically, multiple locating base stations is enabled to emit synchronization signal to other locating base stations, wherein the synchronous letter of transmitting
Number the locating base station of locating base station and the synchronization signal that locating base station transmitting can be received constitute a locating base station
Group；
Record transmitting and the temporal information for receiving synchronization signal；
Using the location information for the temporal information and locating base station for emitting and receiving synchronization signal, to determining in locating base station group
It is synchronous that position base station carries out clock；And
The positioning to the positioning label is realized using transmitting-receiving positioning signal between locating base station and positioning label；
Wherein, it in a locating periodically, is received and dispatched the period comprising synchronous period and positioning signal, each locating base station is in the synchronous period
The interior transmitting and reception for completing synchronization signal, each positioning label and locating base station are in positioning signal transmitting-receiving period transmitting-receiving positioning letter
Number.
7. localization method as claimed in claim 6, wherein in the locating periodically, determine except synchronization signal is emitted at first
Outside the base station of position, touching of other locating base stations for emitting synchronization signals in the synchronization signal emitted from preset locating base station
Give the synchronization signal of transmitting itself.
8. localization method as claimed in claim 6, wherein logical between realizing that clock synchronizes the locating base station in locating base station group
Cross the clock for obtaining the clock of the locating base station for receiving synchronization signal relative to the locating base station for emitting the synchronization signal when
Between correction value realize, wherein the time of locating base station transmitting synchronization signal indicates that locating base station receives the synchronization with t1
The time of signal indicates that synchronization signal is in the locating base station of transmitting synchronization signal and the positioning base of the reception synchronization signal with t2
The time propagated between standing is indicated with t12, then receives the clock of the locating base station of the synchronization signal relative to transmitting synchronization signal
Locating base station clock time complexity curve value Δ t2 are as follows: Δ t2=t1+t12-t2.
9. localization method as claimed in claim 6, wherein utilize the location information of the locating base station in same locating base station group
And emits between the locating base station and positioning label and/or receive the temporal information realization of positioning signal to the positioning label
Positioning.
10. the localization method as described in claim 6-9, wherein each locating base station group and at least one other locating base station
Group includes at least one identical locating base station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910230573.6A CN109819513B (en) | 2019-03-26 | 2019-03-26 | Positioning system for transmitting synchronous signals by multiple positioning base stations and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910230573.6A CN109819513B (en) | 2019-03-26 | 2019-03-26 | Positioning system for transmitting synchronous signals by multiple positioning base stations and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109819513A true CN109819513A (en) | 2019-05-28 |
| CN109819513B CN109819513B (en) | 2024-01-26 |
Family
ID=66610293
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910230573.6A Active CN109819513B (en) | 2019-03-26 | 2019-03-26 | Positioning system for transmitting synchronous signals by multiple positioning base stations and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109819513B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110662287A (en) * | 2019-08-23 | 2020-01-07 | 上海孟伯智能物联网科技有限公司 | Method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning |
| CN113347706A (en) * | 2021-06-01 | 2021-09-03 | 四川中电昆辰科技有限公司 | System and method for determining position occurrence time of device to be positioned in positioning system |
| WO2021213072A1 (en) * | 2020-04-24 | 2021-10-28 | 中兴通讯股份有限公司 | Networking signal sending method and apparatus for positioning network |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1804653A (en) * | 2005-01-13 | 2006-07-19 | 精工爱普生株式会社 | Time difference information supply system, terminal unit and control method for terminal unit |
| CN105897330A (en) * | 2016-04-01 | 2016-08-24 | 严炜 | Signal synchronization method used for UWB high-precision positioning system |
| CN107172584A (en) * | 2017-04-05 | 2017-09-15 | 深圳市金溢科技股份有限公司 | A kind of city vehicle management method, locating base station and system based on UWB technology |
| CN107182123A (en) * | 2017-06-20 | 2017-09-19 | 深圳市翌日科技有限公司 | The synchronous method and synchronization system of a kind of UWB alignment systems |
| CN107295632A (en) * | 2017-04-28 | 2017-10-24 | 四川中电昆辰科技有限公司 | Alignment system and the isochronous controller group network system for alignment system |
| CN107836136A (en) * | 2015-08-13 | 2018-03-23 | 华为技术有限公司 | Synchronous method and device |
| CN108692726A (en) * | 2018-04-08 | 2018-10-23 | 四川省靓固智能科技有限公司 | A kind of UWB indoor orientation methods |
-
2019
- 2019-03-26 CN CN201910230573.6A patent/CN109819513B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1804653A (en) * | 2005-01-13 | 2006-07-19 | 精工爱普生株式会社 | Time difference information supply system, terminal unit and control method for terminal unit |
| CN107836136A (en) * | 2015-08-13 | 2018-03-23 | 华为技术有限公司 | Synchronous method and device |
| CN105897330A (en) * | 2016-04-01 | 2016-08-24 | 严炜 | Signal synchronization method used for UWB high-precision positioning system |
| WO2017167306A1 (en) * | 2016-04-01 | 2017-10-05 | 成都精位科技有限公司 | Method of synchronizing signals in uwb high-precision positioning system, and system |
| CN107172584A (en) * | 2017-04-05 | 2017-09-15 | 深圳市金溢科技股份有限公司 | A kind of city vehicle management method, locating base station and system based on UWB technology |
| CN107295632A (en) * | 2017-04-28 | 2017-10-24 | 四川中电昆辰科技有限公司 | Alignment system and the isochronous controller group network system for alignment system |
| CN107182123A (en) * | 2017-06-20 | 2017-09-19 | 深圳市翌日科技有限公司 | The synchronous method and synchronization system of a kind of UWB alignment systems |
| CN108692726A (en) * | 2018-04-08 | 2018-10-23 | 四川省靓固智能科技有限公司 | A kind of UWB indoor orientation methods |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110662287A (en) * | 2019-08-23 | 2020-01-07 | 上海孟伯智能物联网科技有限公司 | Method for realizing wireless clock synchronization and information convergence in ultra-wideband positioning |
| WO2021213072A1 (en) * | 2020-04-24 | 2021-10-28 | 中兴通讯股份有限公司 | Networking signal sending method and apparatus for positioning network |
| CN113347706A (en) * | 2021-06-01 | 2021-09-03 | 四川中电昆辰科技有限公司 | System and method for determining position occurrence time of device to be positioned in positioning system |
| CN113347706B (en) * | 2021-06-01 | 2023-05-16 | 四川中电昆辰科技有限公司 | System and method for determining position occurrence time of device to be positioned in positioning system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109819513B (en) | 2024-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102198492B1 (en) | Positioning system | |
| JP6940214B2 (en) | Positioning system | |
| US10942250B2 (en) | Positioning system | |
| KR102009791B1 (en) | 3D position tracking system using UWB | |
| CN109819513A (en) | The positioning system and its method of multiple locating base station transmitting synchronization signals | |
| CN109819514A (en) | The positioning system and its method of multiple locating base station transmitting synchronization signals | |
| US11914033B2 (en) | Transmitting device for use in location determination systems | |
| US20090190441A1 (en) | Autonomous ultrasonic indoor tracking system | |
| WO2017097054A1 (en) | Positioning system and method in predetermined space | |
| CN107071899A (en) | Real-time positioning system in a kind of quick high accuracy room | |
| CN107105405B (en) | The method for correcting position error | |
| US20230063193A1 (en) | Location system with ultra-wideband (uwb) infrastructure and discovery infrastructure | |
| CN112262586B (en) | Low-level smart phone audio and sensor clock synchronization | |
| CN104703274B (en) | Pseudo satellite, pseudolite wireless location method, system and device in a kind of band | |
| CN110113811A (en) | Clock recovery synchronizing device, positioning system and localization method | |
| CN109633533A (en) | A kind of UWB high-precision locating method | |
| CN106714299A (en) | Positioning method, positioning system and auxiliary site | |
| CN107249215B (en) | Distribute the method and its localization method of sequential | |
| EP2908611B1 (en) | A device for locating and identifying objects in a room and allowing access to a contextual service | |
| CN112203219B (en) | Positioning system and wireless synchronization method thereof | |
| CN109061565A (en) | A kind of UWB high-accuracy position system and its method | |
| CN114845386A (en) | Time synchronization and positioning method and system based on UWB base station secondary self-correction | |
| CN110113816A (en) | Multiple timings compatible positioning system and timing distribution method | |
| CN113347706B (en) | System and method for determining position occurrence time of device to be positioned in positioning system | |
| US11467624B2 (en) | Clock domain translation for non-synchronized sensors |
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 |