CN109959951A - Based on TOA distance measuring method the intelligent terminal positioning system and method synchronous with Beidou time service - Google Patents
Based on TOA distance measuring method the intelligent terminal positioning system and method synchronous with Beidou time service Download PDFInfo
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- CN109959951A CN109959951A CN201910146613.9A CN201910146613A CN109959951A CN 109959951 A CN109959951 A CN 109959951A CN 201910146613 A CN201910146613 A CN 201910146613A CN 109959951 A CN109959951 A CN 109959951A
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- intelligent terminal
- locating base
- base station
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Abstract
The intelligent terminal positioning system and method synchronous with Beidou time service based on TOA distance measuring method that the invention proposes a kind of, it include: big-dipper satellite, beidou timing module, multiple locating base stations, intelligent terminal, the beidou timing module receives the time signal of big-dipper satellite, the time signal received is passed to multiple locating base stations and intelligent terminal by beidou timing module, locating base station sends pseudo- ultrasonic signal to intelligent terminal, range information and location information is calculated in intelligent terminal, completes indoor intelligent terminal positioning.The present invention is positioning target with intelligent terminal, and positioning accuracy can reach Centimeter Level.Heretofore described locating base station includes for sending the omnidirectional loudspeaker of pseudo- ultrasonic signal, processor, the time service interface for receiving big-dipper satellite time signal；Omnidirectional loudspeaker and time service interface are connected with processor.
Description
Technical field
This system is related to a kind of localization method, and in particular to the localization method based on pseudo- supersonic sounding means particularly relates to
And a kind of the intelligent terminal positioning system and method synchronous with Beidou time service based on TOA distance measuring method.
Background technique
Recently as the universal of intelligent terminal, the indoor positioning and navigation skill compatible with intelligent terminal are greatly improved
The market potential and practical application value of art.Market precision marketing, transport hub or large-scale indoor environment and relatives are anti-wanders away
The application directions such as reverse car search service are increasingly becoming popular research object in pricise position service, large parking lot.
The main implementation of indoor positioning technologies can be divided at present: mobile base station, Wifi, bluetooth, ultra wide band
(ultra wid band, UWB), ultrasonic wave, earth magnetism etc..These indoor positioning technologies are each has something to recommend him, but are constrained to and intelligence
The compatibility of terminal, it is actually available to have the technologies such as wifi, bluetooth with intelligent terminal locating scheme.Locating scheme based on wifi
Positioning accuracy can achieve 2m or so, and precision is limited.Locating scheme based on Bluetooth technology is easy to be interfered, and effective distance
It is shorter, it needs intensively to arrange Bluetooth base. station.The shortcomings that being limited to wifi and Bluetooth technology, the high-precision based on intelligent terminal are indoor
Positioning system is slowly unable to get universal.
Summary of the invention
To solve the above problems, realizing the high-precision indoor positioning based on intelligent terminal, the invention proposes one kind to be based on
The TOA distance measuring method indoor intelligent Terminal Position Location System synchronous with Beidou time service and method.This system can be compatible with intelligence
Energy terminal, while positioning accuracy is up to Centimeter Level.
The technical scheme adopted by the invention is as follows: a kind of indoor intelligent synchronous with Beidou time service based on TOA distance measuring method
Terminal Position Location System, comprising: big-dipper satellite, beidou timing module, multiple locating base stations, intelligent terminal, the Beidou time service mould
Block receives the time signal of big-dipper satellite, and the time signal received is passed to multiple locating base stations and intelligence by beidou timing module
Energy terminal, locating base station send pseudo- ultrasonic signal to intelligent terminal, and range information and location information is calculated in intelligent terminal, complete
At indoor intelligent terminal positioning.
Further, the locating base station includes for sending the omnidirectional loudspeaker of pseudo- ultrasonic signal, processor, for connecing
Receive the time service interface of big-dipper satellite time signal；Omnidirectional loudspeaker and time service interface are connected with processor.
The indoor intelligent terminal synchronous with Beidou time service based on TOA distance measuring method that it is a further object of the present invention to provide a kind of
Localization method is realized in this method system described in claim 1；This method comprises the following steps:
Step (1), big-dipper satellite periodically send synchronization signal to beidou timing module disposed within；
Step (2), beidou timing module turn after receiving synchronization signal to locating base station and intelligent terminal disposed within
Send out synchronization signal；
Step (3), each locating base station receive and send 18kHz-22kHz's according to TDMA principle after synchronization signal
Chirp puppet ultrasonic signal；
After step (4), intelligent terminal receive acoustical signal, each locating base station and intelligence are obtained eventually using cross-correlation technique
At the time of pseudo- ultrasonic signal reaches between end, range information is obtained using TOA distance measuring method；
Step (5) realizes the relative position calculating to intelligent terminal and each locating base station by least square method, finally
Obtain intelligent terminal location information.
Further, the step (2) comprises the following processes: for not forwarding effectively in distance in beidou timing module
Locating base station synchronizes signal forwarding by other locating base stations for receiving synchronization signal.
Further, TOA distance measuring method is as follows in the step (4):
A: all locating base stations used realize that clock is synchronous after receiving Beidou time signal with intelligent terminal, at this time
Mark moment T0；
B: each locating base station is based on TDMA (Time division multiple access) principle, presses at the T0 moment
Send the chirp acoustical signal of 18kHz-22kHz respectively according to scheduled delay；
C: intelligent terminal records respectively at the time of receive each locating base station acoustical signal；
D: information at the time of acoustical signal is received according to T0 moment, predetermined delay and intelligent terminal, in conjunction with sound
Spread speed, intelligent terminal be calculated intelligent terminal between each mobile phone at a distance from, this be TOA distance measuring method.
Further, the step (5) specifically:
It is least square method using the method that the range information that TOA distance measuring method obtains is converted into location information, formula is such as
Under:
Wherein (x, y) indicates that the coordinate of intelligent terminal, N are the quantity of locating base station, (xi,yi) indicate i-th of locating base station
Coordinate, diIndicate intelligent terminal at a distance from i-th of locating base station.
Beneficial effects of the present invention: 1, the present invention is combined with intelligent terminal, without using while realizing indoor positioning
The additional Portable device in family, indoor positioning are convenient and efficient；2, the requirement in view of indoor positioning to precision, the present invention utilize pseudo- ultrasound
Signal realizes the precision that wifi and bluetooth are unable to reach as ranging means；3, locating base station proposed by the present invention is effectively surveyed
Away from range 50m or more, realize that the indoor positioning of large area building only needs a small number of locating base stations；4, user experience, this hair are considered
The bright pseudo- ultrasonic signal used is the chirp acoustical signal of 18kHz-22kHz, and human ear can not be heard；5, need will be each by the present invention
Locating base station is synchronized with intelligent terminal, robustness and system stability with higher.
Detailed description of the invention
Fig. 1 is the frame principle of this system；
Fig. 2 is that this system realizes demonstration graph；
Fig. 3 is the frame principle for the TOA positioning for including in this system；
Fig. 4 is the pseudo- ultrasonic signal spectrogram that this system uses.
Specific embodiment
Below in conjunction with attached drawing and specific embodiment, the present invention will be described in detail, herein illustrative examples of the invention
And explanation is used to explain the present invention, but not as a limitation of the invention.
Referring to Fig.1, the invention discloses a kind of, and the intelligent terminal synchronous with Beidou time service based on TOA distance measuring method positions system
System, beidou timing module receive the time signal of big-dipper satellite, and beidou timing module passes to the time signal received more
A locating base station and intelligent terminal, locating base station send pseudo- ultrasonic signal to intelligent terminal, and distance letter is calculated in intelligent terminal
Breath and location information complete indoor intelligent terminal positioning.
Referring to Figure 2 to Figure 4, the invention discloses a kind of intelligent terminals synchronous with Beidou time service based on TOA distance measuring method
Localization method has the following steps for the localization method of intelligent terminal:
Step (1), big-dipper satellite periodically send synchronization signal to beidou timing module disposed within；
Step (2), beidou timing module turn after receiving synchronization signal to locating base station and intelligent terminal disposed within
Synchronization signal is sent out, is limited to satellite to the penetration power of indoor environment, in order to enable locating base station disposed within that can obtain synchronization
Signal, it is therefore desirable to be forwarded after receiving synchronization signal using beidou timing module；
Step (3), each locating base station are sent according to TDMA principle such as chirp signal in Fig. 4 after receiving synchronization signal
Shown, frequency is the pseudo- ultrasonic signal of 18kHz-22kHz, and the acoustical signal sample rate used due to intelligent terminal is 48000Hz, reality
Border sample rate is about 46100Hz, therefore when selecting acoustical signal frequency, and frequency considers that human ear can no more than 23kHz
With the frequency of sound wave heard, in order to reduce the influence to user's daily life, therefore the final puppet ultrasound using 18kHz-22kHz
Signal；
After step (4), intelligent terminal receive acoustical signal, each locating base station and intelligence are obtained eventually using cross-correlation technique
At the time of pseudo- ultrasonic signal reaches between end, range information is obtained using TOA distance measuring method, why to use cross-correlation technique,
It is because indoor acoustical signal has a series of disturbing factors such as echo, in order to reduce the influence of these disturbing factors, therefore
To use cross-correlation technique；
Step (5) realizes the relative position calculating to intelligent terminal and each locating base station by least square method, finally
Obtain intelligent terminal location information.
Further, the step (2) comprises the following processes: for not forwarding effectively in distance in beidou timing module
Locating base station synchronizes signal forwarding by other locating base stations for receiving synchronization signal.
Further, TOA distance measuring method is as follows in the step (4):
A: all locating base stations used realize that clock is synchronous after receiving Beidou time signal with intelligent terminal, at this time
Mark moment T0；
B: each locating base station is based on TDMA (Time division multiple access) principle, presses at the T0 moment
According to scheduled delay, such as t in Fig. 3d1With td2It is shown, the chirp acoustical signal of 18kHz-22kHz is sent respectively；
C: intelligent terminal records respectively at the time of receive each locating base station acoustical signal, such as T3, T4 in Fig. 3；
D: according to T0 moment, predetermined delay td1、td2Deng and intelligent terminal receive acoustical signal at the time of T3, T4 etc., knot
The spread speed of chorus sound, intelligent terminal be calculated intelligent terminal between each mobile phone at a distance from, this be TOA distance measuring method.
Further, the step (5) specifically:
It is least square method using the method that the range information that TOA distance measuring method obtains is converted into location information, formula is such as
Under:
Wherein (x, y) indicates that the coordinate of intelligent terminal, N are the quantity of locating base station, (xi,yi) indicate i-th of locating base station
Coordinate, diIndicate intelligent terminal at a distance from i-th of locating base station.
Claims (6)
1. a kind of the indoor intelligent Terminal Position Location System and method, feature synchronous with Beidou time service based on TOA distance measuring method exist
In, comprising: big-dipper satellite, beidou timing module, multiple locating base stations, intelligent terminal, the beidou timing module receive Beidou
The time signal received is passed to multiple locating base stations and intelligent terminal by the time signal of satellite, beidou timing module, fixed
Position base station sends pseudo- ultrasonic signal to intelligent terminal, and range information and location information is calculated in intelligent terminal, completes indoor intelligence
It can terminal positioning.
2. a kind of indoor intelligent terminal positioning synchronous with Beidou time service based on TOA distance measuring method according to claim 1
System, which is characterized in that the locating base station includes for sending the omnidirectional loudspeaker of pseudo- ultrasonic signal, processor, for connecing
Receive the time service interface of big-dipper satellite time signal；Omnidirectional loudspeaker and time service interface are connected with processor.
3. a kind of indoor intelligent method of locating terminal synchronous with Beidou time service based on TOA distance measuring method, which is characterized in that the party
It is realized in method system described in claim 1；This method comprises the following steps:
Step (1), big-dipper satellite periodically send synchronization signal to beidou timing module disposed within；
Step (2), beidou timing module forward together after receiving synchronization signal to locating base station disposed within and intelligent terminal
Walk signal；
It is pseudo- that step (3), each locating base station receive the chirp for sending 18kHz-22kHz according to TDMA principle after synchronization signal
Ultrasonic signal；
After step (4), intelligent terminal receive acoustical signal, obtained between each locating base station and intelligent terminal using cross-correlation technique
At the time of pseudo- ultrasonic signal reaches, range information is obtained using TOA distance measuring method.
Step (5) realizes the relative position calculating to intelligent terminal and each locating base station by least square method, finally obtains
Intelligent terminal location information.
4. according to the method described in claim 3, the step (2) comprises the following processes: for not having in beidou timing module
Locating base station in effect forwarding distance synchronizes signal forwarding by other locating base stations for receiving synchronization signal.
5. according to the method described in claim 3, TOA distance measuring method is as follows in the step (4):
A: all locating base stations used realize that clock is synchronous after receiving Beidou time signal with intelligent terminal, mark at this time
Moment T0；
B: each locating base station is based on TDMA (Time division multiple access) principle, according to pre- at the T0 moment
Fixed delay sends the chirp acoustical signal of 18kHz-22kHz respectively；
C: intelligent terminal records respectively at the time of receive each locating base station acoustical signal；
D: information at the time of acoustical signal is received according to T0 moment, predetermined delay and intelligent terminal, in conjunction with the propagation of sound
Speed, intelligent terminal be calculated intelligent terminal between each mobile phone at a distance from, this be TOA distance measuring method.
6. according to the method described in claim 3, the step (5) specifically:
It is least square method using the method that the range information that TOA distance measuring method obtains is converted into location information, formula is as follows:
Wherein (x, y) indicates that the coordinate of intelligent terminal, N are the quantity of locating base station, (xi,yi) indicate i-th of locating base station seat
Mark, diIndicate intelligent terminal at a distance from i-th of locating base station.
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Cited By (4)
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| CN109975845A (en) * | 2019-04-17 | 2019-07-05 | 北华航天工业学院 | A kind of time service positioning system and its time service localization method based on dipper system |
| CN111190137A (en) * | 2019-12-31 | 2020-05-22 | 长沙北斗产业安全技术研究院有限公司 | Positioning system and method based on ultra wide band |
| CN112710986A (en) * | 2020-12-18 | 2021-04-27 | 武汉大学 | Sound positioning method and system based on 5G signal synchronization |
| CN113766626A (en) * | 2021-08-24 | 2021-12-07 | 国网思极神往位置服务（北京）有限公司 | UWB positioning system time slot synchronization control method, device, storage medium and program product based on Beidou time service |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109975845A (en) * | 2019-04-17 | 2019-07-05 | 北华航天工业学院 | A kind of time service positioning system and its time service localization method based on dipper system |
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| CN113766626A (en) * | 2021-08-24 | 2021-12-07 | 国网思极神往位置服务（北京）有限公司 | UWB positioning system time slot synchronization control method, device, storage medium and program product based on Beidou time service |
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