CN109964140A - Estimate the method and receiving device of the arrival time of radio signal, method and system used for positioning - Google Patents
Estimate the method and receiving device of the arrival time of radio signal, method and system used for positioning Download PDFInfo
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- CN109964140A CN109964140A CN201780068267.6A CN201780068267A CN109964140A CN 109964140 A CN109964140 A CN 109964140A CN 201780068267 A CN201780068267 A CN 201780068267A CN 109964140 A CN109964140 A CN 109964140A
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- correlation peak
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/04—Details
- G01S1/045—Receivers
-
- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
- G01S1/20—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems
- G01S1/24—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems the synchronised signals being pulses or equivalent modulations on carrier waves and the transit times being compared by measuring the difference in arrival time of a significant part of the modulations, e.g. LORAN systems
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
- G01S1/20—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems
- G01S1/24—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems the synchronised signals being pulses or equivalent modulations on carrier waves and the transit times being compared by measuring the difference in arrival time of a significant part of the modulations, e.g. LORAN systems
- G01S1/245—Details of receivers cooperating therewith, e.g. determining positive zero crossing of third cycle in LORAN-C
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/7163—Spread spectrum techniques using impulse radio
- H04B1/71637—Receiver aspects
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B2201/00—Indexing scheme relating to details of transmission systems not covered by a single group of H04B3/00 - H04B13/00
- H04B2201/69—Orthogonal indexing scheme relating to spread spectrum techniques in general
- H04B2201/7163—Orthogonal indexing scheme relating to impulse radio
- H04B2201/71634—Applied to ranging
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention relates to the methods for estimating the arrival time of radio signal by receiving device (12).Corresponding one group of radio signal by including NcIt is a that there is identical predetermined lasting time TcSymbol frequency expansion sequence modulation data packet, radio signal is sent with impulse form and be received equipment (12) receive.In addition, method is the following steps are included:-step (100), according to predetermined sampling period TeThe step of radio signal is sampled, so that amount Nc x Tc/TeFractional part PfIt is not zero, step (200), the sliding correlation function that the radio signal of sampling is calculated between the representative reference sequences of frequency expansion sequence modulated by pulse packet, step (300), the step of detecting the correlation peak of correlation function, correlation peak is associated with detection moment respectively ,-step (400), according to correlation peak and fractional part PfCorresponding detection moment estimate arrival time of radio signal.
Description
Technical field
The invention belongs to body locating system fields, more specifically to one kind for estimating nothing by receiving device
The method of the arrival time of line electric signal and a kind of the receiving device is sent by the radio signal for positioning
The method of sending device.
Background technique
The present invention has found particularly advantageous, but restrictive application by no means in super wideband wireless positioning system.?
Here, " ultra wide band " (" ultra wide band ", UWB is also abbreviated by english literature) refers to is emitted to by one or more sending devices
The radio signal of one or more receiving devices of the positioning system, absolute bandwidth (are measured relative to centre frequency
Power is -10 dB) it is greater than 500 megahertzs.
The application of UWB is diversified, and is usually directed to the local transmission of high-speed radio numerical data, further relates to thunder
It reaches or medical image system.
More specifically, UWB system is advantageously adapted to the nothing for the fixed object that positioning is respectively fixed in enclosed environment
Line electricity marks (in also referred to as wireless lebal), such as storehouse, or in specific region be the execution positioning special configuration
Mobile radio label.
We are known energy passive marker such as passive label RFID(English " Radio Frequency
The abbreviation of Identification "), but also have energy active tag, contain such as Zebra, Decawave,
The active tag of the battery of the types such as Ubisense, Nanotron.
In general, the impulse form that the sending device of this positioning system is very short to multiple receiving device sending durations
Radio signal, the duration be nanosecond rank.Extremely short pulse is drawn by frequency domain in the time domain for these, to obtain
The ultrabroad-band spectrum characteristic of UWB technology.
In order to position sending device, each receiving device estimates the arrival time for the signal for reaching it, the estimation
Be subsequently used as the abbreviation that arrival time difference calculates TDOA(English " Time Difference Of Arrival ") basis.Institute
It states estimation usually to be executed by the digital correlator that receiving device is equipped with, and generates relevant peaks while signal sampling is received in docking
Value.Then, the estimation of signal arrival time corresponds to the detection moment that first amplitude is more than the correlation peak of predetermined threshold.
It is understood, therefore, that the precision of position depends on the estimated accuracy of arrival time, this depends on adopting for signal
Sample frequency.However, the reason of either developing for cost, energy consumption or technology, the increase of sample frequency is necessarily limited.
Therefore, sample frequency is to limit a factor of positioning system performance.
In addition, the estimation of arrival time is also influenced by about sample error intrinsic in receiving device construction,
Therefore, it is intended that the estimation lacks accuracy.In order to minimize the influence of the error, the interpolation skill of known correlation peak can be used
Art.Such as, it may be considered that by the peak value and the subsequent peak value progress amplitude interpolation of this peak value before peak value and this peak value.If this
A little technologies really receive signal without or while having very slight noise improve the precision of estimation, then when the amplitude phase of noise
When amplitude for emitting signal be can not ignore, their performance is still highly stable.Actually in UWB wireless location system
In usually it is particularly the case.
Summary of the invention
The present invention is directed to the solution party by proposing a kind of arrival time of radio signal that can accurately estimate to issue
Case makes up all or part of disadvantage of the prior art, especially disadvantages mentioned above.The radio signal from a sending device to
Multiple receiving devices issue, while limiting the sample frequency of the radio signal, and make the signal may be by transmission
Influence of noise keep stablize.
For this purpose, and according in a first aspect, the present invention relates to one kind for estimating aerogram by receiving device
Number arrival time method.The radio signal corresponds to one group by including NcIt is a that there is identical predetermined lasting time Tc's
The data packet of the frequency expansion sequence modulation of symbol.In addition, the method includes following consecutive steps:
According to predetermined sampling period TeThe step of radio signal is sampled, so that amount Nc x Tc/TeFractional part
PfIt is not zero,
The radio signal of sampling is calculated between the representative reference sequences of the frequency expansion sequence modulated by pulse packet
The step of sliding correlation function,
The step of detecting the correlation peak of the correlation function, the correlation peak is associated with detection moment respectively,
According to the correlation peak and the fractional part PfCorresponding detection moment estimate the arrival of radio signal
The step of moment.
In certain embodiments, estimation method may further include one or more of following characteristics, these are special
Sign is considered separately or is considered with any technically operable combination.
In a specific embodiment, estimate transmitting radio signal arrival time the step of include:
The recombination of serial correlation peak value in detection sequence,
The calculating of corresponding duration between two serial correlation peak values of the detection sequence,
The order R of first correlation peak is determined in the detection sequencep, which is known as time step peak
Value, wherein the duration between the time step peak value and respectively correlation peak before it and later is different, according to
The detection moment of first correlation peak of correlation function and as order RpArrival of the function to estimate radio signal when
It carves.
In a specific embodiment, the arrival time for calculating radio signal is equal to first correlation of correlation function
The detection moment and amount P of peak valuef’ x Rp’ x TeThe sum of, wherein Pf’ = | Pf mod 1/2|, Rp’ = Rp mod E(1/
Pf’)。
In a specific embodiment, reference sequences correspond in TeThe over-sampling frequency expansion sequence at place, it is described to refer to sequence
Column include character subset, and each subset corresponds to the symbol of the frequency expansion sequence of auxiliary symbol cover, and the auxiliary symbol is complete each other
Portion is identical and is different from the symbol of the frequency expansion sequence, and the quantity of auxiliary symbol is equal to ratio Tc/TeInteger portion
Divide E (Tc/Te) or equal to E (Tc/Te)-1。
In a specific embodiment, frequency expansion sequence is pseudo-random sequence.
In a specific embodiment, the pseudo-random sequence is the binary sequence of m-sequence.
In a specific embodiment, fractional part PfIn section [0.1,0.9].
In a specific embodiment, fractional part PfIn section [0.125,0.250].
According to second aspect, the present invention relates to a kind of sides for the sending device by positioning system positioning in the environment
Method.This method includes the device that is configured to generate corresponding with the data packet modulated by frequency expansion sequence radio signal.
The frequency expansion sequence includes NcIt is a that there is identical predetermined lasting time TcSymbol, the radio signal sends in the form of a pulse
And it is received by multiple receiving devices.In addition, the localization method includes following consecutive steps:
The step of estimating the arrival time of radio signal by the receiving device respectively, the step include according to the present invention
Any embodiment estimation radio signal arrival time method.
Calculate the step of equipment estimates the position of the sending device according to the arrival time.
In a specific embodiment, the step of estimating the position of the sending device by multipair receiving device arrival
Time difference calculates TDOA and determines.
According to the third aspect, the present invention relates to the receiving devices of arrival time for estimating radio signal a kind of, this is wireless
Electric signal corresponds to one group of data packet modulated by frequency expansion sequence, which includes NcIt is a that there is identical predetermined lasting time
TcSymbol, the radio signal sends in the form of a pulse and received by the receiving device.In addition, the receiving device
Including following device:
It is configured as according to predetermined sampling period TeRadio signal is sampled, so that amount Nc x Tc/TeScore portion
Divide PfThe device being not zero,
It is configured as calculating the radio signal of sampling and sequence is referred to by the representativeness of the frequency expansion sequence of pulse packet modulation
The device of sliding correlation function between column,
It is configured as detecting the correlation peak of the correlation function, correlation peak dress associated with detection moment respectively
It sets,
It is configured as according to the correlation peak and the fractional part PfCorresponding detection moment estimate aerogram
Number arrival time device.
In certain embodiments of the invention, receiving device may also include one or more of following characteristics, these are special
Sign is considered separately or is considered with any technically operable combination.
In a particular embodiment, receiving device includes:
It is configured as the device being grouped to the serial correlation peak value in detection sequence,
It is configured as calculating the device of the corresponding duration between two serial correlation peak values of the detection sequence,
It is configured as calculating the device of the corresponding duration between two serial correlation peak values of the detection sequence,
It is configured as determining the order R of first correlation peak in the detection sequencepDevice, first correlation peak
Referred to as time step peak value, wherein holding between the time step peak value and respectively correlation peak before it and later
The continuous time is different, according to the detection moment of the first of correlation function correlation peak and as order RpFunction it is wireless to estimate
The arrival time of electric signal.
In a specific embodiment, receiving device includes first correlation peak for being configured as calculating correlation function
Detection moment and amount Pf’ x Rp’ x TeThe sum of, wherein Pf’ = | Pf mod 1/2|, Rp’ = Rp mod E(1/Pf’)。
In a specific embodiment, reference sequences correspond in TeThe over-sampling frequency expansion sequence at place, it is described to refer to sequence
Column include character subset, and each subset corresponds to the symbol of the frequency expansion sequence of auxiliary symbol cover, and the auxiliary symbol is complete each other
Portion is identical and is different from the symbol of the frequency expansion sequence, and the quantity of auxiliary symbol is equal to ratio Tc/TeInteger portion
Divide E (Tc/Te) or equal to E (Tc/Te)-1。
In a specific embodiment, frequency expansion sequence is pseudo-random sequence.
In a specific embodiment, the pseudo-random sequence is the binary sequence of m-sequence.
In a specific embodiment, fractional part PfIn section [0.1,0.9].
In a specific embodiment, fractional part PfIn section [0.125,0.250].
According to fourth aspect, the present invention relates to the positioning system for including at least one sending device being located in environment, institutes
Stating at least one sending device includes the device for generating and sending radio signal.In addition, the positioning system include with
Lower device:
Multiple receiving devices of any embodiment according to the present invention,
- one calculating equipment, the equipment include the arrival being configured as according to the radio signal determined respectively by receiving device
The device for estimating to estimate the position of at least one sending device of time.
Detailed description of the invention
The field that the invention belongs to position in enclosed environment (such as storehouse or warehouse) or open environment to object.?
Here, " positioning " refers to the respective geographical coordinate for determining these objects relative to the reference point of these object local environments.This is fixed
Position can be it is two-dimensional, for example, if all objects are located in identical geometrical plane or the positioning is also possible to three-dimensional
's.
It was noticed that for remaining description, for each real number A, E(A) indicate A integer part, that is to say, that
Maximum integer less than or equal to A.In addition, we also note that the fractional part P of Af(A), that is, real number, belong to section
[0,1) so that A is equal to E(A) and Pf(A) sum.
Fig. 1 schematically shows the example of wireless location system 10.
Wireless location system 10 includes at least one sending device 11 and multiple receiving devices 12.At least one described hair
Sending equipment 11 and the receiving device 12 to respectively include is considered as wireless communication device known to the personnel of the field.These communications
Device is suitable for the number between at least one described sending device 11 and the receiving device 12 in the form of radio signals
According to exchange." radio signal " herein refers to the electromagnetic wave propagated by wireless device, and frequency includes traditional wireless
In electric wave spectrum (several hertz are arrived several hundred Gigahertzs).
In the further part of this specification, when the energy that the operation of equipment is provided based on remote equipment, the equipment quilt
It is defined as " energy is passive " type.On the contrary, especially even existing when the equipment is configured as the energy operation loaded by means of it
Before its use for the first time, for example, include in battery electric energy when, which is defined as " energy actively " type, and this energy is not
It is provided by remote equipment.
In the present embodiment, and not with any limiting meaning, at least one described sending device 11 is energy passive-type
, and be configured as storing electric energy by capacity effect.For this purpose, receiving device 12 is suitable for propagating electromagnetic wave, electromagnetic wave
It is sensed by least one described sending device 11, in the case that electromagnetic wave is in sending device sensing range, with ability
Mode well known to field technique personnel converts electromagnetic waves into electric current.At least one sending device 11 has stored enough after described
Electric energy, be activated and emit the radio signal comprising data, such as identification code, and received by receiving device 12.
The further part of this specification relates more specifically to, but is not limited to, a kind of wireless location system 10 of UWB type,
It is a radio label (also referred to as wireless lebal) that equipment 11 is sent at least one transmitting of the wireless location system.It is described extremely
A few sending device 11 is fixed on the object for being positioned at the environment 20, is herein as shown in Figure 1 closed environment.This
Outside, the receiving device 12 is positioned in the different location (as shown in phantom in Figure 1) of environment 20, is configured in the electricity
In 20 range of environment of magnetic wave, with local statues to a frequency of the permitted frequency band for using radio label, and with example
Such as the transmission power of several watts magnitude, emit electromagnetic wave in a manner of continuous or circulation.This electromagnetic wave is for example to pass through frequency hopping
The carrier wave of technology modulation.
However, according to other examples, however not excluded that the sending device 11 for having the energy for loading such as battery respectively active.?
Other types of wireless location system 10 has been not excluded for it, that is to say, that there is the frequency bandwidth different from UWB system, and receive
Equipment 12 propagates electromagnetic wave in the case where passive-type sending device with other frequencies.
In the further part of this specification, as shown in Figure 1, considering especially for clear and mitigation description, wirelessly fixed
The case where only one sending device 11 is not for purposes of limitation in the system 10 of position.Therefore, however not excluded that at other
Positioning system includes more than one sending device 11 in example, as described below.
In the example depicted in fig. 1, wireless location system 10 further includes four receiving devices 12.This configuration is advantageously suitable
For the three-dimensional localization of sending device 11, the positioning is by the arrival for example by calculating the radio signal that sending device 11 is sent
Time difference calculates the abbreviation of TDOA(English " Time Difference Of Arrival ") Lai Shixian.One sending device hair
The technology that the radio signal sent corresponds to multipair receiving device 12 is well known to the technical staff of the field.Alternatively, when sending
When the position of equipment 11 is two dimension, it is sufficient using three receiving devices 12.
Fig. 2 was indicated for the arrival time by the estimation of receiving device 12 by the received radio signal of the receiving device 12
Method embodiment flow chart.
For example, the realization for the estimation method, receiving device 12 includes processing circuit (not shown), including one
Wherein storage device is stored with computer for a or multiple processors and storage device (magnetic hard-disk, electronic memory, CD etc.)
Program product, form are the batch processing code command to be executed, the method to realize estimation radio signal arrival time
Each step.Alternately or in addition, the processing circuit of receiving device 12 includes one or more programmable logic circuit
(FGPA, PLD etc.), and/or one or more specific integrated circuits (ASIC) and/or one group of discrete electronic component etc., these
Configuration is adapted for carrying out all or part of steps of the method for the arrival time of estimation radio signal.
In other words, the processing circuit of receiving device 12 include one group with software (specific computer program product) and/or
The device of hardware (FGPA, PLD, ASIC, discrete electronic component etc.) configuration, to realize the arrival for estimating radio signal
The step of method at moment.
In the present embodiment, it is sent out at the time of the radio signal is before the arrival time estimated by sending device 11
It penetrates, and corresponds to one group of data packet.The data packet indicates the unique identifier of sending device 11, each data of the data packet
It is encoded, such as is encoded with bit value " 1 ", or be " low " state by the representative bit of so-called " high " state,
Such as it is encoded with bit value " -1 ".In addition, each bit of data packet and scheduled duration TbAssociated, this is scheduled to hold
Continuous time TbAll bits for data packet are identical, and correspond to the duration for sending the bit, so that institute
Data are stated to transmit in the form of bit stream incessantly.For example, the data packet passes through 64 bits of encoded, therefore it can be adopted
With 264 different values, and the transmitting continuous time T of a bitbEqual to 63.75 microseconds.However, according to not being described in detail herein
Other examples, however not excluded that have be less than or greater than the data packet of 64 bits of encoded and bit it is transmitting continuous when
Between TbThe case where less than or greater than 63.75 microsecond.
In addition, the data of data packet are modulated by frequency expansion sequence, which identifies with sending device 11 is represented
The data packet of code generates simultaneously has identical predetermined lasting time TcSymbol (symbol be English known to industry personage text
Term " chips " in offering).The duration TcLess than the duration T of a bitb, so that each bit is by positive integer
NcA symbol-modulated (for convenience's sake, generally selects Integer Nc, i.e., known to those skilled in the art in reference English text
Term " spreading factor " in offering).The duration of the sequence spreading is equal to Nc x Tc, and once complete,
It repeats immediately.Frequency expansion sequence to continuously repeat number identical as the bit number in the identification code of sending device 11.
In the present embodiment, each symbol is compiled according to implementation identical with the coding of the identification code of sending device 11
Code, that is to say, that encoded by value " 1 " or " -1 ".For example, and absolutely not limitation intention, when the duration T of bitbIt is
When 63.75 microsecond, the duration T of symbolcIt can be 250 nanoseconds, therefore the quantity N of the symbol of frequency expansion sequencecEqual to 255.Root
According to other examples, however not excluded that consider the coding of the data of the coding of the symbol of frequency expansion sequence and the identification code of sending device 11 not
Together.According to other examples, it is also not excluded for quantity NcThe case where not equal to 255.
By by the symbol combination of each data element and the frequency expansion sequence, such as by means of the logic of distance type
Function (" XNOR " in english literature) obtains the modulation of data packet.In this way, due to duration TcLess than lasting
Time Tb, the combination has the effect of increasing the frequency of each data element, correspond to so that the combination generates in a frequency domain
The general result of the extension frequency of the signal of single data packet.This program, commonly referred to as " direct sequence spreading frequency is general ", and thus produce
Raw advantage is well-known to those skilled in the art.
It is understood, therefore, that including that quantity is equal to N by the data that frequency expansion sequence is modulatedcSubdata and be equal to Tc's
The corresponding duration.As non-limiting example, if the data item of data packet has value 1, and frequency expansion sequence is continuously wrapped
Include value 1,1, -1,1, then modulation data item will include: 1,1, -1 and 1 in this order.On the other hand, if data item has value-
1, then by combining it with identical frequency expansion sequence, the data item of modulation will include -1, -1,1, -1 in this order.
In a particular embodiment, frequency expansion sequence is a pseudo-random sequence, also referred to as " PRN " sequence (English expression
The abbreviation of " Pseudo Random Noise ").Particularly, phase of the value of each symbol of the sequence independently of other symbols
It should be worth.This sequence has specific correlation properties, as it is known by the man skilled in the art, advantageously in estimation radio signal
It is used when arrival time, as described below.
In a preferred embodiment, the pseudo-random sequence is the binary sequence of m-sequence.However, according to other
Example, however not excluded that there is another type of pseudo-random sequence, such as so-called " Gold " sequence, or " Barker " sequence, or
" Hadamard-Walsh " sequence etc...
It should be noted that the embodiment is described with reference to single sending device 11.However, being described in the embodiment
Setting be directly applied for wireless location system 10 there is the case where multiple sending devices, as long as the corresponding identification of sending device 11
Code is different two-by-two.Since it is so, these identification codes can be modulated by the frequency expansion sequence that all sending devices 11 share,
Or it can also be modulated respectively by frequency expansion sequences different two-by-two.
It then, is the signal of the pulse with each value for representing the modulation data by modulation data packet transform.These
The duration T of same size and in-less-than symbol of pulsec.For example, and absolutely not limitation intention, work as duration TcIt is equal to
When 250 nanosecond, the duration of pulse was equal to for 30 nanoseconds.It is, however not excluded that in the duration T of in-less-than symbolcThe case where
Under, the case where duration of pulse was different from for 30 nanosecond.For example, the pulse that can there is the respective duration to be equal to for 1 nanosecond.
In the present embodiment, when the value of the subdata of modulation data item is 1, the subdata item generates relevant pulse
Transmitting.On the contrary, then the subdata does not generate any coherent pulse when the value of the subdata of modulation data is -1.In addition, working as
When two continuous subdatas value 1 having the same, they are equal to T with the duration respectivelycTwo continuous pulses it is related
Connection.For example, the generation of pulse is realized by the modulation (abbreviation of English expression " On-Off Keying ") of " OOK " type.
However, according to other examples not being described in detail herein, however not excluded that pulse is generated by different modulation.
It is worth noting that, in the manner known to persons skilled in the art, being obtained after through sequence spreading modulation data packet
The signal with pulse obtained is modulated by carrier frequency before transmission, the letter for including in the signal to be used for transmission the acquisition
Breath.Similarly, when receiving radio signal, the latter can demodulate relative to the carrier wave.Here it does not retouch in detail
Such process is stated, and in order to simplify and clearly be expressed in the further part of this specification, is sent by sending device 11
And only referred to by the received radio signal of receiving device 12 modulated by frequency expansion sequence after the signal that obtains.
It should be noted that in order to generate the radio signal emitted from data packet and frequency expansion sequence, sending device 11
Including such as processing circuit (not shown), including one or more multiple processors and storage device (magnetic hard-disk, electronics
Memory, CD etc.), wherein storage device is stored with computer program product, and form is the batch processing code to be executed
Instruction, to realize each step of the method for estimation radio signal arrival time.Alternately or in addition, sending device 11
Processing circuit includes one or more programmable logic circuit (FGPA, PLD etc.), and/or one or more specific integrated circuits
(ASIC) and/or one group of discrete electronic component etc., these configurations are adapted for carrying out the side of the arrival time of estimation radio signal
All or part of steps of method.
In other words, the processing circuit of sending device 11 include one group with software (specific computer program product) and/or
The device of hardware (FGPA, PLD, ASIC, discrete electronic component etc.) configuration, to realize the arrival for estimating radio signal
The step of method at moment.
Therefore, the method for the arrival time for the radio signal estimated by receiving device 12, including several steps.In one
As in principle, the method includes being carried out first according to the suitable sampling period to by the received radio signal of receiving device 12
Sampling.Then the sampled signal is associated with reference sequences, to obtain the correlation function with correlation peak, from the correlation
Peak value can identify data packet, the identification code of sending device 11, and estimation their own arrival time be represented, to estimate
The arrival time of radio signal.Compared with prior art, the method is intended to allow relative to unknown radio signal
It is actually reached the arrival time that the moment preferably estimates radio signal.Herein, estimate described in being improved by the selection sampling period
Meter.
For this purpose, estimation method includes step 100 first, for according to predetermined sampling period TeTo radio signal into
Row sampling, so that amount Nc x Tc/TeFractional part PfIt is not zero.
Therefore, step 100 allows to obtain sampling point sequence, and each sampled point is related to sampling instant and sampled value
Connection, which is the numerical value indicated in the sampling time received radio signal amplitude.
For example, and absolutely not limitation intention, the symbolic number N of frequency expansion sequencecEqual to 255, the symbol of the frequency expansion sequence
Duration TcFor 250 nanoseconds.In addition, fixed sample period TeValue so that amount Nc x Tc/TeEqual to 3123.75.Therefore,
In this example, sample frequency is equal to ratio 1/Te, i.e., 49 megahertzs.And it is not excluded for adopting less than or greater than 49 megahertzs
Sample frequency, such as the sample frequency of 1 gigahertz.
Sampling instant typically refers to a certain date, such as in such a month, and on such a day certain second of certain hour point indicates with certain year.For example, logical
Spend the date that timestamp obtains the first sampled point.Therefore, each sampled point other than first sampled point will be by that will adopt
The quantity of sampled point in sampling point sequence before it is multiplied by cycle TeIt is associated with the date.
It is worth noting that, amount Nc x Tc/TeIt is not integer, and NcIt is integer again.Therefore, by the present invention it is found that Tc/Te
It is not an integer, which means that theoretically, the pulse of the radio signal received and the sampled point of non-integer divide
From because especially two continuous pulses are equal to TcDuration separate.Therefore, it also means that each pulse and reason
Associated by sampling instant, which is equal to cycle TeWith multiplying for the non-integer sampled point before the pulse
Product.However, receiving device 12 is typically configured as counting and storing integer sampled point.Therefore, in the present embodiment, it is practical by
The pulse arrival time that receiving device 12 determines is equal to cycle TeMultiplied by the integer part of the sampling number before the pulse
Product.Also, according to other examples not being described in detail herein, however not excluded that calculated according to miscellaneous stipulations practical really by receiving device 12
The arrival time of fixed pulse.
Consider that, unless causing to obscure, otherwise we use P in the further part of this specification, and in order to mitigate descriptionf's
Amount is equivalent to Pf(Nc x Tc/Te) amount.
The estimation method then includes the frequency expansion sequence for calculating the radio signal of sampling and representing the pulse envelope modulation
Reference sequences between sliding correlation function step 200.
The purpose of step 200 has been sent via sending device 11 by the calculating measurement to the sliding correlation function
Radio signal and by the similitude between the received radio signal of receiving device 12, the radio signal may be at it
Noise is generated between transmitting and reception.The measurement of this similitude especially from detected in received radio signal by
The data packet of frequency expansion sequence modulation, and therefore estimate the corresponding arrival time of the modulation data, therefore be also the radio
The arrival time of signal.
The sliding correlation function, is expressed as fcor, it is the discrete function of time, which is the sampling
Moment, the reference sequences are expressed as Sref, it is bounded and the radix Δ (S for being less than sampling numberref) symbol sebolic addressing.It is this
Slide correlation function fcorTheoretical definition and its mathematical characteristic be well-known to those skilled in the art.
In a preferred embodiment, reference sequences correspond to TeThe over-sampling sequence at place, the reference sequences include symbol
Work song collection, each subset correspond to the symbol of the frequency expansion sequence with auxiliary symbol cover, and the auxiliary symbol is all identical each other
And it is different from the symbol of the frequency expansion sequence, and the quantity of the auxiliary symbol is equal to ratio Tc/TeInteger part
E(Tc/Te) or equal to E (Tc/Te)-1。
In order to illustrate for constructing reference sequences SrefThis preferred embodiment, let us consider that one non-limiting is shown
Example, a symbolic number NcFor 5 frequency expansion sequence, these symbols are followed successively by 1,1, -1,1,1.We further consider ratio Tc/
TeEqual to 12.25, so that sample frequency, which is 49 megahertzs, (corresponds to the cycle T of 250 nanosecondsc), therefore Nc x Tc/TeIt is equal to
61.25.Then, by according to cycle TeIt is T to the periodcFrequency expansion sequence carry out over-sampling and obtain reference sequences Sref。
For this purpose, reference sequences SrefEach subset with a sign-on of frequency expansion sequence, therefore be 1 or -1, and be with analog value
0 auxiliary symbol cover.Given ratio Tc/TeValue, theoretically the symbolic number of each subset should be equal to 12.25, but this be can not
Can.Accordingly, it is considered to which the fact that necessarily correspond to reference sequences with 49 megahertzs of frequency expansion sequences sampled, puts in each subset
It is suitable for setting integer auxiliary symbol 0.For example, reference sequences SrefMay include respectively with frequency expansion sequence symbol 1,1, -1,1,
1 associated continuation subset Sref (1), Sref (2) , Sref (3) , Sref (4)And Sref (5), so that:
- Sref (1)=(1,0,0,0,0,0,0,0,0,0,0,0) includes E (Tc/Te) -1, i.e., 11 0;
- Sref (2)=(1,0,0,0,0,0,0,0,0,0,0,0) includes E (Tc/Te) -1, i.e., 11 0;;
- Sref (3)=(- 1,0,0,0,0,0,0,0,0,0,0,0) includes E (Tc/Te) -1, i.e., 11
0;;
-Sref (4)=(1,0,0,0,0,0,0,0,0,0,0,0,0) includes E (Tc/Te) a, i.e., 12 0;.
In this way, we obtain first four subset Sref (1), Sref (2), Sref (3)And Sref (4)Union have 49
A symbol, this is consistent with expected notional result, i.e. reference sequences SrefCorresponding to the frequency expansion sequence sampled with 49 megahertzs.About
Last subset Sref (5), the last subset is associated with the last symbol 1 of frequency expansion sequence, and restarts above
For Sref (1)The distribution map of the auxiliary symbol 0 of definition, i.e. Sref (5) = (1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0), therefore include number 0, and be equal to E (Tc/Te) -1, i.e., 11 0, etc..Finally, reference sequences SrefComprising 61 samples, and
And amount Nc x Tc/TeWith SrefLength between difference be 0.25.
It will therefore be appreciated that being T according to the periodeThe over-sampling of frequency expansion sequence be included in each sub- centralized distribution predetermined number
The auxiliary symbol of amount, the quantity of auxiliary symbol here are E (Tc/Te) or E (Tc/Te)-1.Therefore, for art technology
It is readily apparent that the exemplary possible modification of above description can be with first four subset S for personnelref (1), Sref (2), Sref (3)And Sref (4), and the union that symbolic number is 49.One of them described subset includes 12 symbols 0 and is not necessarily
Subset Sref (4), and other subsets include 11 symbols 0.
It notices with reference to sequence example SrefSubset the fact that separately include the value by the frequency expansion sequence of 0 cover effectively correspond to
In pass through modulation of the pulse envelope to frequency expansion sequence.For example, by the symbol for repeating above-mentioned example, the first subset of reference sequences
It indicates by including the duration being substantially equal to TePulse envelope modulation frequency expansion sequence the first symbol 1.Followed by lasting
Time is substantially equal to (E (Tc/Te)-1) x TeAmplitude be zero signal.It is spread however, other are modulated by pulse envelope
The modification of sequence is also possible.For example, subset associated with the symbol of frequency expansion sequence may include 1 and 0, but 1 it
It is preceding and also can have half integer value 0.5 later.
It is clear that function fcorCalculating be advantageously able to calculate correlation peak, the latter represents frequency expansion sequence.It is practical
On, in the case where the radio signal that receiving device 12 emits is generated by frequency expansion sequence, the information that sampled point carries, i.e.,
Their own value and sampling instant are the symbol for representing frequency expansion sequence and its respective duration.By the way that these are sampled
Value is multiplied by the symbol of reference sequences, and reference sequences are inherently based on frequency expansion sequence building, to generate correlation peak.
In addition, selecting the thing for example as the frequency expansion sequence of pseudo-random sequence from the viewpoint of the realization of estimation method
It is in fact still more advantageous.In fact, this sequence has autocorrelation performance well known by persons skilled in the art, and usually believing
Number encryption and identification field in be studied and application.
It is noted that since reference sequences are generated based on frequency expansion sequence, it is therefore necessary to be obtained from receiving device 12 described
Frequency expansion sequence.In other words, the processing circuit of receiving device 12 is to be specifically configured as, and is implementing estimation radio signal
Before the method for arrival time, the frequency expansion sequence is stored.
After calculating correlation function, estimation method includes the steps that the correlation peak 300 for detecting the correlation function, institute
It is associated with detection moment respectively to state correlation peak.
For this purpose, the correlation function calculated indicates that the figure includes axis of abscissas and ordinate in so-called related figure
Axis, at the time of respectively indicating the point of evaluated correlation function and amplitude, in other words, these points are sampled point.Therefore,
" detection " identification correlation function amplitude referred to herein as in the related figure reaches the sampling instant of peak value.
Theoretically, it is set when radio signal without noise during it is transferred to receiving device 12 and by the receiver
Standby 12 with sufficiently high frequency sampling when, the figure of correlation function must show the correlation peak with data packet as many, i.e., with
The correlation peak of bit as many.In this respect, when each abscissa of these correlation peaks indicates the arrival of each data packet
It carves, also illustrates that the arrival time of radio signal.In addition, other than the correlation peak, correlation function figure must have with
The profile substantially same profile of zero amplitude function.
However, since radio signal is necessarily noisy between its transmission and reception, especially because it is in ring
Propagation in border 20, therefore usually auxiliary peak value is distributed at the time of being different from the peak value of related data packets in related figure, and
Corresponding amplitude relative to correlation peak relevant to data packet can not ignore (but still the width for the correlation peak for being weaker than data packet
Degree) each corresponding amplitude of auxiliary peak value.
Therefore, in a particular embodiment, correlation peak detection step 300 includes by the width for being taken as absolute value of correlation function
Degree is compared with threshold amplitude scheduled in the sampling to radio signal.This process carrys out those skilled in the art
Say it is known, they will select the threshold value for being suitable for detecting correlation peak relevant to data packet.For example, the threshold value
It can be taken as the value proportional to signal-to-noise ratio, alternatively, in another example, the threshold value, which is equal to, is included in NcThe arteries and veins of/4 quantity
In punching energy (latter case correspond to receiving device 12 relative to sending device 11 maximum phase move in the case where, with
And in the case that OOK type is modulated, sample energy loss 50%, that is, there is one not to be issued in every two symbol).
By that can identify the peak value for the correlation function that retain compared with the threshold value, the peak value by as with
The associated correlation peak of data packet, such as the correlation peak for being greater than the threshold value by only retaining each amplitude.It notices
During the specific embodiment, the absolute value of the amplitude of correlation function is taken to be compared with threshold value.This is because reference sequences may
Symbol including negative sign.It will therefore be appreciated that being still equal to replacing for above-mentioned correlation peak for detecting correlation peak
It for embodiment is compared the amplitude of correlation function with the first predetermined threshold to identify each positive amplitude peak and with second
Predetermined threshold compares to identify each negative amplitude peak.
In step 400, and then after step 300, according to the correlation peak and the fractional part PfPhase
Detection moment is answered to estimate the arrival time of radio signal.
In General Principle, when step 400 is the detection by comparing the correlation peak detected during step 300
Duration between quarter calculates the arrival time of radio signal.During the step 100, according to Nc x TcRatio right and wrong
The cycle T of integereRadio signal carry out sampling mean that the duration is uneven.The duration it is this not
Uniformity allows to calculate the arrival time of radio signal relative to first relevant peaks detected during step 300
The detection moment of value is advanced or delayed.
It should be pointed out that number Nc x Tc/TeNon-integer fractional part result in this inhomogeneities, the inhomogeneities
Various durations between expression correlation peak, rather than the symbol of these data.In other words, only make to compare Tc/TeMeet and divides
The case where number part non-zero, is not enough to detection data packet.In fact, comparing Tc/TeIt is possible for non-integer, and counts Nc x Tc/TeThis
As integer, therefore depend on NcValue.In order to illustrate this point, the absolutely not intention of limitation, the sampling of previous example is considered
Frequency is 49 Mhz and chips cycle TscEqual to 250 nanoseconds, so that comparing Tc/TeEqual to 12.25.As described above, frequency expansion sequence
Including five chips(1,1, -1,1,1), this makes Nc x Tc/Te(being equal to 61.25) is non integer value.However, it is to be understood that
If the quantity N of chipscEqual to 4(such as 1,1, -1,1), then count Nc x Tc/Te49, therefore its score portion will be equal to
Dividing will be zero.Therefore, the duration between the representative correlation peak of data is all identical, therefore can not accurately be estimated
Moment when counting the arrival of radio signal.
For example, successive correlation peak is merged into a detection sequence in order to execute step 400.Since relevant peaks are
Continuously, therefore by increasing detection time classify to detection sequence.
For example, the correlation peak being sorted in detection sequence is by the vector representation with the first component and second component, the
One component and second component are its detection moment of the sum of ranks of the correlation peak respectively.Herein, " sequence of correlation peak " refers to
Be position of the correlation peak in the detection sequence, which meets following agreement: the i.e. in the detection sequence
The correlation peak of one position is equal to 0.The expression of " sequence of correlation peak " stands good in the further part of this specification.
Then, for example, executing the calculating of the corresponding duration between two serial correlation peak values of the detection sequence.
More specifically, the duration between first R grades of correlation peak and second R+1 grades of correlation peak is by detecting R
It subtracts at the time of grade correlation peak and obtains at the time of detecting R+1 grades of correlation peaks.
Therefore, the order that first correlation peak is determined in the detection sequence is Rp, which is claimed
For time step peak value, wherein when lasting between the time step peak value and respectively correlation peak before it and later
Between it is different.For the further part of this specification, it is given to be located in detection sequence to define " adjacent correlation peak "
Correlation peak before and after correlation peaks.
Each correlation peak of detection sequence is associated with detection moment, which is actually to correspond to the phase
Close the sampling instant of the sampled point of peak value.However, as described above, structure especially with regard to receiving device 12, in step 300
The detection moment of first correlation peak detected is measured error and is polluted, so that it and first correlation peak
Theoretical arrival time is different.Also, the measurement error travels to the every other correlation peak detected during step 300.
The position of time step peak value in detection sequence is the feature of the measurement error.In addition, being worth noting is, root
According to the quantity of data packet, detection sequence may include non-cutting time jump peak value, each order of these non-cutting times jump peak value
Distribution in detection sequence has periodically.
In order to illustrate this point, we consider the data packet including 10 data with unrestricted purpose, therefore
Detection sequence includes 10 correlation peaks.It is further assumed that PfEqual to 0.25.So, if the order R of such as time step peak valuep
Equal to 1, the order with non-cutting time jump peak value in detection sequence is respectively equal to 1+ E (1/ P by usf) (as 5)
With 2 x E (1/ P of 1+f) (as 9).Alternatively, for example, the if order R of time step peak valuepEqual to 2, then in detection sequence
It is middle by only one non-cutting time jump peak value, order be equal to 2+ E (1/ Pf) (as 6), etc..
Therefore, such regulation means to include multiple equal to E (1/ Pf) serial correlation peak value detection sequence appoint
What subset (saying in the sense that set) includes a correlation peak, these adjacent peaks (are not necessarily one of the subset
Point) separated duration is equal to Te.Therefore, for the related fact, i.e. receiving device 12 continues between correlation peak
Time is compared, it will be appreciated that as long as being the quantity for the serial correlation peak value that detection sequence includes greater than E (1/ Pf)+1,
Including the first relevant peaks detected in step 300 are also included in, to ensure that the jump peak value can be in the detection sequence
It detects.It is further noted that the quantity of the serial correlation peak value of detection sequence is greater than E (1/ Pf)+1 condition
It is equal to requirement data packet and PfProduct strictly larger than 1.In fact, if the data packet does not include enough numbers
According to then cannot detecting time step in the detection sequence.
Furthermore it is noted that as described above, in order to ensure detecting time step at least once, integer and score
The mathematical property of component values function makes the minimum cardinality of detection sequence be equal in one embodiment of the invention, wherein
By measuring Nc’, Tc' and Te' constitute Nc’ x Tc’/Te' it is not equal to Nc x Tc/Te, but P can be madef (Nc’ x Tc’/
Te') it is equal to 1-Pf(Nc x Tc/Te).In other words, be for given value range [0,1) fractional part, by measuring
Nc, TcAnd TeThe minimum cardinality of the detection sequence of composition is equal to another by measuring Nc’, Tc' and Te' constitute detection sequence
Minimum cardinality so that:
Pf(Nc’ x Tc’/Te’) = | Pf(Nc x Tc/Te) mod 1/2|,
Wherein | A | indicate the absolute value of number A.For example, if Pf(Nc x Tc/Te) be equal to 0.25, then in such case
Under, detection sequence must include at least five correlation peaks so that time step can be detected, the condition for by
The amount N of selectionc’, Tc' and Te' constitute Pf(Nc’ x Tc’/Te') be equal to 0.75 when it is identical.
Then, according to the detection moment of the first of correlation function correlation peak and as order RpFunction it is wireless to estimate
The arrival time of electric signal.
For example, calculate radio signal arrival time be equal to correlation function first correlation peak detection moment with
Measure Pf’ x Rp’ x TeThe sum of, in which:
Pf’ = | PfMod 1/2 |, and Rp’ = Rp mod E(1/ Pf’)。
Measure Pf’ x Rp’ x TeIndicate be can correct first correlation peak of correlation function detection moment when
Between translate, this is final simply because fractional part PfNon-zero and be possibly realized.In fact, in PfIn the case where being zero, related letter is separated
The duration of several correlation peaks is all equal to each other, prevent they are from providing the letter about measurement error in correlation function
Breath, constant error of the error from receiving device 12, the error result from the detection moment for receiving pulse to first, and therefore
It is transmitted to the detection moment of first correlation peak.In order to overcome this problem, it can be envisaged that significantly improve sample frequency, but this
For receiving device 12, it can be had an impact in terms of cost, energy consumption or even technology development.Therefore, non-zero is selected
Fractional part PfAdvantageously allow to the increase of limited samples frequency and steadily assess the measurement error, and characterization
Order RpThe dependence between measurement error generated.
Notice non-zero fraction part PfIt is smaller, the detection moment of the first relevant peaks theoretically can be more accurately corrected,
Since the bit number of transmission is constant, at the time of also capable of accurately estimating that radio signal reaches.This especially because with
PfReduce, RpThe length of value interval increases.
Also, in a specific embodiment, fractional part PfIn section [0.1,0.9].
In a preferred embodiment, fractional part PfIn section [0.125,0.250], inventor is significantly
It was found that working as PfWhen equal to 0.125, this makes the position precision for sending equipment 11 improve about 8 times, as described below.
The invention further relates to a kind of for sending the hair of the radio signal by the positioning of wireless location system 10
The method for sending equipment 11, the radio signal are received by multiple receiving devices 12.
Fig. 3 indicates the flow chart of the embodiment of the method for positioning sending device 11 by positioning system 10.Such as Fig. 3 institute
Show, the localization method include the steps that two it is continuous.
In the first step, localization method includes coming according to one embodiment of present invention, is connect respectively by described
Receiving unit 12 estimates the estimating step 1000 of the arrival time of radio signal.
Then, in the second step, localization method includes step 2000, which is arrived by calculating equipment 13 according to described
The position of the sending device 11 is estimated up to the estimation at moment.
It is described to calculate a part that equipment 13 is wireless location system 10.For example, the calculating equipment is that the reception is set
One in standby 12, the calculating of the position is executed by the processing circuit of calculating equipment.This means that once respectively by receiving device
12 Estimated Time of Arrival, each receiving device 12 other than calculating equipment is by the estimation of the arrival time of its radio signal
It is sent to the calculating equipment for storing these estimated informations.
In a preferred embodiment, do not limit in any way it is shown in Fig. 1, calculate equipment 13 be different from receive
Equipment 12, and an e.g. computer server.For this purpose, it includes, for example, having one or more processors and depositing
The processing circuit (not shown) of storage device (magnetic hard-disk, electronic memory, CD etc.), wherein storage device is stored with meter
Calculation machine program product, form are the batch processing code command to be executed, to realize estimation radio signal arrival time
Each step of method.Alternately or in addition, the processing circuit for calculating equipment 13 includes one or more programmable logic electricity
Road (FGPA, PLD etc.), and/or one or more specific integrated circuits (ASIC) and/or one group of discrete electronic component etc., this
A little configurations are adapted for carrying out all or part of steps of the method for positioning sending device 11.
In other words, calculate equipment 11 processing circuit include one group with software (specific computer program product) and/or
The device of hardware (FGPA, PLD, ASIC, discrete electronic component etc.) configuration, to realize by being set in step 1000 by reception
The standby 12 radio signal arrival times determined respectively are estimated to position the step 2000 of sending device 11.
In a particular embodiment, TDOA is calculated by means of the arrival time difference of multipair receiving device 12 to determine in step
The estimation of the position of the sending device 11 during rapid 2000.This method is well known to the skilled artisan,
Therefore it is not detailed herein.
Once having estimated the position of sending device 11, which is stored in for example described calculating equipment 13, or
It is even stored in the database server for being for example configured to communicate with the calculating equipment 13.Calculate equipment 13 or described
Database server is additionally configured to for example directly provide the positioning by display device, or even for example has by itself
The positioning is sent user terminal by some communication devices.
It should be noted that when the performance to positioning system is assessed, especially in the accuracy of estimated distance,
Use the sending device 11 being located in environment 20.In other words, positioning system and sending device 11 and receiving device
The resolution ratio of the distance between 12 position feature is associated.The resolution ratio particularly depends on the sampling period.In fact, passing through root
According to cycle TeIt is sampled, therefore T can not be less thaneThe different time of duration measure.Therefore, the prior art
Positioning system have the light velocity multiplied by sampling period TeProduct the order of magnitude resolution ratio.For example, the sampling for 1 gigahertz
Frequency, in the case where three-dimensional position, position resolution is approximately equal to 30 centimetres.And the present invention can improve the resolution of this positioning
Rate.Inventor is indeed, it has been found that for example, sample frequency and fractional part P for 1 GHzfThe case where equal to 0.125,
The resolution ratio of positioning is substantially equal to 4 centimetres, i.e. positioning accuracy substantially improves 8 times.
Localization method as described above in single transmission it will become apparent to those skilled in the art that and set
The localization method realized in the case where standby 11 can be used for include multiple sending devices 11 wireless location system 10.Reception is set
It is received for 12 and step 1000 is carried out by the radio signal that one of sending device 11 issues.It should be noted that described
Sending device 11 has respectively different identification codes.For example, being adjusted by the shared frequency expansion sequence of all sending devices 11
Make these identification codes.Since all identification codes are not identical, which ensure that by a sending device 11 and another institute
The estimation for stating the arrival time for the radio signal that sending device 11 is emitted is unrelated.
More generally, it is noted that above-described embodiment and implementation method are to retouch as a non-limiting example
It states, it is therefore contemplated that other possible modifications.
Particularly, which described by considering UWB wireless communication system.However, not arranged according to other examples
Except consideration uses other kinds of communication system.However, the present invention had found in super broad band radio communication system it is particularly advantageous
Application, that is to say, that absolute bandwidth (power measured relative to centre frequency is -10 dB) is greater than 500 megahertzs.
Claims (19)
1. estimating the method for the arrival time of radio signal by receiving device (12), the radio signal corresponds to one group
By including NcIt is a that there is identical predetermined lasting time TcSymbol frequency expansion sequence modulation data packet, the radio signal with
The form of pulse sends and is received by the receiving device (12), and the method is characterized in that it includes following consecutive steps:
Sampling step (100): according to predetermined sampling period TeThe radio signal is sampled, so that amount Nc x Tc/Te
Fractional part PfIt is not zero,
It calculates step (200): calculating the radio signal of sampling and the representativeness for the frequency expansion sequence modulated by pulse packet
Sliding correlation function between reference sequences,
Detecting step (300): the step of detecting the correlation peak of the correlation function, the correlation peak respectively with detection when
Carving is associated,
Estimating step (400): according to the correlation peak and the fractional part PfCorresponding detection moment it is described to estimate
The arrival time of radio signal.
2. according to the method described in claim 1, wherein for estimating the institute of the arrival time of the radio signal of transmitting
Stating estimating step (400) includes:
The serial correlation peak value in detection sequence is recombinated,
The corresponding duration between two serial correlation peak values of the detection sequence is calculated,
The order R of first correlation peak is determined in the detection sequencep, first correlation peak be known as time step
Peak value, wherein the duration between the time step peak value and respectively correlation peak before it and later is different, root
According to the detection moment of first correlation peak of the correlation function and according to the order RpTo estimate the radio signal
Arrival time.
3. according to the method described in claim 2, the arrival time for wherein calculating radio signal is equal to the correlation function
The detection moment and amount P of first correlation peakf’ x Rp’ x TeThe sum of, wherein Pf’ = | Pf mod 1/2|, Rp’ =
Rp mod E(1/Pf’) 。
4. according to the method in any one of claims 1 to 3, wherein the reference sequences correspond in TeThe over-sampling at place
Frequency expansion sequence, the reference sequences include character subset, and each subset corresponds to by the symbol of the frequency expansion sequence of auxiliary symbol cover
Number, the auxiliary symbol is all identical each other and is different from the symbol of the frequency expansion sequence, and the auxiliary symbol
Quantity be equal to ratio Tc/TeInteger part E (Tc/Te) or equal to E (Tc/Te)-1。
5. method according to claim 1 to 4, wherein the frequency expansion sequence is pseudo-random sequence.
6. according to the method described in claim 5, wherein the pseudo-random sequence is the binary sequence of m-sequence.
7. method according to any one of claims 1 to 6, wherein the fractional part PfIncluded in section [0.1,0.9]
It is interior.
8. according to the method described in claim 7, the wherein fractional part PfIn section [0.125,0.250].
9. by the method for positioning system (10) positioning sending device (11), the sending device (11) is located in environment (20) simultaneously
And the device including being configured to generate radio signal corresponding with the data packet modulated by frequency expansion sequence, the spread spectrum sequence
Column include NcIt is a that there is identical predetermined lasting time TcSymbol, the radio signal sends in the form of a pulse and by multiple
Receiving device (12) receives, the method is characterized in that it includes following consecutive steps:
The step of estimating arrival time (1000): method according to any one of claims 1 to 8 is to respectively by described
Receiving device (12) estimates the arrival time of radio signal,
The step of estimated location (2000): the sending device is estimated according to the arrival time by calculating equipment (13)
(11) position.
10. according to the method described in claim 9, wherein the estimated location the step of (2000) by multipair receiving device (12)
Arrival time difference calculate TDOA determine.
11. receiving device (12), is used to estimate the arrival time of radio signal, which corresponds to one group by expanding
The data packet of frequency sequence modulation, the frequency expansion sequence include NcIt is a that there is identical predetermined lasting time TcSymbol, the aerogram
Send and received by the receiving device (12) number in the form of a pulse, the receiving device (12) be characterized in that it include with
Lower device:
It is configured as according to predetermined sampling period TeRadio signal is sampled, so that amount Nc x Tc/TeFractional part
PfThe device being not zero,
It is configured as calculating the radio signal of sampling and sequence is referred to by the representativeness of the frequency expansion sequence of pulse packet modulation
The device of sliding correlation function between column,
Be configured as detecting the device of the correlation peak of the correlation function, wherein the correlation peak respectively with detection moment
It is associated,
It is configured as according to the correlation peak and the fractional part PfCorresponding detection moment estimate radio signal
Arrival time device.
12. receiving device (12) according to claim 11, which includes device:
It is configured as the device being grouped to the serial correlation peak value in detection sequence,
It is configured as calculating the device of the corresponding duration between two serial correlation peak values of the detection sequence,
It is configured as calculating the device of the corresponding duration between two serial correlation peak values of the detection sequence,
It is configured as determining the order R of first correlation peak in the detection sequencepDevice, first correlation peak
Referred to as time step peak value, wherein holding between the time step peak value and respectively correlation peak before it and later
The continuous time is different, according to the detection moment of the first of correlation function correlation peak and as order RpFunction it is wireless to estimate
The arrival time of electric signal.
13. receiving device (12) according to claim 12, it is characterised in that it includes being configured as calculating the correlation
The detection moment and amount P of first correlation peak of functionf’ x Rp’ x TeThe sum of device, wherein Pf’ = | Pf mod
1/2|, Rp’ = Rp mod E(1/Pf’)。
14. receiving device described in any one of 1 to 13 (12) according to claim 1, it is characterised in that the reference sequences pair
Ying Yu is in TeThe over-sampling frequency expansion sequence at place, the reference sequences include character subset, and each subset corresponds to by auxiliary symbol
The symbol of the frequency expansion sequence of cover, the auxiliary symbol is all identical each other and is different from the symbol of the frequency expansion sequence
Number, and the quantity of auxiliary symbol is equal to ratio Tc/TeInteger part E (Tc/Te) or equal to E (Tc/Te)-1。
15. receiving device described in any one of 1 to 14 (12) according to claim 1, it is characterised in that the frequency expansion sequence is
Pseudo-random sequence.
16. receiving device (12) according to claim 15, it is characterised in that the pseudo-random sequence be m-sequence two into
Sequence processed.
17. receiving device described in any one of 1 to 16 (12) according to claim 1, it is characterised in that the fractional part PfPacket
It is contained in section [0.1,0.9].
18. receiving device (12) according to claim 17, it is characterised in that the fractional part PfIncluded in section
In [0.125,0.250].
19. positioning system (10), it is characterised in that including be located at environment (20) at least one sending device (11), it is described extremely
A few sending device (11) includes the device for generating and sending radio signal, it is further characterized in that the positioning system
Including following device:
Multiple receiving devices (12) described in any one of 1 to 18 according to claim 1,
- one calculating equipment (13), the equipment are wireless according to being determined respectively by the receiving device (12) comprising being configured as
The device of the position of at least one sending device (11) is estimated in the estimation of the arrival time of electric signal.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1660604A FR3058226B1 (en) | 2016-11-03 | 2016-11-03 | METHOD AND RECEIVER DEVICE FOR ESTIMATING RADIO SIGNAL ARRIVAL TIME, METHOD AND SYSTEM FOR LOCALIZATION |
| FR1660604 | 2016-11-03 | ||
| PCT/EP2017/077825 WO2018083070A1 (en) | 2016-11-03 | 2017-10-30 | Method and receiver device for estimating the instant of arrival of a radio signal, locating method and system |
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| CN110346756A (en) * | 2019-07-10 | 2019-10-18 | 四川中电昆辰科技有限公司 | A kind of signal envelope detection device and method and its arrival time modification method |
| CN112737984A (en) * | 2020-12-25 | 2021-04-30 | 中国科学院声学研究所 | Frequency response estimation and signal transmission method and system for multi-carrier incoherent underwater acoustic communication |
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| FR3090899B1 (en) * | 2018-12-19 | 2020-12-11 | Uwinloc | Methods and devices for transmitting and estimating the time of arrival of a sequence of bits |
| FR3135371A1 (en) * | 2022-05-04 | 2023-11-10 | Uwinloc | METHOD FOR ENCODING AND DECODING A UWB MESSAGE USING MODULATION GENERATING A TIME SHIFT OF THE DATA BITS |
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