CN110972259A - Station positioning device - Google Patents
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- CN110972259A CN110972259A CN201910252217.4A CN201910252217A CN110972259A CN 110972259 A CN110972259 A CN 110972259A CN 201910252217 A CN201910252217 A CN 201910252217A CN 110972259 A CN110972259 A CN 110972259A
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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Abstract
The invention provides a station positioning device, comprising: a selecting module configured to select a plurality of sampling points within a coverage of the station; the detection module is configured to enable the mobile monitoring station to stay at the plurality of sampling points in sequence, sample radio waves emitted by the station and acquire sampling data corresponding to each sampling point; the calculation module is configured to calculate the geographical position of the station corresponding to each sampling point by adopting a shortest path ray tracing algorithm based on the sampling data corresponding to each sampling point; and the determining module is configured to select the geographical position with the largest occurrence number from the geographical positions of the stations corresponding to each sampling point, and determine the geographical position as the geographical position of the station. The scheme provided by the invention greatly improves the positioning precision of the station, reduces errors, has low requirements on hardware and can avoid updating the field intensity database in real time.
Description
Technical Field
The invention relates to the field of wireless communication, in particular to a station positioning device.
Background
Radio monitoring is an important means of radio order management, and by utilizing monitoring equipment and technical means of a monitoring network and monitoring and direction-finding software, radio signals are measured, scanned, positioned, monitored and recorded, and the radio signals and characteristics thereof are collected, stored and analyzed, so that the management of radio frequency spectrum order is realized.
In the process of spectrum supervision, not only the wireless signals are required to be collected, stored and analyzed, but also the position of the signal transmitting station is obtained, which is also very important for effective spectrum supervision. In daily frequency spectrum monitoring, the geographical position information of the station data can be obtained in real time through the monitoring vehicle, and the intelligent and automatic monitoring, direction finding and signal analysis work flows are realized by utilizing the mutual cooperation of the radio monitoring system and the control system. Also, the signals need to be tracked and positioned at the same time of interference investigation, so that accurate station positioning is of great significance for radio frequency spectrum order management.
The conventional radio positioning technology has three main types, namely positioning based on signal arrival angle, positioning based on signal arrival time difference and positioning based on signal arrival strength. The positioning methods are mostly divided into two steps, namely, relevant parameters are firstly obtained to estimate the position of a target station, and after the relevant parameters are obtained, a corresponding accurate positioning algorithm is selected according to the obtained parameters to estimate a signal transmitting station.
1. The positioning method based on the signal arrival angle comprises the following steps: and simultaneously, the incoming wave directions of the same target radiation source are measured on the two monitoring stations, and the current position of the target radiation source can be determined according to the intersection point of the incoming wave directions. The measurement of the direction of the incoming wave is realized by an array element antenna.
2. The positioning method based on the signal arrival time difference comprises the following steps: and determining the position information of the target radiation source through coordinate transformation according to the time delay difference of the signal transmitted by the same target radiation source to different monitoring stations. The method is different from the minimum number of monitoring stations required by positioning based on the signal arrival angle, and at least 3 monitoring stations are required under the ideal condition to determine the position of the target radiation source because the equal time delay curve of the target radiation source positioning signal reaching the monitoring stations is an arc.
3. The positioning method based on the signal arrival strength comprises the following steps: the attenuation value of the path loss is known as a function of distance by a known mathematical model. The estimated distance between the monitoring station and the target radiation source is obtained through the intensity of the positioning signals transmitted by the monitoring station and the same target radiation source, and the position of the target radiation source can be determined only by 3 monitoring stations because the equal signal intensity curve of the target radiation source reaching the monitoring station is a circular arc.
The positioning method based on the angle of the signal needs an antenna array, the complexity of a base station structure and the system cost are increased, the influence of multipath and non-line-of-sight in an ultra-wideband positioning environment is large, and under the condition, the arrival angle value has large deviation, so that ideal positioning precision is difficult to achieve.
The positioning method based on the signal arrival strength is very sensitive to a radio frequency spectrum environment, a radio channel must be accurately measured, a correlation model is constructed to obtain a relatively accurate field intensity distribution database, and meanwhile, the database needs to be updated in real time, because the condition of each time period of the radio channel changes, the monitoring cost is high, and in an extremely complex radio channel environment, the accurate estimation of the station position is difficult due to the multipath propagation effect.
Positioning techniques based on signal time differences require accurate synchronization of the transmitter and receiver, which is difficult to achieve in many applications.
Therefore, the conventional radio positioning method has various error factors, and the result of the cross positioning of the multi-element fixed direction-finding station cannot be completely coincided with the position of the measured target or have small deviation, so that the real position of the station cannot be accurately determined.
Disclosure of Invention
The present invention provides a station locating device to overcome the above problems or at least partially solve the above problems.
According to an aspect of the present invention, there is provided a station positioning apparatus including:
a selecting module configured to select a plurality of sampling points within a coverage of the station;
the detection module is configured to enable the mobile monitoring station to stay at the plurality of sampling points in sequence, sample radio waves emitted by the station and acquire sampling data corresponding to each sampling point;
the calculation module is configured to calculate the geographical position of the station corresponding to each sampling point by adopting a shortest path ray tracing algorithm based on the sampling data corresponding to each sampling point;
and the determining module is configured to select the geographical position with the largest occurrence number from the geographical positions of the stations corresponding to each sampling point, and determine the geographical position as the geographical position of the station.
Optionally, the calculation module includes:
the model unit is configured to establish a speed model, a radio wave propagation medium is discretized into square units with regular moments, four corner points of each square unit are set as nodes, each node is connected with adjacent nodes, and the weight between the adjacent nodes is the travel time between the adjacent nodes;
a calculating unit configured to calculate, from the source point, the minimum travel time from the source point to each of the nodes point by using a DijkStra algorithm with the station as a source point;
a path unit, configured to sequentially find a previous-level sub-source point from a receiving point, and sequentially connect the source point, all the found sub-source points, and the receiving point until the source point, so as to obtain a ray path;
and the position unit is configured to determine the geographic position of the node corresponding to each sampling point based on the geographic position of each sampling point, further determine the geographic position of each node, and determine the geographic position of the platform corresponding to each sampling point by combining the ray path.
Optionally, the calculating unit is further configured to:
the set N of all nodes is divided into two subsets: a set P and a set Q of nodes with minimum travel time are known, wherein the set Q is the set N-the set P;
initializing, setting said set P-v0Wherein v is0Is a source point;
continuously selecting the source point v from the set Q0Adding the node with the minimum travel time into the set P;
modifying the source point v from each new node added to the set P0When the minimum travel time of the rest nodes in the set Q is reached, the new minimum travel time of each node in the set Q is the smaller value of the original minimum travel time value of each node, the minimum travel time value of the new node and the minimum travel time value of the new node to other minimum travel time values of the nodes;
and judging whether the set P is equal to the set N or the set Q is equal to phi, if so, stopping adding the nodes into the set P, and otherwise, continuing to add the nodes into the set P.
Optionally, the selecting module is configured to randomly select a plurality of the sampling points within a coverage area of the station.
Optionally, the mobile monitoring station is a monitoring vehicle.
Optionally, the apparatus further comprises:
and the judging module is configured to compare the geographical position of the legal station in the database with the determined geographical position of the station and judge whether the geographical position of the station is legal or not.
The technical scheme provided by the invention greatly improves the positioning precision of the station, reduces errors, has low requirements on hardware and can avoid updating the field intensity database in real time.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a block diagram of a station locating apparatus according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a model of a multilateration positioning station in accordance with an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It should be noted that the technical features of the embodiments and the preferred embodiments of the present invention can be combined with each other without conflict.
Fig. 1 is a block diagram of a station positioning apparatus according to an embodiment of the present invention. As shown in fig. 1, a station positioning apparatus according to an embodiment of the present invention includes:
a selecting module 10 configured to select a plurality of sampling points within a coverage range of a station;
the detection module 20 is configured to enable the mobile monitoring station to stop at a plurality of sampling points in sequence, sample radio waves transmitted by the station, and acquire sampling data corresponding to each sampling point;
the calculation module 30 is configured to calculate the geographical position of the station corresponding to each sampling point by using a shortest path ray tracing algorithm based on the sampling data corresponding to each sampling point;
the determining module 40 is configured to select the geographical location with the largest number of occurrences from the geographical locations of the station corresponding to each sampling point, and determine the geographical location as the geographical location of the station.
The embodiment provides a station positioning device which can realize multipoint measurement positioning of a station by using a shortest path ray tracing algorithm. The station positioning device can calculate the distance from the station to the mobile monitoring station through a shortest path ray tracing algorithm, so as to obtain the geographical position of the station; and further through a multi-point measuring station positioning method, in a station coverage range, the monitoring vehicle stops at each sampling place in sequence along a running path, the geographical position coordinates of the station are obtained by respectively utilizing a shortest path ray tracing algorithm, and the value with the maximum occurrence probability is selected as the position coordinates of the target station. The station positioning device greatly improves the positioning precision of the station, reduces errors, has low requirements on hardware, and can also avoid updating a field intensity database in real time.
After the geographical position of the station is determined, the geographical position of the legal station in the database can be compared with the determined geographical position of the station, and whether the geographical position of the station is legal or not is judged. Preferably, the station positioning device may further include: and the judging module is configured to compare the geographical position of the legal station in the database with the determined geographical position of the station and judge whether the geographical position of the station is legal or not.
In specific implementation, the mobile monitoring station in the above embodiment may be implemented by using a detection vehicle, the movement and the stop of the monitoring vehicle may be implemented by sending corresponding information to a driver of the monitoring vehicle, and the selection of the plurality of sampling points may be randomly selected by the selection module 10, of course, the plurality of sampling points may also be selected by the selection module 10 based on different geometric shapes, and the invention is not specifically limited.
Preferably, the calculation module 30 may include:
the model unit is configured to establish a speed model, a radio wave propagation medium is discretized into square units with regular moments, four corner points of each square unit are set as nodes, each node is connected with adjacent nodes, and the weight between the adjacent nodes is the travel time between the adjacent nodes;
the calculating unit is configured to use the station as a source point, and calculate the minimum travel time from the source point to each node point by adopting a DijkStra algorithm from the source point;
the path unit is configured to sequentially find the previous-level sub-source points from the receiving point to the source point, and sequentially connect the source point, all the found sub-source points and the receiving point to obtain a ray path;
and the position unit is configured to determine the geographic position of the node corresponding to each sampling point based on the geographic position of each sampling point, further determine the geographic position of each node, and determine the geographic position of the platform corresponding to each sampling point by combining the ray path.
The DijkStra algorithm, was proposed in 1959 by dickstra, a netherlands computer scientist, and is therefore also called dickstra algorithm. The method is a shortest path algorithm from one vertex to the rest of the vertices, and solves the shortest path problem in the directed graph. The Dijkstra algorithm is mainly characterized in that the Dijkstra algorithm expands outwards layer by taking a starting point as a center until the expansion reaches a terminal point.
Preferably, the calculating unit may be specifically configured to:
the set N of all nodes is divided into two subsets: a set P and a set Q of nodes with the minimum travel time are known, wherein the set Q is a set N-the set P;
initializing, and setting a set P-v 0, wherein v0 is a source point;
continuously selecting the node with the minimum travel time from the set Q to the source point v0 and adding the node into the set P;
every time a new node is added into the set P, the minimum travel time from the source point v0 to the rest nodes in the set Q is modified, and the new minimum travel time of each node in the set Q is the smaller value of the original minimum travel time value of each node, the minimum travel time value of the new node and the minimum travel time value of the new node to other minimum travel time values of the nodes;
and judging whether the set P is the set N or the set Q is phi or not, if so, stopping adding the nodes into the set P, and otherwise, continuing to add the nodes into the set P.
The station positioning device provided in the above preferred embodiment uses a shortest path ray tracing algorithm, which can accurately calculate and describe the ray trajectory according to the environmental condition where the ray propagation is located, simulate the radio wave propagation by using a ray tracing method, establish a ray tracing model, and finally calculate all ray trajectories from the station to the monitoring vehicle to obtain the geographical position of the station. The ray tracing method is a fast and effective wave field approximate algorithm, does not need accurate synchronization of a transmitter and a receiver, can effectively reduce the sensitivity to the radio frequency spectrum environment, solves the problem of multipath and non-line-of-sight influence, reduces the monitoring cost of updating a database in real time, and greatly improves the positioning precision of a station.
The station positioning device further adopts a multi-point measuring station positioning model, determines the number of sampling points according to the length of a path surrounding the station within the coverage range of the station, and controls the monitoring vehicle to select the corresponding number of signal sampling sites on the path. The monitoring vehicle stays at each sampling place in sequence along the running path, the geographical position coordinates of the stations are obtained by respectively utilizing the shortest path ray tracing algorithm, and the geographical position coordinates of the stations can be obtained by a plurality of groups of sampling places. And counting the geographical position coordinates of the station, selecting the value with the maximum occurrence probability as the position coordinates of the target station, and performing multi-point measurement to further reduce errors and effectively position the coordinates of the station.
The technical solution of the present invention is described below by a specific preferred embodiment, and with reference to fig. 2, the station positioning apparatus provided in the preferred embodiment can implement the following functions:
1) and in the coverage range of the station, the monitoring vehicles randomly select a corresponding number of signal sampling sites in the movement process around the station.
2) And establishing a speed model. The medium is generally discretized into regular square units, nodes are arranged on four corner points of each square unit, each node can be connected with adjacent nodes, and the weight value between the adjacent nodes is the travel time between the adjacent nodes.
3) Calculating the minimum travel time of the node and determining the ray path. The station is used as a source point, and the minimum travel time from the source point to each node is calculated point by using a DijkStra algorithm. The set N of all network nodes is divided into two subsets: the set P of nodes that obtain the smallest travel time is known, and the set Q is the set N — the set P. The specific algorithm is as follows:
a) and (5) initializing. Set P ═ v0，v0Is the source point.
b) And (4) selecting. Continuously selecting source point v from set Q0And adding the node i with the minimum travel time into the set P, wherein i belongs to Q.
c) And (4) replacing. Each time a new node i is added to the set P, the slave source point v is modified0And when the minimum travel time of the rest nodes in the set Q is reached, the new minimum travel time value collected in each set Q is the smaller value of the original minimum travel time value, the minimum travel time value of the node i and the minimum travel time value of other nodes from the node i.
d) And (5) carrying out iterative judgment. If P ═ N or Q ═ Φ, the iteration is stopped, otherwise go to b).
e) A ray propagation path is determined. And sequentially finding the previous-level sub-source points from the receiving point until the source point, and sequentially connecting the source point, the found sub-source points and the receiving point to obtain a corresponding ray path.
4) And processing the data obtained by the function 2) to obtain the geographic position of each node.
5) The position coordinates of the station are recorded.
6) The monitoring vehicle moves to a second point, repeating functions 2), 3), 4), 5) until it moves to the last sampling site.
7) And counting the geographical position coordinates of the station obtained at each sampling place, and selecting the value with the maximum occurrence probability as the position coordinates of the target station.
8) Comparing the geographical position of the station in the database with the geographical position obtained in the function 7) and judging whether the geographical position of the station is legal or not.
In the station positioning apparatus provided in the preferred embodiment, as shown in functions 2) and 3), the ray path is determined by the shortest path ray tracing algorithm to obtain the position coordinates of the station, so that on one hand, accurate measurement of a radio channel is avoided, on the other hand, real-time update of a field intensity distribution database is avoided, monitoring cost is reduced, the problems of multipath propagation and non-line-of-sight influence are solved, and the positioning accuracy of the station is greatly improved.
In addition, the station positioning apparatus provided in the preferred embodiment adopts a multipoint measurement station positioning method based on the shortest path ray tracing algorithm, as shown in functions 6) and 7). Further reducing errors and finally realizing accurate station positioning.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments can be modified or some or all of the technical features can be equivalently replaced within the spirit and principle of the present invention; such modifications or substitutions do not depart from the scope of the present invention.
Claims (6)
1. A station positioning apparatus comprising:
a selecting module configured to select a plurality of sampling points within a coverage of the station;
the detection module is configured to enable the mobile monitoring station to stay at the plurality of sampling points in sequence, sample radio waves emitted by the station and acquire sampling data corresponding to each sampling point;
the calculation module is configured to calculate the geographical position of the station corresponding to each sampling point by adopting a shortest path ray tracing algorithm based on the sampling data corresponding to each sampling point;
and the determining module is configured to select the geographical position with the largest occurrence number from the geographical positions of the stations corresponding to each sampling point, and determine the geographical position as the geographical position of the station.
2. The apparatus of claim 1, wherein the computing module comprises:
the model unit is configured to establish a speed model, a radio wave propagation medium is discretized into square units with regular moments, four corner points of each square unit are set as nodes, each node is connected with adjacent nodes, and the weight between the adjacent nodes is the travel time between the adjacent nodes;
a calculating unit configured to calculate, from the source point, the minimum travel time from the source point to each of the nodes point by using a DijkStra algorithm with the station as a source point;
a path unit, configured to sequentially find a previous-level sub-source point from a receiving point, and sequentially connect the source point, all the found sub-source points, and the receiving point until the source point, so as to obtain a ray path;
and the position unit is configured to determine the geographic position of the node corresponding to each sampling point based on the geographic position of each sampling point, further determine the geographic position of each node, and determine the geographic position of the platform corresponding to each sampling point by combining the ray path.
3. The apparatus of claim 2, wherein the computation unit is further configured to:
the set N of all nodes is divided into two subsets: a set P and a set Q of nodes with minimum travel time are known, wherein the set Q is the set N-the set P;
initializing, setting said set P-v0Wherein v is0Is a source point;
continuously from said setSelecting the source point v from the combined Q0Adding the node with the minimum travel time into the set P;
modifying the source point v from each new node added to the set P0When the minimum travel time of the rest nodes in the set Q is reached, the new minimum travel time of each node in the set Q is the smaller value of the original minimum travel time value of each node, the minimum travel time value of the new node and the minimum travel time value of the new node to other minimum travel time values of the nodes;
and judging whether the set P is equal to the set N or the set Q is equal to phi, if so, stopping adding the nodes into the set P, and otherwise, continuing to add the nodes into the set P.
4. An apparatus according to any of claims 1-3, wherein the selection module is configured to select the plurality of sample points randomly within a coverage area of the station.
5. The apparatus of any of claims 1-3, wherein the mobile monitoring station is a monitoring cart.
6. The apparatus of any of claims 1-3, further comprising:
and the judging module is configured to compare the geographical position of the legal station in the database with the determined geographical position of the station and judge whether the geographical position of the station is legal or not.
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