CN1115568C - 使用多基站信号确定位置 - Google Patents
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
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- H01Q21/08—Arrays of individually energised antenna units similarly polarised and spaced apart the units being spaced along or adjacent to a rectilinear path
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- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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Abstract
本发明示例的实施例描述终端位置定位方法和系统。确定由阵列天线产生的接近点波束的相对功率。例如,可以测量六个相邻点波束相对中心点波束的功率,在该波束中一移动站目前正在工作。利用来自这些测量的信息,例如可使用点波束图的指数模式来确定其移动站的位置。
Description
背景
本发明涉及用于定位在一个无线电通信系统中的终端的系统,特别地,涉及定位无线电通信系统中的终端,其中点波束被用来辐射地理区域,以提供通信复盖。
在卫星通信系统中可寻求到应用点波束的无线电通信系统的一个例子。另一例子是使用固定波束调相列阵的蜂窝/PCS系统。为获得商用能力的服务于大量用户。通信系统需要允许在地球上方再使用可利用的多次频谱。例如通过使用多点波束天线是能够实现的,这种天线将选择的服务区域的照射分成为中间许多更小的区域。
大多数用于这种应用的有前途的卫星系统是那样一些系统,它们将卫星放置在低地球轨道(LEO),在中地球轨道(MEO)或固定地球轨道(GEO)。卫星处固定轨道的缺陷包括庞大的天线,该天线需要从40,000km轨道距离产生要求尺寸的点波束,以及信号往返该轨道距离的长延时,而这种延时将对双向通话产生问题。另一方面,卫星处低地球轨道的缺陷在于由于卫星相对地球移动,由此当该卫星绕地球转动时点波束照射区域将改变。中地球轨道卫星既呈现出LEOs的问题,又呈现出GEOs的问题,虽然程度上小一点。
应用低或中地球轨道卫星的卫星系统需要补偿在卫星和地球上的终端之间链路中由于卫星相对地球移动引起的变化快的传播延时。在这种系统通信期间,对信号提供多谱勒补偿,以便对传播延时变化进行计算。为提供多谱勒补偿,终端可以对该多谱勒频率扫描,然而这是一个很费时过程,因为这将延迟对系统的连接。
但是,另一方面,给定了该终端的位置,以及卫星的天文历表信息之后,可以计算多谱勒补偿而不扫描多谱勒频率,因此加速呼叫方的过程。
得知该终端的位置对提供许多其他系统的功能也是有用的。例如使用已知的该终端的位置能便于在点波束和通道分配之间交接终端单元。另外一个例子是公共安全系统和911辅助装置。其中在紧急状态具有定位终端的能力是重要的。此外,如在以上等同的美国专利号5619503中所描述的那样,终端位置在计算波束形成矩阵中也是有用的。
用于确定一终端位置的一个一般的方法是使用由全球定位系统(GPS)导出的信息。该GPS包括大量MEO卫星,其每一个发射一已知信号。根据地球上任一给定位置,一个终端能接收并测量三或四个这样的信号(因为在轨道上有大量的GPS卫星)确定一时间延迟以及由此确定该三或四个卫星和该终端之间的距离。然后这个信息能被用来在终端位置处组成三角形。虽然该技术在这样的一个系统中是相当有效的,其中许多不同卫星的信号对一个接收机是可利用的,其他的系统,例如GEO卫星系统,不具有这种奢望,因此,希望在无线电通信系统中提供不同的用于获得终端位置信息的方法和系统,该系统不依赖于利用来自多个卫星的信号。在以上等同的专利申请WO97/28456中提供了一种这样的系统和方法,它描述这样一些技术,即使用多调相列阵天线束在卫星上产生的信号能用于对一个移动站产生位置计算。然而还期待在这样一个系统中定位移动站,该系统使用陆地基站作为对(或与…连接的)卫星的替换物提供无线电通讯。
概要
按本发明的实施例,对具有调相阵列天线的多个基站的每个基站,终端位置通过测量由多个最接近该终端的点波束接收的信号的相对信号强度值来完成。例如,对于每一个具有调相阵列天线的基站,相对于该中心点波束的强度,来自六个相邻点波束相对于中心点波束的信号强度能被测量,在该中心点波束中一移动站目前正在运行。使用测量信息,该终端的方位角能用指数模式的点波束图加以确定。使用来自多个基站的方位角之后能用三角技术确定终端位置。
按本发明其他的实施例,该移动站或终端能测量从卫星传播的信号的时延,并使用来自某些这种测量的信息来确定其位置。例如当移动站关心寻呼消息时在呼叫建立期间或提醒周期期间能执行这个过程。
附图简述
根据结合附图阅读以下说明书,本发明的这些和其他特征和优点对本领域技术人员而言将容易明白,其中:
图1说明点波束照射图的例子;
图2说明用于识别相对一卫星位置的一终端位置的坐标轴和角度的例子;
图3是说明指数波束形状模式的相对精度与偏离波束中心的角度的函数关系曲线;
图4是说明终端位置的径向映像曲线;
图5是说明按本发明实施例用于定位一终端的方法的流程图;
图6是作为例子的基站接收机的方块图,它能用于实施本发明的另一实施例;以及
图7是对图6的接收机例子的波束幅度和方向的关系曲线。
详细说明
为开始讨论终端位置确定,考虑在其中可利用三个通信通道的最简单的卫星通信系统。如同由一卫星天线系统的固定的物理特征所决定的那样,可提供多个天线波束,例如37个天线波束,并用来照射在所谓点波束复盖范围的地球。在图1中说明这些37个点波束的部分。按普通常识,处于三个点的中间位置的最坏点处的增益(例如,在图1中表示为对应波束照射交叉点的那些位置)通过选择波束宽度达到最大,使得该增益在相对峰值,即波束中心增益的中间位置约下降3dB。这是一个典型的能在以下两个方面之间实施的折衷方案。一方面,通过扩展波束降低峰值增益,以降低边缘损耗,以及另一方面,变窄波束,以增加峰值增益,但如同在前面偏离中心距离那样遭遇到更大的波束边缘损耗。在上述美国专利申请号08/179,583中公开的一个方案描述通道如何能有利地在稍微不同的方向发射,以使在地面上的每个位置接近一个通道的波束中心。用这种方法系统可备有许多通道,据此选择更集中指向任一特定移动站,由此避免在其他情况下可能发生的波束边缘损耗。
在两者中的任一种情况,一个系统可能应用所有这三个频率通道于这37个点波束的每一个之中,结果在三个波束之间的中间位置点处的一移动站能在来自所有三个波束的每个频率上接收相等的重叠信号,即,在每一个有用信号之上的两个等强度干扰,或者该干扰问题可以通过在波束之间按3-单元频率再使用方向图分配频率来加以避免。在后者情况下,处在三个波束之间的中间位置点的一移动站可以从该三个不同的周围的波束接收等强度的所有三个频率,但是一个频率只来自每一个波束,伴随来自更远的波束的旁瓣的稍微降低了的干扰。处于两个波束之间的中间处的一移动站能在两个频率上接收相等的信号强度以及在第三频率上接收来自两个相等信号的稍微降低了的信号强度。处在一波束中心的一移动站原则上能在来自六个周围的波束的另外两个频率上接收那个波束的频率,伴随多个降低了的信号强度。这样,如在前面作为参考的专利申请WO 95/19094详细描述的那样,根据例如在三个频率上接收的相对信号强度有可能粗略地确定移动站的位置。以下将根据在专利申请WO 97/28456中详细陈述的从接近波束接收的信号强度简要地描述确定位置的另一个方法。
由一个移动站从每个波束接收的功率取决于该波束形状的大小,该波束的合成辐射图由各个单元辐射图和阵列因数的组合确定,这是由于波束由单元形成的缘故,能用来确定合成图形功率损耗的一种模式是指数模式。如果存在从一个波束到下一个波束的足够的辨别力,则由占用的和周围的波束测量的所接收信号强度可以用作波束形状的测量,该波束形状能用来确定移动站的位置。
当假定已知波束中心的位置时,计算移动站位置问题变成计算相对于该波束中心的用户位置。当给定特定点波束的已知指向后,用户位置由两个角量确定:偏离波束中心角的角,φ;以及围绕在该波束的中心的方向从卫星延伸的射线的角,θ。此概念在图2中说明。
波束图是角度φ和θ两者的函数,虽然可使用由下列公式给出的指数方程模型化被归化的波束形状:
这里α被选择适合于对真实波束图的模拟。这种模拟对通常达几度的小的φ值相对准确,例如在对于Inmarsat EP21卫星设计的211单元阵列建议中,在波束形成之后发现接近该波束图的α(alpha)的值是0.1891。在图3中表示该系统模拟波束形成图与指数模拟图的关系曲线。其中模拟图由具有更高的(Y-轴)图形增益值的发散曲线表示。可以看到在约φ=3°的范围以内指数模拟的吻合相对准确,在该处它从模拟图发散。
为计算值φ和θ,使用映象x=f(φ,θ)(指出矢量是由黑体铅字表示)并由下式给出:
这里θ(theta)是从波束中心测量的。现在为计算移动站位置,功率测量取自在目前的六个周围波束中的信号。功率测量标志成P=[P0,P1,P2,…P6]T。对于从第i个波束的测量的模型变成:
这里i∈{0,1,…6}表示测量取自的那个波束,xi表示波束i的中心位置。使用直接确定移动站位置的这种模型将提出一个问题,因为可以不知道信号的绝对功率(由在方程(4)和(5)中的光标因数所表示的)。这样,按本发明示例性实施例,据波束对的相对功率测量可用来确定位置。例如,中心波束可用作为相对于其可确定相对功率测量的参考。这些测量可表示成Y={h1,…,h6}T,这里hi=Pi/Po。使用这种近似,测量和模型变成:
例如使用来自六个周围的波束的每一个接收时隙相对于来自该中心波束接收的一时隙的RSSI由移动站可以计算hi(x),之后这种测量可以在方程(6)和(7)中使用。现在,利用在以上方程(6)和(7)中描述的这种测量模型能确定移动位置的估算,为估算该移动位置,通过寻求使方程J(x)最小的点来计算x的卡尔曼(kalman)最小方差最小二乘法的估算值,方程J(x)给出如下:
这里
是该移动位置的估算值,Px,k|k-1是该位置协方差矩阵,而Ry是假定已知的测量方差。初始值选为
和Px,k|k-1两者。例如,波束中心位置能选为
和Px,k|k-1,该波束的半径用作初始估算值的标准偏差。假定的噪声方差值Ry是通过假设最坏的信噪比的情况选择的,这是一种认定的处理技术,之后按照该信噪比选择合适的功率测量的噪声方差。假定来自不同波束的噪声是独立的。函数h(x)由下列方程给出:
使用该公式于位置估算器允许移动位置在规定时间之外被跟踪,而且还产生该估算器协方差的估算。该协方差可以是有用的,只要被测功率噪声方差也是估算的,在这种情况下,该估算的协方差能给出关于该被估算结果的精度的更好的信息。例如,该协方差提供该位置估算可靠性的指示,它可用来更精确地预期波束转换时间。
能用许多不同的方式完成对J(x)的最小点的寻求。由于函数h(x)是高度非线性的,所以可使用扩展的卡尔曼滤波近似法。同样,由于非线性,这种迭代扩展滤波器近似法是优选的。对这种估算的一种等效形式是对每个更新时间k直接从方程(8)计算高斯-牛顿(Gauss-Newton)估算值。给定在时间k的一个目前估算值,该估算值能通过计算Δx的来改进,使得 这里Δx通过解线性方程求得: Pk和g值使用下式
以及下式
求得。
这些方程可以迭代,直到符合容差,或直到对估算不存在更重要的情况为止。选择对x的初始值是上述估算值
,并使用Px,k|k-1=Px,k-1。在时间k=1,上述估算值
可选择是该波束的中心,而Px,1/0=Px,o可选择具有该波束中心的半径作为一个标准偏移。在卫星移动被跟踪的情况下,即,在一个相对长时间周期上计算一个位置确定时,和Px,k|k-1能使用适当的卫星移动模式产生。应还要指出的是输出协方差Px,k-1仅当考虑监视输出结果的收敛性时才需要产生(因此节省一个逆相运算)。
这里xhi(x)的值,i=1,2…,6由下式给出:
使用这些模型方程,现在可以使用例如方程(8)以及接收到的波束的信号强度的测量和模拟波束图确定移动站位置。
按照本发明的作为例子的实施例,另外还可通过测量信号的传播延时或从一个或多个卫星发射的信号来确定终端位置定位。在图5的流程图中说明该作为例子的实施例。例如,在步骤502,对该终端可视的每个卫星可发射包括具有一种代码的信息组的信号,该信息组具有好的相关特性。这个信号还能包括由卫星上的时钟指示的绝对时间。在该终端上,在步骤504,一个相关器被用来定位该已知的代码。在步骤506,根据相关峰值接收时间和植入信号中的绝对时间,可以确定传播延时。在步骤508,两个或更多个这样的传播延时可转发到该网络并用来确定给定卫星的已知天体位置推算表信息的终端位置。该过程可以重复执行,以更新该终端的定位。
例如延时测量能够在不同的通信时间进行。在呼叫建立的情况下,卫星将接收包括在一随机存取通道上的终端的ID信息的始发消息。这就提供给卫星关于终端位置的粗信息,即,基于此阵列元件最强有力地接收该终端的始发消息。在出现呼叫建立的发信号期间,终端能执行上述延时的测量。对于一个作为例子的系统,始发过程可以足够长,使得每间隔20秒可进行三到四个延时测量。这个信息结合波束信息,使用已知的三角测量技术就能估算该移动站的位置。
按另一个作为例子的实施例,移动终端的定位能够在该终端“觉醒”期间采用这些延时测量来进行。终端定期地加电,以便听取一控制通道,检查是否被呼叫,从而开始连接。之后延时信息能储存在该终端的存储器件内。大量的这种延时测量可以储存,例如四个为一单元的测量,并且这些测量可以传送到卫星,使得该终端的位置能在呼叫建立或寻呼期间进行计算。
已利用卫星无线电通信系统描述了上述作为例子的实施例,即在该系统中,无线电复盖范围是由卫星产生的点波束提供的。然而,其中基站具有阵列天线辐射不同区域的陆基系统也可用来实施本发明。但是,由于基站不高架于地面或像在卫星那样情况下移动,由单个基站接收的信号的测量只提供终端象限角的估算而不是其绝对定位。这样,按本发明的另一作为例子的实施例,能使用由每个基站接收来自一个终端的信号,以便用三角法测量一个终端的位置。
例如,考虑在图6中说明的作为例子的基站接收机结构。在此,使用一个固定的波束调相阵列天线系统同各种硬件元件结合,以便产生固定角度方向的多波束。该调相阵列天线系统可包括许多天线元件。其第一组602用来接收水平极化的信号,而第二组604能适合于接收垂直极化的信号。另一方面,两组天线都可以是水平或垂直极化的。这样分别使用波束形成电路606和608来处理接收的信号,任何普通的波束形成矩阵技术能够由方块606和608来执行,例如,所谓“Butler”矩阵运算。然后接收的信号进一步由低噪声放大器610和接收电路612处理。接收电路612例如可以是一个信号强度测量装置,本身具有一个解调器或与一个解调器组合,该解调器仅解调该接收信号的一部分(例如同步字或其它已知的符号),如下所述,提供的接收电路取决于需要选择所要求的波束数的信息。在该示例性实施例中,在方块614处按所接收的移动站信号功率的顺序选择八个接收波束之四个,然而,普通专业人员将理解可使用任何所要求的选择技术,例如选择使用例如信号功率这样的信号量信息胜于已知的同步字或其他已知的信息符号。在四个被选波束中接收的信号的同步在方块616中执行,并借助接着在均衡器618中执行均衡。该信息接着按已知技术被解码和处理。
在图7中表示一示例性阵列图,这里图6接收机结构的阵列用来复盖-60°-60°之间的角度范围。如从图可看到的那样,处于相对图6接收机一特定方向的一个移动站将在多于一个波束上看见。如果给定一个终端信号,将在多个波束中看见,并且如果这些信号的相对功率是已知的,则使用上述技术就提供了需要确定该终端的角度方向的信息。这样,在单个基站处,可以进行移动位置的方位角的估算。假定从一个基站到一个终端的方位角的估算用两个或多个基站取得,则这个信息可以作图表示,以便用三角法测量终端的位置。每个基站的方位角的估算可以记时打印,以便取得更高的精度。另一方面,还能假定基站颇为接近在一起,所以传播差是不重要的。这样可使用记时打印的方向估算形成一个组合的位置估算,随之控制测量之间时间间隔的位置估算的所要求的精度被组合起来。例如,150m的位置估算精度可以限制测量被组合到在一预定时间周期中接收的那些信号。
以上示例性实施例不要求该基站包括在同步的三角网内。但是如果同步的基站是可利用的话,则更多的位置精度可以通过将上述的象限角估算值同用来形成象限角测量的那些信号的到达时间差组合起来而达到。例如,标记来自两个天线的时间差的T12。如果给定一个用户位置X,则所期望的时间差由一个非线性方程f12(X)给出。这样,在方程(8)中可以附加其他项: 以及可以进行和以前那样类似的处理,在方程(12)和(13)中附加额外项计算时间-延迟测量,即在(13)中附加 以及在(12)中附加
本专业技术人员将理解本发明能够用其他指定的方式实施,而不脱离其精神或主要特点。因此目前公开的实施例在所有方面而言都考虑为说明性的而不是限制性的。本发明的范围由附加的权利要求指明而不是上述说明,以及所有包括在其等效意义和范围内的变化都认为是包含在其中的。
Claims (14)
1.一种使用由点波束辐射区域的一个阵列定位无线电通信系统中的终端的方法,包括步骤:
(a)在一第一基站测量与多个所说点波束的每一个相关的接收功
率;
(b)通过将所说相关功率同一参考功率比较,确定与所说接收功
率相关的相对功率;以及
(c)使用所说相对功率以及点波束形状的模式计算所说相对于所
说第一基站的终端的第一方位;
(d)对于由第二基站从所说终端接收的信号重复步骤(a)-(c),
以确定相对于所说第二基站的所说终端的第二方位;以及
(e)通过使用所说第一和第二方位定位所说终端,以便用三角法
测量所说终端的位置。
2.权利要求1的方法,其中所说模式是指数模式。
3.权利要求1的方法,其中所说第一和第二基站是同步的。
4.权利要求3的方法,还包括步骤:
使用与在步骤(a)中测量的信号相关的到达信息的时间,改善由步骤(e)得到的位置指示。
5.权利要求1的方法,其中所说第一和第二基站是不同步的。
6.权利要求1的方法,还包括步骤:
(f)发射一定位器信号到所说终端,该信号包括具有已知良好相
关特性值的第一信息组和具有指示所说定位器信号的传输时
间值的第二信息组;
(g)在所说终端使所说定位器信号同所说已知值相关,以便识别
同一峰相关值相关的接收时间;
(h)使用在所说第二信息组中的值和所说接收时间,确定传播延
时;以及
(i)除使用步骤(e)中所说第一和第二方位角外,使用所说传
播延时定位所说终端。
7.权利要求6的方法,其中所说发射步骤发生在所说终端和一无线电系统之间连接的步骤期间。
8.权利要求6的方法,其中所说发射步骤发生在所说终端的一觉醒周期而所说终端听取寻呼消息的期间。
9.一个无线电通信系统,包括一个移动站以及至少两个基站,包括:
第一天线阵列,同所说至少两个基站之一的第一个相关,用于使用第一多个点波束提供第一区域的点波束无线电通信复盖范围;
第二天线阵列,同所说至少两个基站之一的第二个相关,用于使用第二多个点波束提供第二区域的点波束无线电通信复盖范围,所说第二区域至少局部重叠所说的第一区域;
装置,用于在所说第一基站测量来自所说同所说第一多个所说点波束的每一个相关的移动站的接收功率;
装置,用于在所说第二基站测量来自所说同所说第二多个所说点波束的每一个相关的移动站的接收功率;
装置,用于基于在所说第一基站的所说测量,确定所说移动站相对所说第一基站的第一方位;
装置,用于基于在所说第二基站的所说测量,确定所说移动站相对所说第二基站的第二方位;以及
装置,用于使用所说第一和第二方位定位所说移动站。
10.权利要求9的无线电通信系统,其中所说用于确定所说第一方位的装置除在所说第一基站的所说测量之外使用一波束形状模式。
11.权利要求10的无线电通信系统,其中所说波束形状模式是指数模式。
12.权利要求10的无线电通信系统,其中所说第一和第二基站是不同步的。
13.权利要求10的无线电通信系统,其中所说第一和第二基站是同步的。
14.权利要求13的无线电通信系统,其中所说用于定位的装置还使用到达信息时间来定位所说移动站。
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-
1996
- 1996-09-20 US US08/710,761 patent/US5907809A/en not_active Expired - Lifetime
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1997
- 1997-09-18 TW TW086113497A patent/TW353835B/zh active
- 1997-09-19 DE DE69728278T patent/DE69728278T2/de not_active Expired - Lifetime
- 1997-09-19 CN CN97199538A patent/CN1115568C/zh not_active Expired - Fee Related
- 1997-09-19 EP EP97943319A patent/EP0927362B1/en not_active Expired - Lifetime
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- 1997-09-19 WO PCT/US1997/016352 patent/WO1998012571A1/en not_active Application Discontinuation
- 1997-09-19 AU AU44817/97A patent/AU4481797A/en not_active Abandoned
- 1997-09-19 KR KR1019997002395A patent/KR20010029540A/ko not_active Application Discontinuation
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AU4481797A (en) | 1998-04-14 |
WO1998012571A1 (en) | 1998-03-26 |
JP2001500970A (ja) | 2001-01-23 |
TW353835B (en) | 1999-03-01 |
KR20010029540A (ko) | 2001-04-06 |
CN1236437A (zh) | 1999-11-24 |
EP0927362A1 (en) | 1999-07-07 |
DE69728278T2 (de) | 2005-01-20 |
US5907809A (en) | 1999-05-25 |
DE69728278D1 (de) | 2004-04-29 |
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