CN114245289B - Autonomous positioning method for mobile equipment - Google Patents
Autonomous positioning method for mobile equipment Download PDFInfo
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- CN114245289B CN114245289B CN202111287513.1A CN202111287513A CN114245289B CN 114245289 B CN114245289 B CN 114245289B CN 202111287513 A CN202111287513 A CN 202111287513A CN 114245289 B CN114245289 B CN 114245289B
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention relates to an autonomous positioning method of mobile equipment, which comprises the following steps: the user terminal receives N groups of positioning reference signals PRS sent by M (M is more than or equal to 3) base stations to obtain time TOA from the positioning reference signals PRS sent by the M base stations to the user terminal, and the time TOA from the positioning reference signals PRS sent by the reference base station BSi to the user terminal is subtracted from the time TOA from the positioning reference signals PRS sent by the service base station BS1 to the user terminal to obtain time difference TDOA from the positioning reference signals PRS to the user terminal
Judging the positioning type of the positioning scene, and the time difference from the positioning reference signal PRS sent by the reference base station BSi and the service base station BS1 to the user terminal is adopted by the user terminal
And the positioning result of the user terminal sent by the network side, obtaining the position coordinates and the TDOA of the service base station BS1 and the reference base station BSi by back calculation, obtaining M-1 hyperbolas where the user terminal is located by using the position coordinates and the TDOA of the service base station BS1 and the reference base station BSi obtained by back calculation, and obtaining the position coordinates of the user terminal by using the intersection point of the M-1 hyperbolas, thereby realizing the autonomous positioning of the user terminal and improving the autonomous positioning and the safety.
Description
Technical Field
The invention belongs to the technical field of wireless positioning, and particularly relates to an autonomous positioning method for mobile equipment.
Background
At present, the positioning technology of the user terminal of the cellular network generally adopts a plurality of fixed ground Base Stations (BS) with known coordinate positions to interact with the user terminal to obtain various measurement parameters, and then the network side adopts a proper calculation method to obtain the specific position of the user terminal in the cellular cell. Therefore, the position coordinates of the end user are completely grasped by the base station side for the end user, and the autonomy and safety of the end user cannot be guaranteed. For terminal manufacturers, there is a need for a method and system that can implement autonomous location of a user terminal in a cellular network to ensure personal privacy of the user and implement location autonomy.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an autonomous positioning method of mobile equipment, which comprises the following steps:
step 1, a user terminal receives N groups of positioning reference signals PRS sent by M (M is more than or equal to 3) base stations to obtain time TOA from the N groups of positioning reference signals PRS sent by the M (M is more than or equal to 3) base stations to the user terminal;
step 2, subtracting the time TOA from the positioning reference signal PRS sent by the serving BS1 to the user terminal from the reference BS BSi (i is more than or equal to 2 and less than or equal to M) to obtain the time difference from the positioning reference signal PRS sent by the N groups of reference BSi and the serving BS1 to the user terminal
j＝1,…,N；
Step 3, judging the positioning type of the positioning scene:
when a positioning scene adopts a cellular network for positioning, the user terminal reports the obtained N groups of TDOA to the network side, the network side obtains the position coordinates of the user terminal by using the measured values of the N groups of TDOA, and sends N groups of positioning results to the user terminal;
when the positioning scene is positioned by adopting the assistance of an external system, the user terminal directly acquires the position coordinates through the GPS;
step 4, the user terminal adopts the time difference from the positioning reference signal PRS sent by the reference base station BSi and the service base station BS1 to the user terminal
The positioning results of the N user terminals sent by the network side are subjected to back calculation to obtain the position coordinates and the TDOA of the service base station BS1 and the reference base station BSi;
and step 5, the user terminal obtains M-1 hyperbolas where the user terminal is located by using the service base station BS1 obtained by inverse calculation, the position coordinate of the reference base station BSi and the TDOA, and obtains the position coordinate of the user terminal by using the intersection point of the M-1 hyperbolas.
Further, in step 3, when the positioning scene adopts the cellular network for positioning, the ue reports the obtained N TDOA groups to the network side, including:
the network side takes the service BS1 and the reference BS2 as the focus, and the time difference from the positioning reference signal sent by the reference BS2 and the service BS1 to the user terminal is determined
Determining the hyperbola where the first ue is located, as shown in the following formula (1):
wherein c represents the propagation speed of the radio wave in the air;
similarly, the network side takes the service BS1 and the reference BS BSi (i is more than or equal to 3 and less than or equal to M) as the focus, and the time difference from the positioning reference signal sent by the reference BS BSi and the service BS1 to the user terminal is determined according to the time difference
Determining the hyperbola where i-1 user terminals are located, as shown in the following formula (2):
solving the equation set according to the above formulas (1) and (2) to obtain the position coordinate (x) of the user terminal j ,y j ) And sending the N positioning results to the user terminal.
Further, in step 5, the ue obtains M-1 hyperbolas where the ue is located by using the back-calculated location coordinates of the serving BS1, the reference BS BSi, and the TDOA, and obtains the location coordinates of the ue by using the intersection point of the M-1 hyperbolas, including:
the user terminal actually measures the TDOA,
expressed as the error in measuring TDOA for the user terminal,
expressed as mean 0 and variance σ 2 Independently identically distributed white gaussian noise, to obtain the following formula (3):
back calculation reference base station BS2 (X) 2 ,Y 2 ) And a serving base station BS1 (X) 1 ,Y 1 ) Is solved for a non-linear system of equations, ar, consisting of the first of the N equations (3) above i ，R i N is represented by the following formula (4):
substituting the above formula (4) into the above formula (3) in the first formula gives the following formula (5):
determining the coordinate value of the base station, R, using maximum likelihood estimation 2 -R 1 Expressed as a known distance difference, the elements in cn obey a mean of 0 and a variance of σ 2 Is normally distributed to obtain Δ R 2 Subject to mean value of R 2 -R 1 Variance is σ 2 Normal distribution of (2);
since the TDOAs at different positions of the ue are independent of each other, the corresponding likelihood function is obtained, as shown in the following formula (6):
the base station coordinate value that maximizes the maximum likelihood probability is obtained from the above equation (6), as shown in the following equation (7):
[(X 1 ,Y 1 ),(X 2 ,Y 2 )]＝argmin[(ΔR 2 -R 2 +R 1 ) T (ΔR 2 -R 2 +R 1 )]……(7)；
solving the following formula (8) to obtain the coordinates of all base stations participating in positioning:
compared with the prior art, the invention has the beneficial effects that: the autonomous positioning method comprises the steps of performing inverse calculation on the position coordinates of the base stations participating in positioning through the measurement information and the positioning result obtained by the user terminal to obtain the position coordinates of the base stations, then realizing the position calculation of the user terminal by utilizing the known position coordinates and the measurement information of the base stations of the user terminal, and finally realizing the autonomous positioning of the user terminal through the inverse calculation of the coordinate position of the base stations, thereby improving the autonomy and the safety of the positioning.
Drawings
Fig. 1 is a schematic structural diagram of the autonomous positioning method;
fig. 2 is a schematic structural diagram of a base station in the autonomous positioning method.
Detailed Description
The autonomous positioning method of the present invention will be explained in detail with reference to the accompanying drawings.
In this embodiment, 3 base stations are used to perform autonomous positioning of the mobile device, and the ue obtains 5 known location coordinates, as shown in fig. 2, the location coordinates of the base station and the ue are respectively represented as (X) i ,Y i )(i＝1,2,3)、(x j ,y j ) (j ═ 1,2, L,5), the serving base station is denoted BS1,
and
denoted as the j-th signal time-difference of arrival between the reference base station BS2, the reference base station BS3 and the serving base station BS1, respectivelyAnd (6) measuring the values.
Further, the autonomous positioning method comprises the following steps:
step 1, a user terminal receives positioning reference signals PRS sent by 5 groups of 3 base stations, and time TOA from the positioning reference signals PRS sent by 5 groups of 3 base stations to the user terminal is obtained;
step 2, subtracting the time TOA from the positioning reference signal PRS sent by the reference BS2 and the serving BS1 to the user terminal to obtain the time difference from the positioning reference signal PRS sent by the 5 groups of reference BS2 and the serving BS1 to the user terminal
j＝1,…,N；
Similarly, the time TOA from the positioning reference signal PRS sent by the reference BS3 and the serving BS1 to the ue is subtracted to obtain the time difference from the positioning reference signal PRS sent by the 5 sets of reference BS3 and the serving BS1 to the ue
j＝1,…,N；
Step 3, judging the positioning type of the positioning scene:
when a positioning scene adopts a cellular network for positioning, the user terminal reports the obtained 5 groups of TDOA to the network side, the network side obtains the position coordinates of the user terminal by using the 5 groups of TDOA measured values, and sends the 5 groups of positioning results to the user terminal; the method comprises the following steps:
the network side takes the service base station BS1 and the reference base station BS2 as focuses and obtains the time difference from the positioning reference signal sent by the BS2 and the service base station BS1 to the user terminal
Determining the hyperbola where the first ue is located, as shown in the following formula (1):
wherein c represents the propagation speed of the radio wave in the air;
similarly, the network side focuses on the serving BS1 and the reference BS3, and obtains the time difference from the positioning reference signal sent by the reference BS3 and the serving BS1 to the ue
Determining a hyperbola where the second ue is located, as shown in the following equation (2):
solving the equation set according to the above equations (1) and (2) to obtain the position coordinate (x) of the user terminal j ,y j ) And 5 positioning results are sent to the user terminal;
when the positioning scene is positioned by adopting the assistance of an external system, the user terminal directly acquires the position coordinates through the GPS;
step 4, the user terminal adopts the time difference from the positioning reference signal PRS sent by the reference BS2 and the serving BS1 to the user terminal
And the positioning results of 5 user terminals sent by the network side are inversely calculated to obtain the position coordinates and the TDOA of the service base station BS1 and the reference base station BS 2;
similarly, the user terminal uses the time difference from the positioning reference signal sent by the reference base station BS3 and the serving base station BS1 to the user terminal
And the positioning results of 5 user terminals sent by the network side are inversely calculated to obtain the position coordinates and the TDOA of the service base station BS1 and the reference base station BS 3;
step 5, the user terminal obtains two hyperbolas where the user terminal is located by using the position coordinates and the TDOA of the serving base station BS1, the reference base station BS2 and the reference base station BS3 obtained by inverse calculation, and obtains the position coordinates of the user terminal by using the intersection point of the two hyperbolas; the method comprises the following steps:
the user terminal actually measures the TDOA,
expressed as the error in measuring TDOA for the user terminal,
expressed as mean 0 and variance σ 2 Independently identically distributed white gaussian noise, to obtain the following formula (3):
back calculation reference base station BS2 (X) 2 ,Y 2 ) And serving base station BS1 (X) 1 ,Y 1 ) Solving a non-linear system of equations, Δ R, consisting of the first ones of the above equations (3) for the position coordinates of (c) i ，R i N is represented by the following formula (4);
substituting the above formula (4) into the above formula (3) in the first formula gives the following formula (5):
determining coordinate values, R, of a base station using maximum likelihood estimation 2 -R 1 Expressed as the known distance difference, the elements in cn obey a mean of 0 and a variance of σ 2 Is normally distributed to obtain Δ R 2 Subject to mean value of R 2 -R 1 Variance is σ 2 Normal distribution of (2);
since TDOAs at different locations of the ue are independent of each other, a corresponding likelihood function is obtained, as shown in the following equation (6):
the base station coordinate value that maximizes the maximum likelihood probability is obtained from equation (6) above, as shown in equation (7) below:
[(X 1 ,Y 1 ),(X 2 ,Y 2 )]＝argmin[(ΔR 2 -R 2 +R 1 ) T (ΔR 2 -R 2 +R 1 )]……(7)；
solving the following formula (8) to obtain the coordinates of all base stations participating in positioning:
[(X 1 ,Y 1 ),(X 2 ,Y 2 ),(X 3 ,Y 3 )]＝argmin[(ΔR 2 -R 2 +R 1 ) T (ΔR 2 -R 2 +R 1 )+(ΔR 3 -R 3 +R 1 ) T (ΔR 3 -R 3 +R 1 )]……(8)。
finally, it should be understood that the above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the present invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. An autonomous positioning method for a mobile device, the method comprising:
step 1, a user terminal receives N groups of positioning reference signals PRS sent by M (M is more than or equal to 3) base stations to obtain time TOA from the N groups of positioning reference signals PRS sent by the M (M is more than or equal to 3) base stations to the user terminal;
step 2, subtracting the time TOA from the positioning reference signal PRS sent by the serving BS1 to the user terminal from the reference BS BSi (i is more than or equal to 2 and less than or equal to M) to obtain the time difference from the positioning reference signal PRS sent by the serving BS1 to the user terminal from the N groups of reference BSi
Step 3, judging the positioning type of the positioning scene:
when a positioning scene adopts a cellular network for positioning, the user terminal reports the obtained N groups of TDOA to the network side, the network side obtains the position coordinates of the user terminal by using the measured values of the N groups of TDOA, and sends the N groups of positioning results to the user terminal;
when the positioning scene is positioned by adopting the assistance of an external system, the user terminal directly acquires the position coordinates through a GPS (global positioning system);
step 4, the user terminal adopts the time difference from the positioning reference signal PRS sent by the reference base station BSi and the service base station BS1 to the user terminal
The positioning results of the N user terminals sent by the network side are subjected to back calculation to obtain the position coordinates and the TDOA of the service base station BS1 and the reference base station BSi;
and step 5, the user terminal obtains M-1 hyperbolas where the user terminal is located by using the service base station BS1 obtained by inverse calculation, the position coordinate of the reference base station BSi and the TDOA, and obtains the position coordinate of the user terminal by using the intersection point of the M-1 hyperbolas.
2. The method as claimed in claim 1, wherein in step 3, when the positioning scenario employs a cellular network for positioning, the ue reports the obtained TDOA for N groups to the network side, and the method comprises:
the network side takes the service base station BS1 and the reference base station BS2 as focuses and obtains the time difference from the positioning reference signal sent by the reference base station BS2 and the service base station BS1 to the user terminal
Determining the hyperbola where the first ue is located, as shown in the following formula (1):
wherein c represents the propagation speed of the radio wave in the air;
in the same way, the network sideThe service base station BS1 and the reference base station BSi (i is more than or equal to 3 and less than or equal to M) are taken as focuses, and the time difference from the positioning reference signal sent by the reference base station BSi and the service base station BS1 to the user terminal is determined according to the time difference
Determining a hyperbola where i-1 user terminals are located, as shown in the following formula (2):
solving the equation set according to the above formulas (1) and (2) to obtain the position coordinate (x) of the user terminal j ,y j ) And sending the N positioning results to the user terminal.
3. The method as claimed in claim 1, wherein in step 5, the ue obtains M-1 hyperbolas where the ue is located by using the location coordinates of the serving BS1, the reference BS BSi and the TDOA obtained by inverse calculation, and obtains the location coordinates of the ue by using the intersection of the M-1 hyperbolas, comprising:
the user terminal actually measures the TDOA,
expressed as the error in measuring TDOA for the user terminal,
expressed as mean 0 and variance σ 2 Independently identically distributed white gaussian noise, to obtain the following formula (3):
back calculation reference base station BS2 (X) 2 ,Y 2 ) And serving base station BS1 (X) 1 ,Y 1 ) Solving the non-linear square formed by the first equation in the N (3) equationsSet of equations,. DELTA.R i ，R i N is represented by the following formula (4):
substituting the above formula (4) into the above formula (3) in the first formula gives the following formula (5):
determining coordinate values, R, of a base station using maximum likelihood estimation 2 -R 1 Expressed as a known distance difference, the elements in cn obey a mean of 0 and a variance of σ 2 Is normally distributed to obtain Δ R 2 Subject to mean value R 2 -R 1 Variance is σ 2 Normal distribution of (2);
since TDOAs at different locations of the ue are independent of each other, a corresponding likelihood function is obtained, as shown in the following equation (6):
the base station coordinate value that maximizes the maximum likelihood probability is obtained from the above equation (6), as shown in the following equation (7):
[(X 1 ,Y 1 ),(X 2 ,Y 2 )]＝argmin[(ΔR 2 -R 2 +R 1 ) T (ΔR 2 -R 2 +R 1 )]……(7)；
solving the following formula (8) to obtain the coordinates of all base stations participating in positioning:
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| CN112788519A (en) * | 2019-11-11 | 2021-05-11 | 大唐移动通信设备有限公司 | Method, terminal and network side equipment for positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8135413B2 (en) * | 1998-11-24 | 2012-03-13 | Tracbeam Llc | Platform and applications for wireless location and other complex services |
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| CN101772157A (en) * | 2008-12-30 | 2010-07-07 | 三星电子株式会社 | Downlink positioning method assisted by terminal |
| CN109819396A (en) * | 2019-01-30 | 2019-05-28 | 北京布科思科技有限公司 | A kind of wireless location method and system |
| CN112788519A (en) * | 2019-11-11 | 2021-05-11 | 大唐移动通信设备有限公司 | Method, terminal and network side equipment for positioning |
| CN110686681A (en) * | 2019-11-14 | 2020-01-14 | 西安思彼斯信息科技有限公司 | UWB high-precision high-efficiency positioning method |
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