CN114371444A - TDOA system positioning accuracy measuring method, device, electronic equipment and storage medium - Google Patents

TDOA system positioning accuracy measuring method, device, electronic equipment and storage medium Download PDF

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CN114371444A
CN114371444A CN202111511995.4A CN202111511995A CN114371444A CN 114371444 A CN114371444 A CN 114371444A CN 202111511995 A CN202111511995 A CN 202111511995A CN 114371444 A CN114371444 A CN 114371444A
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information
positioning
location
determining
time difference
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任澳东
姜化京
黄超
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Tejin Intelligent Technology Shanghai Co ltd
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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
    • 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
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction

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Abstract

The invention provides a TDOA system positioning accuracy measuring method, a TDOA system positioning accuracy measuring device, electronic equipment and a storage medium. The method comprises the following steps: positioning a signal source at a test position for n times by using a TDOA system to obtain n actually measured positioning positions; determining error information according to the n actually measured positioning positions and the actual geographic position of the testing position; determining correction information according to the n actually measured positioning positions and m groups of time difference information acquired during each positioning; correcting the error information using the correction information; determining a system location accuracy of the TDOA system based on the location accuracy of the TDOA system for the plurality of test locations.

Description

TDOA system positioning accuracy measuring method, device, electronic equipment and storage medium
Technical Field
The present invention relates to the field of wireless communications, and in particular, to a method, an apparatus, a device, and a medium for measuring a TDOA system location accuracy.
Background
TDOA location is a method of location using time differences. For example: the location of the signal can be determined by measuring the absolute time difference of arrival of the signal at each monitoring station, making a hyperbola with the probe station as the focal point and the distance difference as the major axis.
As can be known from the TDOA positioning principle, the positioning accuracy is affected by two major factors, one is a system factor including the measurement accuracy of the site location and the time difference measurement accuracy, and the other is a non-system factor including the relative geometric location of the wireless signal source and each site (referred to as the site placement format), and comparing the positioning accuracy of different TDOA systems needs to eliminate the influence of the non-system factor on the positioning accuracy.
The influence of the stationed form on the positioning accuracy can be described by a Geometric Dilution of Precision (GDOP), and the smaller the GDOP, the higher the positioning accuracy. It can be seen from fig. 1 that the GDOP value varies with the position of the wireless signal source, such as the GDOP values of the areas 1, 2 and 3 in fig. 1 are larger, and the positioning error increases during the measurement in these areas, resulting in the reduction of the positioning accuracy.
At present, the main physical quantity for representing the positioning accuracy of the TDOA system is a geographical position error, however, if only the geographical position error is considered, the positioning error caused by non-system factors cannot be eliminated, so that the positioning accuracy of the TDOA system cannot be represented accurately.
Disclosure of Invention
The invention provides a TDOA system positioning accuracy measuring method, a TDOA system positioning accuracy measuring device, electronic equipment and a storage medium, and aims to solve the problem that non-system factors influence system positioning accuracy.
The method obtains the correction factor according to the position information and the time difference change, and corrects the geographical position error of the main stream representing the positioning accuracy of the TDOA system by using the correction factor, thereby eliminating the influence of non-system factors on the positioning accuracy of the TDOA system and enabling the measured positioning accuracy to better reflect the positioning capability of the TDOA system.
According to a first aspect of the present invention, there is provided a TDOA system location accuracy measurement method, including:
positioning a signal source at a test position for n times by using a TDOA system to obtain n actually measured positioning positions; the TDOA system comprises a plurality of TDOA sites;
determining error information according to the n measured positioning positions and the actual geographical position of the test position, wherein the error information represents errors of the measured positioning positions relative to the actual geographical position;
determining correction information according to the n actually measured positioning positions and m groups of time difference information acquired during each positioning, wherein the correction information represents the influence of the position of the signal source on the positioning result of the TDOA system; each group of time difference information represents the time difference of the signals of the signal source received by the corresponding two TDOA stations at the corresponding moment;
correcting the error information by using the correction information so as to represent the positioning precision of the TDOA system to the test position by using the corrected error information;
determining a system location accuracy of the TDOA system based on the location accuracy of the TDOA system for the plurality of test locations.
Optionally, determining error information according to the n measured positioning locations and the actual geographic location of the test location includes:
calculating the geographical position error Delta L of the single positioning according to the following formulaiδ：
Figure BDA0003395363030000021
Wherein: (alphaδ，βδ) (x) characterizing the actual geographical location of the test locationi,yi) And (i is more than or equal to 1 and less than or equal to n) represents the actual measurement positioning position of the ith positioning, and R is a constant representing the long ellipse radius of the earth.
And obtaining the error information according to the statistical value of the single geographic position error obtained by n times of positioning.
Optionally, determining correction information according to the n actually measured positioning positions and m sets of time difference information obtained in each positioning, including:
calculating m groups of partial derivative information of each actually measured positioning position; each set of partial derivative information represents a partial derivative of the displacement of the measured positioning position in the x-axis direction with respect to a corresponding set of time difference information, and: the offset of the displacement of the actually measured positioning position in the y-axis direction is directed at the corresponding group of time difference information;
and determining the correction information according to all the partial derivative information of the n actually measured positioning positions.
Optionally, calculating m groups of partial derivative information of each measured positioning location includes:
determining first reference position information and second reference position information according to the actually measured positioning position;
the first reference position information and the measured positioning position have a specified first distance difference in the x-axis direction, and the second reference position information and the measured positioning position have a specified second distance difference in the y-axis direction;
determining a first reference time difference corresponding to the first reference position information;
determining a second reference time difference corresponding to the second reference position information;
and determining the partial derivative information according to the actually measured positioning position, the time difference information of the actually measured positioning position, the first reference time difference and the second reference time difference.
Optionally, the correcting the error information by using the correction information to characterize the positioning accuracy of the TDOA system on the test location by using the corrected error information includes:
correcting the error information according to the following formula:
Figure BDA0003395363030000031
wherein: delta L'δRespectively representing error information which is not corrected;
ξδthe correction information is characterized;
ΔLδthe corrected error information is characterized;
ceil () is a ceiling function.
Optionally, before the correcting the error information by using the correction information, the method further includes:
and determining the test position as an effective test position according to the correction information.
Optionally, determining, according to the correction information, that the test position is an effective test position includes:
and comparing the correction information with a preset threshold value, and determining that the correction information is smaller than the preset threshold value.
According to a second aspect of the present invention, there is provided a TDOA system location accuracy measuring apparatus, comprising:
the TDOA system positioning module is used for positioning the signal source at the test position for n times by utilizing a TDOA system to obtain n actually measured positioning positions; the TDOA system comprises a plurality of TDOA sites;
an error information determination module, configured to determine error information according to the n measured positioning positions and an actual geographic position of the test position, where the error information represents an error of the measured positioning positions relative to the actual geographic position;
a correction information determining module, configured to determine correction information according to the n actually-measured location positions and the m sets of time difference information obtained at each location, where the correction information represents an influence of a location of the signal source on a location result of the TDOA system; each group of time difference information represents the time difference of the signals of the signal source received by the corresponding two TDOA stations at the corresponding moment;
the error information correction module is used for correcting the error information by using the correction information so as to represent the positioning precision of the TDOA system to the test position by using the corrected error information;
and the system positioning precision determining module of the TDOA system is used for determining the system positioning precision of the TDOA system based on the positioning precision of the TDOA system to a plurality of test positions.
Optionally, the error information determining module is configured to determine the error information according to the n measured positioning locations and the actual geographic location of the test location, and includes:
calculating the geographical position error Delta L of the single positioning according to the following formulaiδ：
Figure BDA0003395363030000041
Wherein: (alphaδ，βδ) (x) characterizing the actual geographical location of the test locationi,yi) (1 ≦ i ≦ n) represents the measured location position of the ith positioning, and R is a constant representing the earth's prolate ellipsoid radius (R ═ 6378.14 km).
And obtaining the error information according to the statistical value of the single geographic position error obtained by n times of positioning.
Optionally, the correction information determining module is configured to determine the correction information according to the n actually measured positioning positions and the m sets of time difference information obtained in each positioning, and includes:
calculating m groups of partial derivative information of each actually measured positioning position; each set of partial derivative information represents a partial derivative of the displacement of the measured positioning position in the x-axis direction with respect to a corresponding set of time difference information, and: the offset of the displacement of the actually measured positioning position in the y-axis direction is directed at the corresponding group of time difference information;
and determining the correction information according to all the partial derivative information of the n actually measured positioning positions.
Optionally, calculating m groups of partial derivative information of each measured positioning location includes:
determining first reference position information and second reference position information according to the actually measured positioning position;
the first reference position information and the measured positioning position have a specified first distance difference in the x-axis direction, and the second reference position information and the measured positioning position have a specified second distance difference in the y-axis direction;
determining a first reference time difference corresponding to the first reference position information;
determining a second reference time difference corresponding to the second reference position information;
and determining the partial derivative information according to the actually measured positioning position, the time difference information of the actually measured positioning position, the first reference time difference and the second reference time difference.
Optionally, the error information correcting module is configured to correct the error information by using the correction information, so as to characterize the positioning accuracy of the TDOA system on the test location by using the corrected error information, and includes:
correcting the error information according to the following formula:
Figure BDA0003395363030000051
wherein: delta L'δRespectively representing error information which is not corrected;
ξδthe correction information is characterized;
ΔLδcharacterizing the corrected error information
ceil () is a ceiling function.
Optionally, before the correcting the error information by using the correction information, the method further includes:
optionally, determining, according to the correction information, that the test position is an effective test position includes:
and comparing the correction information with a preset threshold value, and determining that the correction information is smaller than the preset threshold value.
According to a third aspect of the invention, there is provided an electronic device comprising a processor and a memory; the memory stores a program that can be called by the processor; wherein the processor, when executing the program, implements the TDOA system location accuracy measurement method according to any one of the first aspect of the present invention.
According to a fourth aspect of the present invention, there is provided a storage medium characterized in that a program is stored thereon, which when executed by a processor, implements the TDOA system location accuracy measurement method according to any one of the first aspects of the present invention.
According to the TDOA system positioning accuracy measuring method, the TDOA system positioning accuracy measuring device, the electronic equipment and the storage medium, the correction factor is obtained according to the position information and the time difference change, and the geographical position error of the main stream representing the TDOA system positioning accuracy is corrected by the correction factor, so that the influence of the geographical position on the TDOA system positioning accuracy is eliminated, and more effective positioning accuracy is obtained.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a diagram illustrating the distribution of a geometric dilution of precision (GDOP) in a TDOA positioning system according to an embodiment of the present invention;
FIG. 2 is a first flowchart illustrating a method for measuring the positioning accuracy of a TDOA system according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method for measuring the positioning accuracy of a TDOA system according to an embodiment of the present invention;
FIG. 4 is a third flowchart illustrating a method for measuring the positioning accuracy of a TDOA system according to an embodiment of the present invention;
FIG. 5 is a fourth flowchart illustrating a method for measuring the positioning accuracy of a TDOA system according to an embodiment of the present invention;
FIG. 6 is a block diagram illustrating a fourth exemplary TDOA system positioning accuracy measurement apparatus according to the present invention;
FIG. 7 is a diagram illustrating a test location selection range distribution during measurement of TDOA system location accuracy in accordance with an embodiment of the present invention;
FIG. 8 is a schematic diagram of the TDOA system positioning accuracy measurement electronics in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a first flowchart of a TDOA system positioning accuracy measurement method in an embodiment of the present invention, which specifically includes:
s1, positioning the signal source at the testing position for n times by using the TDOA system to obtain n actually measured positioning positions; the TDOA system comprises a plurality of TDOA sites;
s2, determining error information according to the n measured positioning positions and the actual geographic position of the test position, wherein the error information represents the error of the n measured positioning positions relative to the actual geographic position;
s3, determining correction information according to the n actually-measured positioning positions and the m groups of time difference information acquired in each positioning, wherein the correction information represents the influence of the position of the signal source on the positioning result of the TDOA system; each group of time difference information represents the time difference of the signals of the signal source received by the corresponding two TDOA stations at the corresponding moment;
s4, correcting the error information by using the correction information so as to represent the positioning accuracy of the TDOA system to the test position by using the corrected error information;
and S5, determining the system positioning accuracy of the TDOA system based on the positioning accuracy of the TDOA system to the plurality of test positions.
In this embodiment, a group of positioning signal sources is randomly selected within an area (fig. 7), and the selected testing location has latitude and longitude information of a GPS.
The measured location, which may be understood as the location measured by TDOA positioning when the signal source is at the testing location, is obtained by performing n times of positioning on a signal source at the testing location as step S1, and the measured location can be characterized by two-dimensional coordinates, such as the measured location (x) mentioned lateri,yi) In other examples, the track position may also be a three-dimensional coordinate, and the track position may also be described by using other forms that can characterize the position. .
TDOA location is a method of location using time differences, and the location of a signal can be determined by measuring the absolute time difference of arrival of the signal at each monitored site. The TDOA site is understood to be a monitoring site used for TDOA location.
The time difference information represents the time difference when the corresponding two TDOA sites receive the signal of the unmanned aerial vehicle at the corresponding time, which can also be understood as: each set of time difference information corresponds to two corresponding TDOA stations, the time difference information represents the time difference of a signal source (namely the same signal of the unmanned aerial vehicle) reaching the two corresponding TDOA stations, and a set of time difference information can be formed between every two TDOA stations.
The positioning accuracy is the proximity between the spatial entity position information (the positioning coordinates obtained by positioning with the positioning system) and its real position (e.g. the actual longitude and latitude of the signal source). For example, currently, the main physical quantity characterizing the positioning accuracy of the TDOA system is a geographical position error, and generally, a calculation method is to randomly select some test positions within a certain range (for example, within a range surrounded by each station), calculate the geographical position error at each test position respectively, and take the average value of all the test positions as the positioning accuracy of the system. However, under the condition that the signal source position is different from the station arrangement form, the positioning accuracy of the TDOA system is also different, so the method for representing the positioning accuracy of the system is not accurate. The correction information reflects the positioning error caused by the position of the signal source, and the influence of non-system factors on the positioning accuracy of the TDOA system can be eliminated through correction based on the positioning error.
Referring to fig. 3, a second flowchart of the TDOA system positioning accuracy measurement method in an embodiment of the present invention includes step S2, determining error information according to the n measured positioning locations and the actual geographic location of the test location, where the error information represents an error of the measured positioning locations relative to the actual geographic location;
in this embodiment, the actual geographic location of the test location is the geographic location of the actual latitude and longitude of the signal source, and the latitude and longitude information of the GPS is a known quantity, here used as (alpha)δ，βδ) Characterizing said test position TδCoordinates of the actual geographical location, for the test location TδThe coordinates of n measured positioning positions obtained by performing positioning n times can be expressed as (x)i,yi)(1≤i≤n)；
The method comprises the following specific steps:
s21: calculating single fix geographic position error Δ LiδUsing formula (1) from the test position and one of the n measured position positions:
Figure BDA0003395363030000081
wherein: (alphaδ，βδ) Characterizing the actual geographical location of the test locationCoordinate (x)i,yi) And (i is more than or equal to 1 and less than or equal to n) represents the measured positioning position obtained by the ith positioning in n times of positioning of the test position, and R is the earth prolate ellipsoid radius (R is 6378.14 km).
S22, obtaining the error information according to the single geographic position error statistic value obtained by n times of positioning, and calculating a mean value delta L 'of n times of measurement according to a formula (2) in the embodiment'δ
Figure BDA0003395363030000091
Referring to fig. 4, a third schematic flow chart of the TDOA system positioning accuracy measurement method in an embodiment of the present invention includes step S3, determining correction information according to the n actually measured positioning locations and m sets of time difference information obtained at each positioning, where the correction information represents an influence of a location of the signal source on a positioning result of the TDOA system; each group of time difference information represents the time difference of the signals of the signal source received by the corresponding two TDOA stations at the corresponding moment; the method specifically comprises the following steps:
s31, calculating m groups of partial derivative information of each measured positioning position;
and S32, determining correction information according to the partial derivative information of the n measured positioning positions.
Referring to fig. 5, a third flowchart of a method for measuring positioning accuracy of a TDOA system according to an embodiment of the present invention is shown, wherein step S31 specifically includes:
s311; determining first reference position information and second reference position information according to the actually measured positioning position;
s312; determining a first reference time difference corresponding to the first reference position information;
s313; determining a second reference time difference corresponding to the second reference position information;
s314; and determining the partial derivative information according to the actually measured positioning position, the time difference information, the first reference time difference and the second reference time difference.
The first reference time difference and the second reference time difference may be obtained by performing a back-estimation according to a taylor expansion formula from the measured positioning position, the first reference position information, and the second reference position information, respectively, or may be obtained by performing a back-estimation in a manner other than the taylor expansion formula.
The first reference position information and the measured positioning position have a specified first distance difference in the x-axis direction, and the second reference position information and the measured positioning position have a specified second distance difference in the y-axis direction;
in the scheme, three detection positioning stations are adopted for principle description, and meanwhile, the position in the scheme is described in a two-dimensional space. Taking m-3 as an example, the present scheme may determine the correction information in step S3, for example, according to the measured location at the test location, and three sets of time difference information, in this embodiment, a, b and c represent three different TDOA sites, τ is the time difference information, and three sets of time difference information τ is provided1τ2τ3Time differences between a and b stations, a and c stations, and b and c stations, delta tau time difference variation, delta x and delta y position distance variation are respectively and correspondingly represented, and the following modes are used for describing formulas in the scheme, and the meanings are as follows:
Figure BDA0003395363030000101
is equivalent to
Figure BDA0003395363030000102
Step S31 is to calculate 3 groups of partial derivative information of each measured positioning position, and the calculation flow is as follows:
in the first step, the actual location result is (x)i,yi) (i ═ ε,1 ≦ ε ≦ n), where the corresponding three sets of time differences are as shown in equation (3):
Figure BDA0003395363030000103
second, assume that the current position is (x)ε+delat_x,yε) Then, the corresponding three groups of time differences are shown in formula (4):
Figure BDA0003395363030000104
third, assume that the current position is (x)ε,yε+ delat _ y), the corresponding three sets of time differences are as shown in equation (5):
Figure BDA0003395363030000105
fourthly, obtaining the partial derivatives of the time difference tau of x and y according to the formulas (3), (4) and (5) as follows:
Figure BDA0003395363030000106
and
Figure BDA0003395363030000107
step S32, according to the above calculated partial derivative information of n actually measured positioning positions, the correction information xi is calculated by formula (6)j(j＝δ,1≤δ≤m)：
Figure BDA0003395363030000111
The meaning of the correction information may indicate, to a certain extent, a positioning error caused by the influence of the station arrangement form, and before the correction information is used to correct the error information, it is further necessary to determine whether the test position is a valid test position according to the correction information.
In this embodiment, it is determined whether the test position is a valid test position by comparing the correction information with a preset threshold. If the correction information is smaller than a preset threshold value, the test position is a valid test position; if the correction information is larger than the preset threshold value, the test position is influenced too much by the station arrangement form and cannot be used for measuring the influence of the system on the positioning accuracy, and the test position is invalid.
And step S4, correcting the error information by using the correction information, so as to represent the positioning accuracy of the TDOA system to the test position by using the corrected error information. Using the correction information obtained in step S3, error information Δ L 'calculated for one valid test position in S2 according to equation (7)'δCorrection is performed to obtain corrected error information Δ LδAnd used in step S5 to confirm the positioning accuracy of the TDOA system on the test location.
Figure BDA0003395363030000112
In which ξδThe correction information is characterized; Δ LδThe corrected error information is characterized; ceil () is an rounding-up function, such as ceil (1.1) ═ 2.
Step S5, determining the system location accuracy of the TDOA system based on the location accuracy of the TDOA system to a plurality of the test locations.
In the embodiment, some test positions are randomly selected within the range of the site enclosure of the TDOA system for measurement, the selected area range is as shown in fig. 7, and according to q effective test positions (j is greater than or equal to 1 and less than or equal to q), Δ L calculated by using formula (8) is the system positioning accuracy of the TDOA system in the present invention:
Figure BDA0003395363030000113
at present, the main physical quantity for representing the positioning accuracy of the TDOA system is to calculate the average geographical position error of different test positions, but the positioning accuracy of the TDOA system at different positions is also different, and the average geographical position error cannot accurately represent the positioning accuracy of the TDOA system.
According to the method and the device, the correction factor is obtained according to the position information and the time difference change, and the geographical position error of the main stream representing the positioning accuracy of the TDOA system is corrected by using the correction factor, so that the influence of non-system factors such as geographical position and the like on the positioning accuracy of the TDOA system is eliminated, more accurate positioning accuracy is obtained, and the positioning accuracy can better reflect the positioning capability of the TDOA system.
Referring to fig. 6, a first block diagram of a TDOA system positioning accuracy measurement apparatus according to an embodiment of the present invention is shown, and an embodiment of the present invention further provides a TDOA system positioning accuracy measurement apparatus 200, including:
the TDOA system positioning module 210 is configured to perform positioning on the signal source located at the test position n times by using a TDOA system to obtain n actually measured positioning positions; the TDOA system comprises a plurality of TDOA sites;
an error information determination module 220, configured to determine error information according to the n measured positioning locations and the actual geographic location of the test location, where the error information represents an error of the measured positioning locations relative to the actual geographic location;
a correction information determining module 230, configured to determine, according to the n actually measured location positions and the m sets of time difference information obtained at each location, correction information that characterizes an influence of a location of the signal source on a location result of the TDOA system; each group of time difference information represents the time difference of the signals of the signal source received by the corresponding two TDOA stations at the corresponding moment;
an error information correction module 240, configured to correct the error information by using the correction information, so as to represent, by using the corrected error information, the positioning accuracy of the TDOA system for the test location;
and a system location accuracy determining module 250 of the TDOA system, configured to determine the system location accuracy of the TDOA system based on the location accuracy of the TDOA system for the plurality of test locations.
Wherein, the error information determining module 220 is configured to determine the error information according to the n measured positioning locations and the actual geographic location of the testing location, and includes:
calculating the geographical position error Delta L of the single positioning according to the following formulaiδ：
Figure BDA0003395363030000121
Wherein: (alphaδ，βδ) (x) characterizing the actual geographical location of the test locationi,yi) (1 ≦ i ≦ n) represents the measured location position of the ith positioning, and R is a constant representing the earth's prolate ellipsoid radius (R ═ 6378.14 km).
The correction information determining module 230 is configured to determine correction information according to the n actually measured positioning positions and the m sets of time difference information obtained in each positioning, and includes:
calculating m groups of partial derivative information of each actually measured positioning position; each set of partial derivative information represents a partial derivative of the displacement of the measured positioning position in the x-axis direction with respect to a corresponding set of time difference information, and: the offset of the displacement of the actually measured positioning position in the y-axis direction is directed at the corresponding group of time difference information;
and determining the correction information according to all the partial derivative information of the n actually measured positioning positions.
Calculating m groups of partial derivative information of each measured positioning position, including:
determining first reference position information and second reference position information according to the actually measured positioning position;
the first reference position information and the measured positioning position have a specified first distance difference in the x-axis direction, and the second reference position information and the measured positioning position have a specified second distance difference in the y-axis direction;
determining a first reference time difference corresponding to the first reference position information;
determining a second reference time difference corresponding to the second reference position information;
and determining the partial derivative information according to the actually measured positioning position, the time difference information of the actually measured positioning position, the first reference time difference and the second reference time difference.
The error information correction module 240 is configured to correct the error information by using the correction information, so as to characterize the positioning accuracy of the TDOA system on the test location by using the corrected error information, and includes:
correcting the error information according to the following formula:
Figure BDA0003395363030000131
wherein: delta L'δRespectively representing error information which is not corrected;
in which ξδThe correction information is characterized; Δ LδThe corrected error information is characterized; ceil () is a ceiling function.
Before correcting the error information by using the correction information, the method further includes: determining the test position as a valid test position according to the correction information, including:
and comparing the correction information with a preset threshold value, and determining that the correction information is smaller than the preset threshold value.
Referring to fig. 8, an electronic device 30 is provided, which includes:
a processor 31; and the number of the first and second groups,
a memory 32 for storing executable instructions of the processor;
wherein the processor 31 is configured to perform the above-mentioned method via execution of the executable instructions.
The processor 31 is capable of communicating with the memory 32 via a bus 33.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned method.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
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 may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (16)

1. A TDOA system positioning accuracy measurement method is characterized by comprising the following steps:
positioning a signal source at a test position for n times by using a TDOA system to obtain n actually measured positioning positions; the TDOA system comprises a plurality of TDOA sites;
determining error information according to the n measured positioning positions and the actual geographical position of the test position, wherein the error information represents errors of the measured positioning positions relative to the actual geographical position;
determining correction information according to the n actually measured positioning positions and m groups of time difference information acquired during each positioning, wherein the correction information represents the influence of the position of the signal source on the positioning result of the TDOA system; each group of time difference information represents the time difference of the signals of the signal source received by the corresponding two TDOA stations at the corresponding moment;
correcting the error information by using the correction information so as to represent the positioning precision of the TDOA system to the test position by using the corrected error information;
determining a system location accuracy of the TDOA system based on the location accuracy of the TDOA system for the plurality of test locations.
2. The TDOA system location accuracy measurement method of claim 1, wherein determining error information based on said n measured location positions and the actual geographical location of said test location comprises:
calculating the geographical position error Delta L of the single positioning according to the following formulaiδ：
Figure FDA0003395363020000011
Wherein: (alphaδ，βδ) (x) characterizing the actual geographical location of the test locationi,yi) (i is more than or equal to 1 and less than or equal to n) represents the actual measurement positioning position of the ith positioning, and R is a constant representing the long ellipse radius of the earth;
and obtaining the error information according to the statistical value of the single geographic position error obtained by n times of positioning.
3. The TDOA system location accuracy measurement method according to claim 1, wherein determining the correction information according to the n measured location positions and the m sets of time difference information obtained at each location includes:
calculating m groups of partial derivative information of each actually measured positioning position; each set of partial derivative information represents a partial derivative of the displacement of the measured positioning position in the x-axis direction with respect to a corresponding set of time difference information, and: the offset of the displacement of the actually measured positioning position in the y-axis direction is directed at the corresponding group of time difference information;
and determining the correction information according to all the partial derivative information of the n actually measured positioning positions.
4. The TDOA system location accuracy measurement method of claim 3, wherein calculating m sets of partial derivatives for each measured location position comprises:
determining first reference position information and second reference position information according to the actually measured positioning position;
the first reference position information and the measured positioning position have a specified first distance difference in the x-axis direction, and the second reference position information and the measured positioning position have a specified second distance difference in the y-axis direction;
determining a first reference time difference corresponding to the first reference position information;
determining a second reference time difference corresponding to the second reference position information;
and determining the partial derivative information according to the actually measured positioning position, the time difference information of the actually measured positioning position, the first reference time difference and the second reference time difference.
5. The TDOA system location accuracy measurement method of claim 1, wherein correcting the error information with the correction information to characterize the TDOA system location accuracy for the test location with the corrected error information comprises:
correcting the error information according to the following formula:
Figure FDA0003395363020000021
wherein: delta L'δRespectively representing error information which is not corrected;
ξδthe correction information is characterized;
ΔLδthe corrected error information is characterized;
ceil () is a ceiling function.
6. The TDOA system location accuracy measuring method of any one of claims 1 to 5, wherein before correcting said error information using said correction information, further comprising:
and determining the test position as an effective test position according to the correction information.
7. The TDOA system location accuracy measuring method of claim 6, wherein determining the test location as a valid test location according to the correction information comprises:
and comparing the correction information with a preset threshold value, and determining that the correction information is smaller than the preset threshold value.
8. A TDOA system positioning accuracy measuring apparatus, comprising:
the TDOA system positioning module is used for positioning the signal source at the test position for n times by utilizing a TDOA system to obtain n actually measured positioning positions; the TDOA system comprises a plurality of TDOA sites;
an error information determination module, configured to determine error information according to the n measured positioning positions and an actual geographic position of the test position, where the error information represents an error of the measured positioning positions relative to the actual geographic position;
a correction information determining module, configured to determine correction information according to the n actually-measured location positions and the m sets of time difference information obtained at each location, where the correction information represents an influence of a location of the signal source on a location result of the TDOA system; each group of time difference information represents the time difference of the signals of the signal source received by the corresponding two TDOA stations at the corresponding moment;
the error information correction module is used for correcting the error information by using the correction information so as to represent the positioning precision of the TDOA system to the test position by using the corrected error information;
and the system positioning precision determining module of the TDOA system is used for determining the system positioning precision of the TDOA system based on the positioning precision of the TDOA system to a plurality of test positions.
9. The TDOA system location accuracy measuring device of claim 8, wherein the error information determining module for determining the error information according to the n measured location positions and the actual geographical position of the testing position comprises:
calculating the geographical position error Delta L of the single positioning according to the following formulaiδ：
Figure FDA0003395363020000031
Wherein: (alphaδ，βδ) (x) characterizing the actual geographical location of the test locationi,yi) (i is more than or equal to 1 and less than or equal to n) represents the actual measurement positioning position of the ith positioning, and R is a constant representing the long ellipse radius of the earth;
and obtaining the error information according to the statistical value of the single geographic position error obtained by n times of positioning.
10. The apparatus for measuring positioning accuracy of TDOA system according to claim 8, wherein said correction information determining module is configured to determine the correction information according to said n measured positioning locations and m sets of time difference information obtained at each positioning, and comprises:
calculating m groups of partial derivative information of each actually measured positioning position; each set of partial derivative information represents a partial derivative of the displacement of the measured positioning position in the x-axis direction with respect to a corresponding set of time difference information, and: the offset of the displacement of the actually measured positioning position in the y-axis direction is directed at the corresponding group of time difference information;
and determining the correction information according to all the partial derivative information of the n actually measured positioning positions.
11. A TDOA system location accuracy measurement device, as recited in claim 10, wherein the step of calculating m sets of partial derivatives for each measured location comprises:
determining first reference position information and second reference position information according to the actually measured positioning position;
the first reference position information and the measured positioning position have a specified first distance difference in the x-axis direction, and the second reference position information and the measured positioning position have a specified second distance difference in the y-axis direction;
determining a first reference time difference corresponding to the first reference position information;
determining a second reference time difference corresponding to the second reference position information;
and determining the partial derivative information according to the actually measured positioning position, the time difference information of the actually measured positioning position, the first reference time difference and the second reference time difference.
12. The TDOA system location accuracy measuring device of claim 8, wherein the error information correcting module is configured to correct the error information by using the correction information to characterize the location accuracy of the TDOA system to the testing location by using the corrected error information, and comprises:
correcting the error information according to the following formula:
Figure FDA0003395363020000041
wherein: delta L'δRespectively representing error information which is not corrected;
ξδthe correction information is characterized;
ΔLδthe corrected error information is characterized;
ceil () is a ceiling function.
13. The TDOA system location accuracy measuring device of any one of claims 8 to 12, wherein before correcting said error information using said correction information, further comprising:
and determining the test position as an effective test position according to the correction information.
14. The TDOA system location accuracy measurement device of claim 13, wherein determining the test location as a valid test location based on the correction information comprises:
and comparing the correction information with a preset threshold value, and determining that the correction information is smaller than the preset threshold value.
15. An electronic device comprising a processor and a memory; the memory stores a program that can be called by the processor; wherein the processor, when executing the program, implements the TDOA system location accuracy measurement method of any one of claims 1 to 5.
16. A storage medium having stored thereon a program which, when executed by a processor, implements the TDOA system location accuracy measurement method of any one of claims 1 to 5.
CN202111511995.4A 2021-12-06 2021-12-06 TDOA system positioning accuracy measuring method, device, electronic equipment and storage medium Pending CN114371444A (en)

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