EA024885B1 - Method for locating a radio centre and means for locating a radio centre - Google Patents

Abstract

The group of inventions relates to wireless radio communication and, more precisely, to devices and methods for determining the position of (locating) a radio centre. A method is proposed for determining the distance between a radio centre (P2) and two other radio centres (P1, P3), wherein the time taken for a radio signal to be propagated therebetween (Π4) is known or can be calculated on the basis of known data, in which method a direct radio signal (ΠP) is transmitted by P1, the direct signal is received by P2 and P3, a response radio signal (OP) is transmitted by P2 upon reception of the direct signal, and the response signal is received by P1 and P3, wherein the delay (Π2) between reception of the direct signal and transmission of the response signal is determined by P2, the delay (Π1) between transmission of the direct signal and reception of the response signal is determined by P1, and the delay (Π3) between reception of the direct signal and the response signal is determined by P3, after which the delay (Π5) of the propagation of the direct signal and/or the response signal between P1 and P2 is determined taking into account Π2, and the delay (Π6) of the propagation of the response signal between P2 and P3 is determined taking into account Π5, Π2, Π3 and Π4, and the distance between P1 and P2 and between P2 and P3 respectively is calculated. The technical result is an increase in measurement accuracy and a simplification of the calculations.

Description

The present group of inventions relates to wireless radio communications and, more specifically, to devices and methods for determining the location (location) of a radio node relative to other radio nodes.

State of the art

Satellite systems for global navigation (ΟΝδδ) are known, for example ΟΡδ and GLONASS. The principle of calculating the location is based on measuring the propagation delay of a short radio pulse from sending it to a radio node with a predetermined location (REIM) before receiving it by the radio node. Knowing the propagation time of the radio signal (hereinafter TOR, from the English. Ite o £ Pbc [flight time]), we can calculate the distance between them. To determine the three-dimensional position of a mobile object, 4 RZIM are required. The disadvantage of satellite global navigation systems is that the satellite radio signals are so weak that it is impossible to accurately determine the coordinates in the premises, therefore, such systems can not be used for third-party control of the movements of the radio node.

Known navigation methods in which to increase the accuracy of global satellite navigation systems use additional ground-based RZIM (A88181ey ΟΡδ (Α-ΟΡδ), see Oogap M. e1 a1. Oeooeoyop apy A88181ey ΟΡδ, SotrSheg 2001, 2: 123-5). This allows you to partially eliminate the problem of location of radio nodes located inside the premises.

A common drawback of all global positioning systems is the high cost of equipment that ensures accurate synchronization of all REIMs in time.

Known methods for locating radio nodes by means of ground-based RZIM, which do not require accurate synchronization of RZIM in time. In particular, methods based on measuring the power of the input radio signal (abbreviated as δδδΙ, from the English KeseSei δ ^ dηa1 δΟΌΐ ^ ΐΙι 1пь1еайоп, see, for example, the article Ζΐκιηβ Laptei, ηιηι ^ бе, Ке8еапеее8е18е18е18, are very popular. : Ba8ey op ΚδδΙ o £ Ζ ^ further. SotriLpd, SottislaLop, Soygo1, apy MapadeteSh, 2009, 3 (89): 210-2). The disadvantages of the methods based on measuring Κδδ связаны are related to the fact that the propagation conditions and the method of detecting radio waves, in particular the anisotropy of the antennas in the direction of the radio signal, the presence and nature of the radio interference (not necessarily in the same frequency range), strongly influence the measured power of the input radio signal terrain, changing the relative position of objects in the location zone during the measurement process (especially indoors), fluctuations in the supply voltage, changing atmospheric conditions during the measurement antennas, swaying antennas, etc. (see the article E1nbtateu E., X1aouap b, Matln Κ.Ρ., Thébnb £ baЬb / bn 8 ш д ^ ^ δ д а а 1 ΙίΌΐ ΙίΌΐ ΐΙ ΐΙ:: Α Collected ΐ ΐ у у 1 Е Е Е 2004 2004 ) The action of these factors is expressed in unpredictable fluctuations in the power of the radio signal (see ibid.).

Known methods for locating a radio node by means of ground-based REEs that do not require accurate time synchronization based on accurate measurement of the propagation time of a radio signal between at least three ground-based REEs and a radio unit (methods based on the measurement of TOR).

In particular, the method of measuring distances by the CTT method (from the English Koipytr Ite) is widely known, in which the time (including the TOP) of the propagation of a radio signal from one radio node to another and in the opposite direction is measured (see the article by Gogolev A., Ekimov D. , Ekimov K., Moshchevikin A., Fedorov A., Tsykunov I. The accuracy of determining distances using the technology Wireless Technology, 2008, 2: 48-51). For this, as shown in FIG. 1, the radio node 1 transmits the first radio signal containing the measurement request (IATA packet) to the radio node 2, and fixes the transmission time; after receiving the first radio signal, radio node 2 immediately transmits to the radio node 1 a second radio signal (ACK packet) and, finally, radio node 1 fixes the time of reception of the second radio signal. Assuming that the processing time of the radio signals by both radio nodes is the same, the propagation time of the radio signal 1 _{p is} usually calculated by the formula

1p ~ (Gotvsga I “TibrabotkaD / ^ where T _response 1 is the time measured by radio node 1, from the moment of transmission of the first radio signal to the moment of reception of the second radio signal,

T b _a b _{ra quipment} 1 - time measured radio unit 2, after receiving the first radio signal to the time the transmission of the second radio signal. The distance between the radio nodes is calculated by the known propagation speed of the radio signal.

The disadvantage of this method is that the accuracy of the measurements is reduced due to the impossibility of compensating for the difference in the speed of the clock (s1kos) in the mentioned radio nodes (see the above article by A. Gogolev).

To eliminate this drawback, in the published US patent application No. 2009/00253439, the above-mentioned CTT determination session is carried out twice, first, as shown in FIG. 2, the measurement session initiates the radio node 1, and then the radio node 2, after which the average value of the propagation time of the radio signal is calculated. This method is called the symmetric two-sided two-stage distance measurement (δΌδ-SAC from English.

The disadvantage of this method, which impedes the achievement of the following technical result - 1,024,885 tons, is that in order to locate a mobile radio node, it is necessary to measure the distance to at least three RZIM, which requires at least three measurement sessions.

Known methods for locating a mobile radio node that do not require numerous measurement sessions, in which the location of a mobile radio node is determined by measuring the small difference in the time of receiving one radio signal by different RZIM (TIOL, from the English. Ite Ishegeps oG AgpuG '; see article Siz1aGzop R. apb Oippagzzop R., Rozbyushpd Izshd Nte-Ishegeps oG Agpua1 Meazigeteps. Hieraite oG E1es1psa 1 Epsheegsd, Ypkorshd ishuegzbu, 8E-581 83 Ypkorshd, 3 \ uebep). Knowing the time of transmission of the radio signal by the radio node and the time of its reception (signal) of REE and considering the speed of the REE clock to be the same, we can measure the exact difference between the delays in receiving the radio signal by different REEs. In the two-dimensional case of location of a mobile radio node using the RZIM method, a certain value of the time difference in receiving the radio signal by two RZIM with a known location corresponds to the location of the mobile object at one of the points of the hyperbola. The location of the radio node can be established (see ibid.) By solving systems of nonlinear hyperbolic equations, as shown in FIG. 3. Theoretically, to determine the location of the radio node requires less radio signals than in the case of CTT.

The disadvantage of the TIOL is the nonlinearity of the system of equations used to determine the location (see the article U-Wopd Io1 a1. KOizZhezz OG TOA apb TIOA Rozbyushpd ipbeg Ziorborta SopbPyupz. 2007), and the strong dependence of the performance and reliability of the method on the number of mobile nodes, conditions receiving a radio signal and its reflections.

Disclosure of invention

The claimed group of inventions solves the problem of saving radio air in systems for determining the location of a mobile radio node by measuring the delay between direct and response radio signals (CTT method). This allows you to free the radio channel for the transmission of useful information.

The technical result consists in increasing the accuracy of measurements, and in that the determination of the distance between the radio nodes does not require solving systems of nonlinear equations, which simplifies the design of computing devices, in particular microcontrollers, and algorithms for determining the location of a mobile radio node and for a smaller number of clock cycles (i.e. e. faster) calculate the location of a mobile object on a general-purpose digital hardware base.

Unlike the TIOA method, the accuracy of the proposed method can be improved by accumulating samples during the measurement periods (the most reliable is considered the smallest of the samples corresponding to the radio signal that has undergone the least number of reflections).

In addition, unlike the TIOA method, the radio nodes can carry out the proposed method alternately with small intervals, which makes it possible to level the effect of the difference in the speed of the clock.

The problem is solved due to the fact that in the method for determining the distance between the radio node (P2) and two other radio nodes (P1, P3), the propagation time of the radio signal between which (P4) is known or can be calculated from known data, a direct radio signal (PR ), through P2 and P3 receive the PR, through P2 after receiving the PR transmit the response radio signal (PR), through P1 and P3 receive the OP, while using P2 determine the delay (P2) between receiving PR and transmitting the PR, using P1 determine the delay (P1 ) m I wait for the transmission of PR and the reception of PR, through P3 determine the delay (P3) between receiving PR and PR, then taking into account P2 determine the delay (P5) of the propagation of PR and / or PR between P1 and P2, and taking into account P5, P2, P3 and P4 determine the delay (P6) of the distribution of OR between P2 and P3, and calculate the distance between P1 and P2 and between P2 and P3, respectively.

It should be understood that the directions direct, reciprocal, P1, P2, P3, P4, P5, P6, P1, P2, P3, OR, PR are only symbols and / or abbreviations for the corresponding technical features and are used only for brevity and / or to individualize different but equally called elements.

In one particular embodiment of the method, P2 and P3 are interconnected and with computing means in a single information network via a wired data channel.

As will be apparent to the skilled person, accurate measurement of small time intervals, for example between receiving PR and transmitting PR, can be ensured by placing measuring instruments (hours) in that radio node (in this case, in P2), which records the moments, the time delay between which measured, while it is preferable that the intervals between events are counted by means of the same frequency generator. The delay samples defined in this way can be transmitted via communication channels and processed outside the radio node.

In another particular embodiment, after receiving the OP, the method is repeated with the only difference that the corresponding functions are performed by P3 instead of P2 and vice versa, and the calculated distances between P1 and P2 and between P2 and P3 are averaged with the corresponding distances obtained at the previous iteration of the method.

In another particular embodiment, P4 is determined by the delay between the direct and response radio signals (CTT method) or the method of symmetric two-sided two-stage distance measurement (δΌδ-TAK).

In one particular form of implementation, the value of P5 is refined by the method of symmetric two-sided two-stage distance measurement.

In yet another particular embodiment, P2 is determined prior to initiating the exchange of direct and response radio signals.

In another particular embodiment, the distance between P2 and the radio node P4 is additionally measured, while the propagation time of the radio signal between P4 and P1 is known or can be calculated from known data.

The above problem is also solved due to the fact that to determine the location of the radio node (P2), after implementing any of the embodiments of the above method, it (the method) is repeated with the replacement of one of P1 or P3 by another other radio node P4, the propagation time of the radio signal between which and one of these, it is known or can be calculated from known data.

The above problem is solved due to the fact that the system for determining the distance between a radio node with an unknown location P2 and at least two radio nodes (P1, P3), the propagation time of a radio signal between which (P4) is known or can be calculated from known data, in which P1, P2 and P3 are made with the ability to accurately measure the time intervals between the reception and / or transmission of radio signals, in which P1 is configured to determine the delay (P1) between the transmission of the direct radio signal (PR) and the receiving response signal (OR), P3 is configured to determine the delay (P3) between receiving PR and OP, P2 is configured to determine the delay (P2) between receiving PR and transmitting OR, or with the ability to maintain a preset value of P2, in which P1 and P3 are combined between each other through a data transmission channel into a single information space with a delay processor, configured to calculate the delay (P5) of the propagation of PR and / or OP between P1 and P2 and (with the possibility of) calculate the delay (P6) of the distribution of PR between P2 and P3 Given P5, P2, P3 and P4.

In a private form of system execution, the delay handler is arranged in one integrated circuit.

In one particular embodiment of the system, the delay processor is based on at least one universal processor, an A81C processor, an ESR processor, a programmable logic integrated circuit (FPGA) and / or electronic analog computing device.

In yet another particular embodiment of the system, said data channel is a wired data channel.

In another particular embodiment of the system, said data channel is a wireless data channel.

It should be understood that the objects of the above group of inventions may be inherent in all or only some of the features of the aforementioned particular embodiments or implementations, provided that they do not exclude each other, and such combinations of features are also included in the present disclosure.

The average specialist from the description of analogues and from the prior art should understand the functions and valid options for the execution, connection and location of the above-mentioned functional elements, for example, it should be clear that the computing means can be implemented on the basis of operational amplifiers or on the basis of a hardware-software complex, for example General-purpose computer equipped with software that provides data processing.

If some structural elements and other features that, as is known to the average person, are necessary for realizing the purpose of the claimed inventions, but are not specifically mentioned in the claims and are not disclosed in the description, then they are inherently inherent, and their specific embodiments are well known from analogues and from the prior art.

The claimed group of inventions can be used to measure distances and determine the location (both in real time and from reconstructed data) of mobile radio nodes relative to other radio nodes.

For a better understanding of the ideas of the invention, the following are illustrative drawings showing some particular embodiments of the elements of the inventions or the implementation of the method. However, although the invention is described herein with reference to the positions of the elements shown in the drawings, their features should not be attributed to the corresponding elements referred to in the text.

Brief Description of the Drawings

In FIG. 1 is a timing chart illustrating the principle of distance measurement using CTT.

In FIG. 2 is a timing chart illustrating the measurement of distances by the δΌδTAK method.

In FIG. 3 is a diagram illustrating a location determination using the TEAS method.

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In FIG. 4 is a timing chart illustrating the measurement of distances by the inventive method.

In FIG. 5 is a diagram illustrating the possibility of using existing equipment for measuring distances by the δΌδ-ΤνΚ method in the invented method.

The implementation of the invention

The following description of particular embodiments is given only to illustrate an inventive idea. Nothing in this section of the description should be construed as limiting the scope of the claims. It should be clear that the average person familiar with the ideas of the present invention, can use its main distinguishing features and make equivalent replacements to achieve the task and without deviating from the spirit and scope of the present invention.

As shown in FIG. 4, in accordance with the proposed method, wishing to determine the distance from P2 to P1 and P3 (i.e., K12 and K23) with a previously known distance K13 between P1 and P3 (it can be measured by the method ΚΤΤ or any other method), P1 transmits a direct radio signal (PR or ΌΑΤΑ1 in Fig. 4) at a yet unknown time moment T0 (according to hours P3), and P2 with a delay for processing time (P2) at time T2 (according to hours P3) transmits a response radio signal (OR, ASK1 to Fig. 4), while P3 receives the PR with a delay P4 (period T1-T0 in Fig. 4), P1 receives the radio signal OP and determines the delay P1 between p transmitting PR and receiving PR (Totvet1 in Fig. 4), and P3 receives PR and determines the delay P3 (period T3-T1 in Fig. 4) between receiving PR and PR radio signals.

Knowing P1 (Totveta1) and P2 (Processing 1, which P2 reports P1), the propagation time P5 of the radio signal between P1 and P2 is determined by the formula

The distance K12 between the first and second switchgears, taking into account the propagation speed of the radio signal c, is found by the formula

Knowing P3 and K13, the distance between P2 and P3 can be determined by the formula

where P4 (corresponds to the period T1-T0 in Fig. 4) is the propagation time of the radio signal from P1 to P3, which can be calculated from the known distance K13 from P1 to P3 and the known propagation speed of the radio signal;

P3 + P4 (corresponds to the period T3-T0 in Fig. 4) - the period between the transmission of PR with P1 and the reception of OR on P3;

P2 + P5 (corresponds to the period T2-T0 in Fig. 4) - the period between the transmission of PR with P1 and the transmission of OP with P2;

(P3 + P4) - (P2 + P5) (corresponds to the period T3-T2 in Fig. 4) - the period between the transmission of PR from P2 and its reception on P3;

Thus, according to the method according to the invention, for one act of exchanging radio signals PR and OP, that is, in one measurement cycle using the Κ.ΤΤ method, two distances between P2 and two other radio nodes (P1 and P3), the propagation time of the radio signal between which can be calculated based on available data. That is, as in method ΤΌΟΑ, the method according to the invention uses information about the propagation time of the radio signal from P2 to P1 and P3, but the distance between the nodes is calculated directly, without solving systems of nonlinear equations, only by using information about P2, P4 and P5.

As will be understood by a person skilled in the art, P3 must be switched on in the listening mode of the transmission medium (rgot15non5 tobe) in order to register PR and OP radio signals not intended for him. Moreover, the shorter the time interval between the PR and the PR, the less is the influence of the inaccuracy of the P3 clock and the measurement error.

Example.

The inventive method was tested using papOS transceivers (manufacturer Ναηοΐτοη Τ Ь η η δ ο δ δ δ))), designed to measure distances using the δΌδ-методомνΚ method. For this, the procedure for measuring the distance between P2 and P3 was modified, due to the fact that papOS P3 transceivers can detect the time of receiving PR ( ΌΑΤΑ1 in Fig. 5), but since it is technically impossible to detect the time of receiving the OP (ASK1 in Fig. 5), instead, the moment of receiving P3 of the second direct radio signal (PR2, ΌΑΤΑ2 in Fig. 5), which P2 transmits P1 in the measurement cycle, was detected. by the method δΌδΤν Κ. This is possible due to the fact that the moment of the beginning of signal transmission in the POCOS transceivers is tied to the beginning of long periods (time slots), which are set by the low-frequency generator (see Fig. 5, where the moments of the possible beginning of signal transmission are marked on the axes with bold serifs). Due to the stability of the generators of the radio nodes 2 and 3, the shift of the moments of registration of the OP and PR2 signals (i.e., ΑСК1 and ΌΑΤΑ2 in Fig. 5) by P3 is the same, i.e., ΌΠ = Όΐ2.

In FIG. 5 time points T0-T5 are assigned to hours P3 and mean the following:

T0 is the moment of transmission of the PR by the radio node 2;

T1 - the moment of receiving PR;

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T2 is the moment of transmission of the OP signal from P2;

T3 - the moment of reception of the signal OP;

T4 - the moment of transmission from P2 of the signal PR2;

T5 - the moment of reception of the signal PR2;

T1-T0 is the propagation time of the radio signal between P1 and P3;

T3-T2 - propagation time of a radio signal between P2 and P3;

T5-T4 - propagation time of a radio signal between P2 and P3 (T5-T4 = T3-T2);

ΌΗ and Όΐ2 are the times from the beginning of the next time slot to the time of receiving the PR and PR2, respectively (ΌΗ = Όΐ2);

As shown in FIG. 5, P3 records the time between receiving one of the signals of the CTT cycle from one of P1 or P2 and receiving another signal from the other of them.

The distance between P2 and P3 is calculated by the formula

K-23 [(Т5 - пЧ | _а й _{М. СЛ0} | _а - Т1 + К13 / с) - (Т of the _answer | + Т ... op.-10, _0. | .N |) / 2] 'С where T _time-slot is a previously known time-slot duration;

η is the number of time slots elapsed from the moment of transmission of the PR to the moment of transmission of PR2. The value η T of the _{time slot} can either be measured by radio node 2 or calculated by radio node 3 if the duration of the time slot multiplied by the propagation speed of the radio wave exceeds the length limit for this type of distance measurement using the radio method.

Thus, for papOS transceivers, the general scheme of the method is reduced to notching at P3 the moment of receiving the PR (i.e., the first radio signal in the CTT measurement cycle) and recording the moment of receiving any radio signal from P2 (either before the distance measurement cycle or after) at provided that the speed of the clock P2 and P3 are little different.

With the accuracy of measuring time periods of the order of 1 ns, distances can be measured with an accuracy of about 0.3 m. This level of accuracy can be achieved using correlometers that are triggered when the first η bits of the frame are received and determine the boundaries of the bits. With a delay of signals in adjacent CTT cycles of not more than 10 ms, accuracy at the level of 0.3 m is ensured with a clock synchronization of not more than 1 ns.

Changes and modifications of the described group of inventions, as well as additional applications of the principles of the invention that are obvious to specialists in this field of technology, are also included in the scope of the invention.

Claims (13)

1. A method for determining the distance between a radio node (P2) and two other radio nodes (P1, P3), the propagation time of a radio signal between which (P4) is known or can be calculated from known data, in which a direct radio signal (PR) is transmitted through P1, through P2 and P3 receive the PR, through P2 after receiving the PR transmit a response radio signal (PR), through P1 and P3 receive the PR, while using P2 determine the delay (P2) between receiving the PR and transmitting the PR, using P1 determine the delay (P1) between the transmission of PR and receiving PR, through in P3, determine the delay (P3) between receiving PR and PR, after which, taking into account P2, determine the delay (P5) of the propagation of PR and / or PR between P1 and P2, and taking into account P5, P2, P3 and P4, determine the delay (P6) of distribution RR between P2 and P3 and calculate the distance between P1 and P2 and between P2 and P3, respectively. 2. The method according to claim 1, in which P2 and P3 are interconnected and with computing means in a single information network through a wired data channel. 3. The method according to claim 1, in which, after receiving the OP, the method is repeated with the only difference that the corresponding functions instead of P2 are performed by P3 and vice versa, and the calculated distances between P1 and P2 and between P2 and P3 are averaged with the corresponding distances obtained at the previous iteration of the method. 4. The method according to claim 1, in which P4 is determined by the delay between direct and response radio signals (CTT method) or by the method of symmetric two-sided two-stage distance measurement (8I8-TAK). 5. The method according to claim 1, in which the value of P5 is clarified by the method of symmetric two-sided two-stage distance measurement. 6. The method according to claim 1, in which P2 is determined before initiating the exchange of direct and response radio signals. 7. The method according to claim 1, in which additionally measure the distance between P2 and the radio node (P4), while the propagation time of the radio signal between P4 and P1 is known or can be calculated from known data. 8. The method according to claim 1, in which to determine the location of the radio node (P2) after implementing the steps of the method according to claim 1, it is repeated again with the replacement of one of P1 or P3 by another other radio node P4, the propagation time of the radio signal between which and one of them 5 024885 is known or can be calculated from known data. 9. A communication system that implements the ability to determine the distance by the method according to claim 1, in which P1, P2 and P3 are configured to accurately measure the time intervals between reception and / or transmission of radio signals, in which P1 is configured to determine the delay (P1) between transmission direct radio signal (PR) and receiving a response radio signal (OR), P3 is configured to determine the delay (P3) between receiving PR and OP, P2 is configured to determine the delay (P2) between receiving PR and transmitting OR or with the possibility of maintaining variable value P2, in which P1 and P3 are interconnected by means of a data channel into a single information space with a delay processor, configured to calculate the delay (P5) propagation of PR and / or OP between P1 and P2 and (with the possibility) of calculating the delay (P6) the distribution of OR between P2 and P3, taking into account P5, P2, P3 and P4. 10. The system according to claim 9, in which the delay processor is arranged in one integrated circuit. 11. The system of claim 9, wherein the delay processor is based on at least one universal processor, an L81C processor, an I8P processor, a programmable logic integrated circuit (FPGA) and / or electronic analog computing device. 12. The system of claim 9, wherein said data channel is a wired data channel. 13. The system of claim 9, wherein said data channel is a wireless data channel.