TW494248B - Improvements in radio positioning systems - Google Patents
Improvements in radio positioning systems Download PDFInfo
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- TW494248B TW494248B TW089110522A TW89110522A TW494248B TW 494248 B TW494248 B TW 494248B TW 089110522 A TW089110522 A TW 089110522A TW 89110522 A TW89110522 A TW 89110522A TW 494248 B TW494248 B TW 494248B
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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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
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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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/022—Means for monitoring or calibrating
- G01S1/024—Means for monitoring or calibrating of beacon transmitters
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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
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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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
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/001—Transmission of position information to remote stations
- G01S2205/008—Transmission of position information to remote stations using a mobile telephone network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
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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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
494248 五、發明說明(1) 、概略而言,本發明係關無線定位系統之改良及其操作方 , 特別本舍明係關簡化取得此種無線定位系統所疮二欠 料的方法及裝置。 而貝 — 〇 3 0 3 37 1其内容併述於此以供參考,描述一種鉦 、泉^Γ航铃追縱系統’該系統使用獨立的架設用於其它用、a 的無、、表發射器。來自各發射器的信號個別由二接收站接 者位於定點已知位置,而另一者安裝在位置有待決 疋的仃動物件上。於一接收站接收到信號的表示透過接 =到位在另一接收站的一處理器、,於此處,接收到的信 =ί比較其相位差或時間延遲。對三具間隔寬廣的獨立發 :阳所做三個測量值,I以決定於行動接收器的二維位又 ^,亦即其於地面的位置。也決定兩部接收器的主哭 間的相位差或時間補償值。 盖口口 游巡者(CURSOR)乃EP-A —〇 3〇 3 3 71所述系統,為— 一士位系、統’其使用由既有非同步無線發射 =定位一可攜式接收器的位i。不似若干其: 立的同步發射器網路的暫時相干性性質的系統,游 U使用由單一發射器發出的信號的空間相干@。進—步 』參考EP — A —〇 880 7 1 2和耽1_99/21〇28)技術應用在 =出GSM或其它數位電話系統的行動電話手機的所在位 ,此乃使用由電話系統的基地臺收發器(BTS)網路發射 的下行鏈接信號之「提升觀察時間補償值」(E_〇TD)方法 之一例。 ΕΡ-Α-0 8 8 0 7 1 2 (其内容併述於此以供參考)所述數位無
4^4248 五、發明說明(2) 一' '一"' 一— 線電話應用用途中,由距手機某個範圍内的各BTS發出的 信號都可由手機本身接收,且由固定式鄰近接收器亦即位 置量測單元(LMU)接收,LMU的位置準確已知。接收到作號 的表示送到行動位置中心(MLC),在該處比較並找出其間〜 的時間補償值。圖1顯示一標準二維系統的幾何。卡提遜 (CartesUn)座標乂和7的原點對中於位在〇的1^1]。軸線的 方向性並不重要’但可方便地設定為y軸係沿當地地圖網 格的南北方向。手機R位在相對於L Μ (]位置〇的向量位置 基地臺收發器(BTS)A位在向量位置a。 s Γ 首先考慮來自BTS A的信號。於R和〇接收到的传號 間補償值測量值△ ta表示為 ~ △ ta = ( | r-a 卜 I a I / " ε, 此處υ為無線電波速度,ε為於R和〇的接收器時脈間的時 脈時間補償值’以及向量各邊的直柱表示用於方程式的向 量幅度。ε值表示由兩部接收器所做測量值間的^ ^誤口 差。同理可對向量位置b和c (圖中未顯示)的另二复二;j; (B和C)寫成: “匕bi Δ tb = ( I r-b I - I b I )/ ^ + ε (1) 8 8 0 71 2揭示之方法測 如此式(1)可解出,找到手
Atc = ( I r-c I - △ ta,△ tb,△ tc 值係藉EP-A-〇 量,而a,b,c,和y為已知。 機位置r連同ε值。 相同的時間補 版測量。假設 WO-A-99/21028(併述於此以供參考)描述 償值如何使用於GSM電話系統局部形成的模 494248 i五、發明說明(3) I手機R已經記錄由BTS A發出的GSM信號短的叢發脈衝。該 項記錄含有幀結構、同步叢發脈衝、和其它「指定」資料 i (或預定值),此乃傳輸的常數特徵。手機内部的處理器基 於網路信號的已知結構,可形成匹配模版。然後接收的信 號可由局部產生的模版匹配。當模版找到匹配時,具有最 佳匹配位置的乂互關係峰係對應於接收到的信號與手機内 部本地時脈間的時間補償值。用於BTS A發出的信號,此 種測得的時間補償值△ tal表示為 tal = ( 1 r~a 1)/^+ aa+ £l ^
△tbl = ( 1 r-b 丨)/ ει 此處aa SBTS傳輪的時間補償值,以及£ i為手機内部時攻 的時間補償值’二者皆係相對於一虛擬通「絕對」時 脈。由BTS B和C發出的信號也可以相同方式測量,獲得 Λ + —广 丨 , . 以及 以及 △ tci 也可藉LMU做相
r —c 丨^ + ac+ ε 量,獲得 (2) △ =( △ tb2 =( £ 2 △ tc2 = ( |c |)/。+ 此處^為LMU内部時脈相對於 間補償值。由式3減式2獲得 ε2 , (3) 相同虛擬通用絕對時脈的
時 △ ta 二△ tal - △ ta2 = ( △ tb 二△ tbl - △
r^a|-|a|)/y+£ J r^b I - I b I )/ ^ + ε,
494248
此處 ε = 〜。須 ^ i ^r —C I —、lCl)/z;+e ,⑷ 出,找到手機的位詈4恰似式1 ,可以相同方式解 償值、頻率補償值、2如值。但偶爾可用於測量相位補 顯然游巡者方L;;率導數補償值’容後詳述。 信號之方法相同,要其它使用來自非同步化發射器的 内。此等單元係作為參考糸統涵蓋區以 與本案同時提出;-信號比較。另-Μ厕733W0)中,發明人顯示Βτ^(^明人參考編號 有一個「虛擬LMU ·你炎人 個、,·罔路如何可使用僅 蓋。本發明;二」:者為方^ 而無需真實LMU網路。 $ 匕£〜〇TD方法)如何應用 根據本發明之第一特徵方面,提供— 路決定接收器位置或位置改變或移動=一傳輸來源網 收器位置或位置改變或移動狀態為未知〜、方法,其中接 輸來源位置為已知,該方法包含 ,而。卩分或全部傳 (a) 於第一時間,測量第一接收哭 源的信號之時間、相位、頻率、或°文來自複數傳輸來 對於一參考源的相對補償值; 相對於彼此或相 (b) 於選定的第二時間,測量同—接收哭 (其位置或移動狀態為未知)接收來自二或第一接收器 曰稷數傳輸來源的信號
第9頁 494248 I五、發明說明(5) 之各別補償值;以及 (c)由第一與第二組相對之補償值間之關係,計算接收 器於第一或第二時間的位置、或第一接收器介於第一與第 二時間的位置改變、或任一接收器的移動狀態。 「移動狀態」一詞表示接收器移動之函數,包括其速 度、加速度、加速度改變速率等。
第一或第二接收器接收來自複數傳輸來源的信號之時 間、相位、頻率、或其導數,相對於彼此或相對於一參考 源的相對補償值,可以傳輸來源與第一或第二接收器間距 的對應補償值或差異表示。 須了解若第二時間係於第二接收器測量,則第一與第二 時間應相等。 於選定的額外時間,可測量由第一接收器、或由第二接 收器、或由其它接收器而其位置、位置改變、或移動狀態 為未知,接收來自複數傳輸來源的信號之時間、相位、頻 率、或其導數,相對於彼此或相對於一參考源的各別相對 補償值;任一或全部接收器的位置、位置改變、或移動狀 態可使用該等測量值以及傳輸來源的已知位置決定。
於前述特徵方面,須了解任一選定時間須同任何其它選 定時間。 本發明也包括一種進行此種方法之系統,該系統包括經 適當程式規劃的電腦或微處理器控制的接收器。 現在參照附圖說明本發明之方法和系統之實例,附圖 者:
第10頁 494248 丨五、發明說明(6) ; 圖1顯示標準二維系統之幾何; 圖2為略圖表示接近一對BTS單元之地表(假設為平坦)平 !面; | 圖3顯示又一標準二維系統之幾何; 圖4顯示結合根據本發明之系統之數位行動電話網路, 帶有二手機和三BTSs ; 圖5顯示結合根據本發明之系統之數位行動電話網路, 帶有三手機和五BTSs ;以及 圖6顯示BTSs與手機組成的假說GSM網路。
I 供舉例說明,其中發射器和接收器構成數位行動電話網 路的一部分,假設手機於時間h係於向·量位置r( t ),則式 (2)變成 △tai(ti) = ( I r(O-a I )/ U+ 1(1:!)+ £i(t), I rCt^-b |)/^+ ab(t])i ε j (t1 ) j △%ι“ι) = ( I r(ti)-c I )/ ejti),(5) 此處aa(ti )為BTS傳輸與A的時間補償值,ab( t )為與B的 時間補償值,而α。( t )為與C的時間補償值,以及e i (t ),為手機内部時脈的時間補償值,全部皆係於時間t,相 對於虛擬通用絕對時脈測量。現在,若手機係於稍後時間 t2的不同向量位置r (t2),則式(2 )變成
AtaiCt2):z:( I r(t2)-a \ )/ υ+ aa(t2)+ ε ! (t2) j △tbl(t2) = ( I r(t2)-b I )/ u + ab(t2)+ ε 丨(t2), 由式(5 )減式(6 )獲得
第11頁 494248 i五、發明說明(7) ! Δ tal (t! ) - Δ tal (t2) = ( I r (t! ) - a | - | r (t2) - a \ ) / υ + (aa(t1)- aa(t2)) + ( ε } - ε } (t2)) 1 △ tbl (t ) - △ tbl ( t2)二(I r ( ti ) -b I - I r (t2 ) -b I ) / u + 丨(ab (ti ) - ab (t2)) + ( ε 丨() + ε 丨(t2)), I Δ tcl () - Δ tcl (t2) = ( I r (t1 ) - c I - I r (t2) - c | )/ υ i \ 丨(ajtj-aj t2 )) + (5^1)-6^ t2))。 (7) 如前文已述,於GSM或其它數位網路的BTS傳輸通常非同 步。但BTS通常配備有高穩定性振盪器,全部信號常鎖定 至一共用參考時序源。於此種情況下,信號相對於彼此維 持恆定時間補償值,故ε a (t )二ε a (t2),ε b (t! ) = ε b (t2 ),和ε c (t】)=ε c (t2)。(即使並非此種情況,B T S信號經 常也足夠穩定而允許於服務節點或其它網路元件做差異估 計)。寫入△ ta 二△ tal (t ) - △ tal (t2),△ tb 二△ tbl ( h ) - Δ tbl (t2),△ tc = △ tcl (t! ) - △ tcl (t2),和 ε 二 ε 】(t ) - ε 1 (t2),獲得 △ ta 二(IrCtJ-a | - |r(t2)-a |)/υ+ε,
Atb-( I rCt^-b I - I r(t2)-b \ )/ υ+ ε j △ tc 二(|r(t2)-c 1)/ υ+ε。 (8) 式(8)可經由參照圖2 了解。該圖表示接收BTS單元A和B 的地表(假設為平坦)平面。式中第一項| r ( L ) - a |表示於 時間時手機距A的距離,而項| r (t2) - a |表示時間時的距 離。式(8)第一式可改寫為 |r(t1)-a|-|r(t2)-a| = υ △、- υ ε , 因而表示兩同心圓對中於A,其半徑差異為υ ε的
第12頁 494248 五、發明說明(8) 同心圓所在。於圖2分別標示為1和2。上式未定義任一圓
I |的半徑,而僅定義其間差異。藉此本式對定位點rd)* i r (t2)未能發揮效果。又於圖2標示第二對同心圓3和4,表 I示式(8)之第二式且對中於B。再度其半徑未由方程式定 |義,反而其間半徑差應為u △ tb - υ ε 。點r (t )應位在圓1 I與3的交叉點之一,而點r(t2)應位在圓2與4的交叉點之 I 一。假設ε值為零,亦即手機的内部時脈於各次測量間維 丨 j ; !持於完美時間;則若了解點r^)亦即圖2之P所在位置, ί ί !
第13頁 五、發明說明(9) 接近’故測量產生測量| 前文討論顯示在務後交化速率或導數之估值。 理位置分開的BTS於猶手機位置如何得自於三個地 游巡者方法測* ]日規間以及於早先時間所做三次仿 知;以及〇)於言亥間隔時早先時間的手機位置為已 移(或此種漂移為已:)=Λ發出的信號間無相對漂 置的已知精度與測量間的;f決定的準確度係依據第-位 有五個未知數量:離決定。式⑻實際上含 手機時脈漂移ε。於第—;Qi自的“。y座標,以及未知的 的BTS各自之仿游巡者列:和:二位置的五具地理位置分開 PI K ^ Μ π ^者 1值,若該手機已在兩組測量值 間做可祭覺的移動,則足以獨特用來決定Ρ和Q。 中m ί t :提供一種於一未同步化數位行動電話網路 1 一動中的手機位置之Ε-OTD方法,而絲毫也鉦需 任何LMU。特別可用於追蹤尚未有定位系的 機。 ^ 本發明之又一優點可使用手機的已知位置而找到第二手 機的未知位置。假設手機於約略相同時間使用三具地理位 置分散的B T S亦即A、B、C做測量(參見圖4 )。則第一手機 的式(5 )變成 Δ tai (ti ^ = ( I η (t1 )-a I )/ y + aa ()+ ε 1 (t1 ) ^ △UUW I r^tO-b I )/ u + MM, I ri(t])_c I )/ y + a.Ct,)+ (t!) 5 (9) 此處h (t〗)為第一手機&的(已知)位置,而於時間h做測 量。則第二手機H2的該方程式式(5)可改成
第14罗、 五 (10) △ tal ( t?)二( 發明說明 △tbl(t2>( | ( 2 “t2)+£2(t2), △tcl(t2) = ( j / 2 —b / …“t2)+ ,2(t2), 此處r2(t2)為第 J、2上一二 /〜(t2)+ ε2α2),(10) 量。由式(9)減式⑴機2 U已知)位置,而於時間h做測 〜(t2),和 α (t ):啦現 α九)=〜(t2),ab(t】)= △ tcl (t2),和 e、 tbl(tl ~ Atbi^2) - Atc= Atcl(t,)- △ ta = (),獲得 # △v( I 叫) 广 2 -a 1 )“+ e, △ tc = ( I ri(ti)、卜 1 r2(t2)-b 丨)/ , + ε, 其形式上同式(8 )。丨 ϋ% ) _ c丨)/ υ + ε ,( 1 1 ) 的位置,則可曾如此扣定巧(t )亦即第一手機H〗於時間 置。(再度若此:、、,12(:2、1ΐ即第〜手機H2於時 及四具BTS做測息/吧〉有”,、/由其它手段解出,則需使用涉 此種相同構相\。)本例中,t可等於七2。 表示第也可擴展至多部手機。式(11)中,向量 第二手機Η刻機&其位置為已知;肖量训)表示任何 二Π,或許表不大量手機中之任一具。因此可 ;知位置的第一手機Hl作為「⑽」作為臨時 、^ ς 新區域玎能極迅速建立起E-OTD服務。 置的服務節點(例如行動定位中心;MLC )進行^ 口 位 e-otdAA^ f ^ 方法來找出手機礼位置,則可未再進一昭 可追蹤手機。依據用途而定,手機位置的 Y、、
第15頁 494248 I五、發明說明(11) | 另一項令人感興趣的應用用途是應用至於一區的一多部 手機Hi -Hn系統,其中無任一部手機的位置為已知。假設任 一對手機皆充分遠離,因而可測量相同五部B T S s A - E (例 如參考圖5 ),手機位置可使用類似式(8 )的三式的五個方 程式測定。否則設分開各對可測量至少三或四共用BTS, 則短時間内基於如此多個測量計算,即足以決定其全部的 位置。
例如考慮一組三具手機士,H2,和H3 (參考圖5)。比與 H2,H2與113,以及H3與士的相對位置可使用三或四BTS測量 值計算,原因在於由三角形H2 H3 (三頂點位置方程式所加 的侷限,可使解變成獨一。總而言之,·眾所周知的統計技 術如基於拜葉(Bayes)理論或最大可能方法可用以解出方 程式。 前文討論中,發明人已經假設BTS網路穩定性夠佳而可 用以預測測量值間的相對漂移。本發明可應用至一網路, 其中BTS信號可相對於彼此自由運作,亦即傳輸間並無任 一種同步。此種情況下,至少需要兩具手機其可實質上彼 此同時接收來自相同五部地理位置分散的BTS之信號。式 (11 )變成 · △V :( | r1 (t! ) -a |- 1 r2 ( t] ) - a 1)/ υ + ε △V :( 1 r! (t1 ) -b |- 1 r2 (· t! ) ~b 1)/ υ + ε △V :( | r1 (t! ) -c |- 1 r2 (- t] ) - c 1 )/ υ + ε △V :( 1 ri (ti ) |- 1 r2 ( t] ) - d 1)/ υ + ε △V :( 1 r1 (t! )-e | - 1 r2 (- t] ) - e 1 )/ υ + ε (12)
第16頁 494248 五、發明說明(12) 此處a,b,c,d,和e為三部BTS的向量位置,。(钇)為第 I 一手機^的向量位置,而rJt )為第二手機Hn的位置,兩組 測量值是同時t:測量。此一瞬間可由例如一特定傳輸元件 如一特定幀編號或一特定信號發訊。式(1 2 )中,當藉二手 |機彼此足夠接近而於時間(其漂移夠小而可忽略)測量時, 來自BTS的信的傳輸時間補償值(aa,ab,數量等)彼 |此抵消而未出現。式(1 2 )的五測量值足以定位兩具手機。 注意本例無需LMU或其相當例。
另一同在審查中的PCT專利申請案(發明人參考編號 MJB0 6 73 3WO,併述於此以供參考)中,說明來自一LMU網路 的測量值如何可收集成一明細表,「虛擬」LMU(VLMU)彷 彿全部BTS可藉單一 VLMU測量般。本發明之一項延伸係建 立一或多VLMU於GSM或其它絲毫不含真實LMU的傳輸網路。 例如前文就式(5 )或(1 2 )所述,藉手機所做定時測量,可 經處理而獲得來自BTSs的信號之接收時間補償值,其可保 持於VLMU且用於隨後標準游巡者方法或其它E-OTD位置計 算。也可想像一種系統,其中真實LMU涵蓋稀疏事由手機 測量於一或多VLMU放大而提供如同來自完整真實LMU網路 的同等程度服務。
現在將借助於模擬測量值說明結合本發明之範例系統之 操作。 圖6以實心圓顯示五BTSs B假說網路。也以空心方形顯 示兩具手機位置,間隔距離約2 /2千米。·電腦程式(實際上 可在一或二手機的微處理器執行)用以產生由各具手機Η產
第17頁 友、發明說明(13) ^的時間補償值測量值明細,包括加上一隨機雜訊元件, 2於50米rms來更貼切模擬真實情況。各BTS B被指定—佐 ,不同的信號時間補償值α ,相對於一通用「絕對」時脈 ^機選定。各手機Η對其内部時脈也被指定一同步誤差ε 隨機值。由各手機至各BTS的距離然後用來彙編出由各手 機接收的相對於其内部時脈的時間補償值明細。然後二時 間補償值明細於程式規劃成可解出如上五式(丨2 )的電腦處 理。結果以又又X示於附圖。手機朝向左下角落的東向和 北向誤差分別為-9 5和-59米,而接近右上角落的手機誤差 為-10 0和+ 30米。圈住標記位置的橢圓ρ表示可信度區,於 該區以内真正位置預測在67%程度。半主軸長16〇和24〇 米。 π人感興趣地發現通常本法產生的位置錯誤間有顯著交 $關聯手機至另一手機的距離更精確已知。上例 中,測得距雔(實際2. 2千米)小於9〇米。 現在說明根據本發明之系統的第, 量的各種變化率或導數。 ,、Τ便用成I里数 式(7)的第一式考慮單一手機。^ ^ 而於時間6於位置r(t )觀;ΐ件&間補償值△、&), 改寫為: 置Γ“2)規察仔時間補償值ΔΆ)。此式
Atal(t])- Atal(t2) = ( I r(ti)_a ι^, “a(M-aa(t2)) + (ei(ti)_£ r“)-a 丨)/“ 後文中採用下列命名變更較有i助:
第18頁 494248 五、發明說明(14) t變成t t2變成t + △ t △tal(t)變成Ta(t) T(t+ △ t)-T(t)變成 ΔΤβ(ΐ) ε i變成ε 。 則該式變成 ⑺=(|Γ(πΔ〇 - a卜jr(〇 -叫)/υ十_十如-a⑺十办十以)—乞⑺· (13) 再度假設網路傳輸的穩定性為〇;值不會隨測量時間△ & (可變成任意短時間)而有顯著改變。如此α a ( t + △ t )= aa(t) ’可簡化式(13)。則五BTS完整集合變成 ΔΙ⑺=qm十以)-aHr(0 · apyt/ 十七十 1·σ; △iu〇 = qr(卜δ〇-bHrW,外十灿ε⑺ △功)=(昨刹斗lr(〇叫外十咖岭£⑺ (14) 此等式可以式(12)的精確相同方式解出而得r(ti+ △ t) 和r(t)但未參照LMU網路。由於為.零,故發現數量 的變化率或導數如下:
第19頁 494248 五、發明說明(15) dTA . , άε --=V COS0 /ti-f· —^ di 1 1 ** dr ώ :|vjcos0D iv 十· di άε ώ ^ = |v|c〇bda/u-r^爷=卜卜^十f: (15) 此處v為手機速度(v = dr/dt),<9為速度向量與由BTS至 手機的向量間的夾角(參考圖3),以及d ε /dt為手機内部 時脈的改變速率,亦即手機晶體振盪器與其名目值的頻率 補償值。此等方程式數學上同式1 4,可解出獲得手機位置 r和速度v,而未參照LMU網路。 若也假設手機係以恆定速度移動,則可評估進一步導數 如後: u% dr dlT >— Μ] lr~al sin20a, |v|3 :一3」」、_. cossin2^^,卜Γ (16) 其中假設d2 ε / dt2值可忽略。 許多情況下,僅可得部分參數測量值。雖言如此,可含 括其它E-0TD計算而改良手機位置估值。但若對全部參數 做測量,則BTS與手機間距以及手機速度可決定為d ε /dt 之函數如後
第20頁 494248 五、發明說明(16) 卜a| di dt da Ύι |v|cos<94 dt Ut rde άΤΛ — I _ dt dt ) dX df (17)
Ivjsin^ =£ZL dr 1 如對三或多個地理位置分散的BTSs做測量,則可直接解 出r,d ε / d t和v,而未參照L M U網路。 但有某些情況無法評估方程式。出現於當d3Ta/dT3為零 日守。即使於此種情況下仍可獲得有關r和v之資訊,原因在 於(於無雜訊存在下)零數值只有四種可能的原因: 1 ·若手機為靜態,亦即v = 〇,則d2Ta/dT2和d3T /dt3二者 3 3 皆為零,故 dTa άε 。 dt dt 2·若 ± 9〇 度,則d3Ta/dt3 為零因而 二__ ,以及 dTa άε 。 dt2 I r-a I · y dt dt 3 ·右手機係直接朝向B T S移動,亦即0 & = 〇度,則 d2/Ta/dT2 和d3/Ta/dt3 皆為零,同時 dTa I v I de 。 一 :一— + ·…丨丨-"丨丨· dt υ dt 4 ·若手機係直接遠離B T S移動,亦即0 a = 1 8 〇度,則 d2Ta/dT2 和d3Ta/dt3 皆為零,同時 dTa — | /丨.。 -二-+- dt υ dt
494248 五、發明說明(17) 听若手機直接通過BTS下方同時做測量,亦即r =a,則 f = $有非連續。若手機觀察得此種非連續,則其位置 僅由單一BTS測量即刻可知。 俜位行動電話網路如GSM系統時,手機時序 = 進服務 同步接號本身信號 :=(與接收自服務BTS亦即BTS Α的信號 」步變更式(16)變成如下形式: 』乂此 ύχ ^H(cos0b-cosej. d2
Hvf 少-b|卜叫 ♦If .卜 (18) 額外約^ , ^此等值的測量可組合其它E-OTD測旦信而π 之,4 α此後得預測位置和速产更佳里☆、里 传 5,若全部前述參 :1度更佳準確。舉例言 解出方程式,盔♦ ^對TS β 二者做測量,則可如, 度。Λ無而參照L腳網路來獲得手機的位置貝^了速如別
前述本發日月> 4 U 例如田+ 糸、、'先實例中’已經#用技、 ★用來評估時間 ,用4間補償值測量 该BTS的户味 铺1貝值的改變速率。此係笙从 徂
。唬之頻率補償值,而可直广於測量來自 田刊5與分析得 494248 五、發明說明^ """"" ^一一--____ ::ϊ:=其:::ΐ 先二=,// 脈衝,I和Q資粗接士 <诂田〒π爭先已知)的冋步叢發 苹轉形,轉& ^ ^ 周知的技術例如快速富利 比幸乂俾獲传佗號頻率補償值。 此種技術已經於電腦程式模擬而測試信號對雜訊比對藉 本法可測量的手機速度準確度的影響。準確度也依賴用二 匹配頻譜的模版中的樣本數目N而定。結果如下: S/Ν 比;- N = 64 N = 128 N = 256 10 38.4 12.8 4.8 30 12.8 4.3 Γ 1.6 100 3.8 1.3 •0.5
本表列出關聯S/N比和模版長度對應值的誤差,以千米/ 小時表示。
494248 案號 89110522 年f月厶曰_修正 圖式簡單說明 圖式元件符號說明
1 圓 2 圓 3 圓 4 圓 A 基地臺收發 器 (BTS ) B 基地臺收發 器 (BTS ) C 基地臺收發 器 (BTS ) D BTS E BTS F 橢圓 Η 手機 HI 第一手機 H2 第二手機 H3 第三手機 X 叉叉
〇;\64\64446-910502.ptc 第24頁
Claims (1)
- 494248 案號 89110522 %年疒月& 曰 修正 六、申請專利範圍 1 . 一種於一傳輸來源網路中決定接收器位置或位置改變 或移動狀態之方法,其中接收器位置或位置改變或移動狀 態為未知,而部分或全部傳輸來源位置為已知,該方法包 含 (a) 於第一時間,測量第一接收器接收來自複數傳輸 來源的信號之時間、相位、頻率、或其導數相對於彼此或 相對於一參考源的相對補償值; (b) 於選定的第二時間,測量同一接收器或第二接收 器(其位置或移動狀態為未知)接收來自複數傳輸來源的信 號之各別補償值;以及(c) 由第一與第二組相對之補償值間之關係,計算接 收器於第一或第二時間的位置、或第一接收器介於第一與 第二時間的位置改變、或任一接收器的移動狀態。 2. 如申請專利範圍第1項之方法,其中第二時間係於第 二接收器測量,而第一與第二時間相同。3. 如申請專利範圍第1或2項之方法,其中於選定的額外 時間,可測量由第一接收器、或由第二接收器、或由其它 接收器而其位置、位置改變、或移動狀態為未知,接收來 自複數傳輸來源的信號之時間、相位、頻率、或其導數, 相對於彼此或相對於一參考源的各別相對補償值;任一或 全部接收器的位置、位置改變、或移動狀態可使用該等測 量值以及傳輸來源的已知位置決定。 4. 如申請專利範圍第3項之方法,其中任何選定的時間 係同任何其它選定的時間。IO:\64\64446-910502.ptc 第25頁 494248 案號 89110522 曰 修正 5、申請專利範圍 5. 如申請專利範圍第1項之方法,其中該等接收器為GSM 系統的手機,以及其中各該手機之時序係比與一服務BT S 同步化時序更早。 6. 如申請專利範圍第5項之方法,其進一步包括 (d) 於第一時間,測量第一手機接收來自非服務BTS的 信號之時間、相位、頻率、或其導數相對於彼此或相對於 一參考源的相對補償值; (e) 於一選定的第二務後時間,測量由同一手機或第 二手機接收來自非服務BTS的信號之時間、相位、頻率、 或其導數相對於彼此或相對於一參考源的相對補償值;以 及 (f) 由第一和第二組資料間之關係,計算任一手機之 位置,或第一手機介於第一與第二時間間之位置變化,或 任一手機於第一或第二時間之移動狀態。 7. —種於一傳輸來源網路決定接收器位置或位置改變或 移動狀態之系統,其中接收器位置或位置改變或移動狀態 為未知,而部分或全部傳輸來源位置為已知,該系統包含 (a) 測量裝置,用以於第一時間,測量第一接收器接 收來自複數傳輸來源的信號之時間、相位、頻率、或其導 數相對於彼此或相對於一參考源的相對補償值; (b) 測量裝置,用以於選定的第二時間,測量同一接 收器或第二接收器(其位置或移動狀態為未知)接收來自複 數傳輸來源的信號之各別補償值;以及 (c) 計算裝置,用以由第一與第二組相對之補償值間〇;\64\64446-910502.ptc 第26頁 494248 _案號89110522 夕/年f月 6曰__· . 六、申請專利範圍 之關係,計算接收器於第一或第二時間的位置、或第一接 收器介於第一與第二時間的位置改變、或任一接收器的移 動狀態。 8 .如申請專利範圍第7項之系統,進一步包含 測量裝置,用以於選定的額外時間,測量由第一接收· 器、或由第二接收器、或由其它接收器而其位置、位置改 變、或移動狀態為未知,接收來自複數傳輸來源的信號之 _ 時間、相位、頻率、或其導數,相對於彼此或相對於一參 考源的各別相對補償值;以及 計算裝置,用以使用該等測量值以及傳輸來源的已知 位置,計算任一或全部接收器的位置、位置改變、或移動¥ 狀態。 9 .如申請專利範圍第7或8項之系統,其中測量裝置和計 算裝置包括一微處理器於一或多部接收器。 1 0.如申請專利範圍第7項之系統,包含一或多個GSM系 統組件。 1 1 .如申請專利範圍第1 0項之系統,包括一或多部手 機,各該手機的時序事先已經與一服務BTS同步。 1 2 ·如申請專利範圍第1 1項之系統,進一步包含 (d) 測量裝置,用以於第一時間,測量第一手機接收 來自非服務BTS的信號之時間、相位、頻率、或其導數相 _ 對於彼此或相對於一參考源的相對補償值; _ (e) 測量裝置,用以於一選定的第二時間,測量由同 一手機或第二手機接收來自非服務BTS的信號之時間、相〇;\64\64446-910502.ptc 第 27 頁 494248 案號 89110522 曰 修正 六、申請專利範圍 位、頻率、或其導數相對於彼此或相對於一參考源的相對 補償值;以及 (f )計算裝置,用以由第一和第二組資料間之關係, 計算任一手機之位置,或第一手機介於第一與第二時間間 之位置變化,或任一手機於第一或第二時間之移動狀態。〇;\64\64446-910502.ptc 第28頁
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US9020539B2 (en) | 2003-11-26 | 2015-04-28 | Qualcomm Incorporated | Method and apparatus for calculating a position estimate of a mobile station using network information |
TWI384407B (zh) * | 2008-02-29 | 2013-02-01 | Ind Tech Res Inst | 利用盲文編碼圖案之區域識別系統 |
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