CN103857035B - Three point solid base station positioning methods and device - Google Patents
Three point solid base station positioning methods and device Download PDFInfo
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- CN103857035B CN103857035B CN201210519305.4A CN201210519305A CN103857035B CN 103857035 B CN103857035 B CN 103857035B CN 201210519305 A CN201210519305 A CN 201210519305A CN 103857035 B CN103857035 B CN 103857035B
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Abstract
The embodiment of the invention discloses a kind of three point solid base station positioning methods and device, wherein, method includes：Obtain the pre-set space coordinate in preset coordinate system for three base stations for receiving mobile terminal transmitting signal to be positioned（A, b, H）Information, the pre-set space coordinate（A, b, H）Information includes plane coordinates of the height H of base station with base station in the plane that height H is 0（A, b）Information；According to the pre-set space coordinate of three base stations（A, b, H）Information, obtains the range difference that three base stations reach mobile terminal to be positioned；The range difference of mobile terminal to be positioned and default positioning equation group are reached according to three base stations, obtain the positional information of mobile terminal to be positioned.The embodiment of the present invention can solve the problems, such as not considering position error caused by the elevation information of base station when in the prior art positioning mobile terminal based on TDOA location technologies, improve positioning accuracy.
Description
Technical Field
The invention relates to a communication technology, in particular to a three-point three-dimensional base station positioning method and a three-point three-dimensional base station positioning device.
Background
Location Based Service (LBS), also called Location based service, refers to a mobile communication network of a mobile terminal and an operator, such as a Code Division Multiple Access (CDMA) network, a Global System for mobile Communications (GSM) network, and the like, which cooperate with each other to determine the Location of the mobile terminal through a base station transmitting a mobile terminal signal, and determine the geographic Location information of the mobile terminal user, that is: and longitude and latitude coordinates, thereby providing the service information related to the position required by the user. The process of locating a service requires only a few seconds and the amount of traffic consumed is only a few tens of bytes. Geographic location services are becoming more popular because consumers demand for life services with the characteristics of locality, convenience, and the like.
The mobile phone positioning technology based on Time Difference of Arrival (TDOA) does not depend on GPS satellites, and only relies on base stations in the cellular network to realize positioning. Therefore, TDOA location technology has brought new developments to mobile terminal location services with its unique features. TDOA is different from Time of arrival (TOA), which is the determination of the location of a mobile station by detecting the Time difference between the arrival of the mobile terminal signal at two base stations, rather than the absolute Time of arrival, reducing the Time synchronization requirements for the base stations. The TDOA location technique is applicable to various mobile communication systems, and is particularly applicable to CDMA systems. One of the advantages of TDOA location techniques over TOA techniques is that when computing TDOA values between a mobile terminal signal and different base stations, the computation errors, including common multipath delays and synchronization errors, are the same for all base stations and the sum is zero.
The TDOA location technique has the following characteristics:
(1) The TDOA positioning technology does not depend on a GPS, but depends on a base station of the position where the mobile terminal is positioned;
(2) The complexity of the Mobile terminal equipment is not increased, and the workload of a Mobile Switching Center (MSC) is not increased;
(3) Applicable to all mobile cellular systems.
Fig. 1 is a schematic diagram of basic principles of the prior art and TDOA-based mobile terminal location technology.
It is assumed that in a mobile cellular communication system a mobile terminal user is in the coverage area of a plurality of base station signals, the mobile terminal acting as the transmitting side and the base station acting as the receiving side. When a mobile terminal user performs positioning, the mobile terminal is operated to transmit signals to several nearest base stations. Because the distance between the base station and the mobile terminal is different, the time of the signal transmitted by the mobile terminal reaching different base stations is different. At any one time, the difference between the times at which any two base stations receive the mobile terminal's transmitted signal is considered to be an instantaneous constant. According to the definition of hyperbola: the locus set of the motion points of which the difference between the distances to the two fixed points is a certain value is a hyperbola. Therefore, in this case, the hyperbola determined by the time difference is an instantaneous hyperbola with the two base stations as fixed points. Any two base stations among different base stations can determine a plurality of groups of hyperbolas, and the intersection point of the hyperbolas is the actual position of the mobile terminal, namely the user of the mobile terminal.
At the receiving end of a base station (i.e., the base station as the receiving end), the signal transmitted by the transmitting end of the mobile terminal (i.e., the mobile terminal as the transmitting end) received by the ith base station is expressed as:
y i (t)=A i S(t-τ i )+n i (t)
wherein i =1,2,3 … … m, S (t- τ) i ) A signal transmitted to the ith base station as a receiving end at a time t for a mobile terminal as a transmitting end; n is a radical of an alkyl radical i (t) is channel noise, which can be obtained in advance; a. The i M is the number of base stations at the receiving end, and is an integer not less than 3. The coordinate of the ith base station in the receiving end is (X) i ，Y i ) It is known, where the coordinates of the mobile terminal are (x, y) and unknown, the exact location we want to locate. At any moment, the difference of the distances determined by the difference of the time when any two base stations i and j receive the transmission signal of the mobile terminal is:
L ij =νΔτ=v(τ i -τ j )=L i -L j （1）
wherein 1 is<j<i&And m and v are the speed of the electric wave, namely the speed of light. As shown in FIG. 1, the coordinates of any two base stations 1,2 are assumed to be (X) i ，Y i ）、（X j ，Y j ) Corresponding to two focal points F of a hyperbola respectively 1 ，F 2 Coordinates (-c, 0) and (c, 0). At this time Y i －Y j =0,X i =-c，X j = c, simplified form of hyperbola is obtainable from the above equation (1) according to the definition of hyperbola:
FIG. 1 shows the hyperbolic curves of different TDOAs of the same base station under ideal conditions. The mobile terminal can be positioned through the intersection points of different hyperbolas.
In the course of implementing the present invention, the inventor finds that the method for positioning the mobile terminal based on the above-mentioned conventional TDOA positioning technology has at least the following problems:
in practical application, heights of base stations in an environment where a mobile terminal is located may be different, and the difference in the heights of positioning base stations may affect a time difference between signals of the mobile terminal and arriving at two base stations.
Disclosure of Invention
The embodiment of the invention aims to solve the technical problem that: a method and a device for positioning a three-point stereo base station are provided to solve the problem of positioning errors caused by the fact that base station height information is not considered when a mobile terminal is positioned based on a TDOA positioning technology in the prior art, and improve positioning accuracy.
The embodiment of the invention provides a three-point three-dimensional base station positioning method, which comprises the following steps:
acquiring preset space coordinate (a, b, H) information of three base stations which receive signals transmitted by a mobile terminal to be positioned in a preset coordinate system, wherein the preset space coordinate (a, b, H) information comprises height H of the base stations and plane coordinate (a, b) information of the base stations on a plane with the height H of 0;
according to preset space coordinate (a, b, H) information of the three base stations, obtaining the distance difference of the three base stations to a mobile terminal to be positioned;
and acquiring the position information of the mobile terminal to be positioned according to the difference of the distances from the three base stations to the mobile terminal to be positioned and a preset positioning equation set.
In a specific embodiment of the foregoing method, the method further includes:
establishing a specific coordinate system according to preset space coordinate information of the three base stations, so that in the specific coordinate system, the plane coordinate of one of the three base stations is (0,0), the ordinate b in the plane coordinate of the other base station is 0, and the height H of the three base stations in the specific coordinate system is the same as the height H in the preset coordinate system;
acquiring plane coordinates of three base stations in a specific coordinate system;
according to the preset space coordinate (a, b, H) information of the three base stations, the step of obtaining the distance difference from the three base stations to the mobile terminal to be positioned specifically comprises the following steps:
respectively acquiring the distance difference between the other two base stations and the base station with the plane coordinate of (0,0) and reaching the mobile terminal to be positioned according to the space coordinate information of the three base stations in the specific coordinate system;
the preset equation set is specifically a preset equation set established based on spatial coordinate information in a specific coordinate system.
In one specific embodiment of the above method, the preset spatial coordinate information of the three base stations is respectively represented as (a) 1 ，b 1 ，H 1 ）、（a 2 ，b 2 ，H 2 ) And (a) 3 ，b 3 ，H 3 ）；
The acquiring plane coordinates of three base stations in a specific coordinate system comprises:
in a specific coordinate system, three base station mid-plane coordinates (a) 1 ，b 1 ) Base station of (0,0) as the first base station, ordinate b 2 The base station of 0 is taken as a second base station;
acquiring the plane coordinate (X) of the second base station in the specific coordinate system according to the change of the plane coordinate of the first base station in the preset coordinate system and the specific coordinate system and the change of the ordinate of the second base station with the ordinate b being 0 2 ，0）；
Acquiring preset space coordinate information (a) according to the change of plane coordinates of a first base station and a second base station in a preset coordinate system and a specific coordinate system 3 ，b 3 ，H 3 ) Plane coordinates (X) of the third base station in a specific coordinate system 3 ，Y 3 ）。
In a specific embodiment of the above method, the obtaining of the location information of the mobile terminal to be located specifically includes: acquiring plane coordinates (M, N) of a mobile terminal to be positioned in a preset coordinate system;
the preset equation set established based on the spatial coordinate information in the specific coordinate system includes:
and
wherein L is 1 Distance, L, for the first base station to the mobile terminal to be located 21 Is the difference between the distances from the second base station to the mobile terminal to be positioned and the first base station, L 31 And (x, y) is a plane coordinate of the mobile terminal to be positioned in a specific coordinate system.
In an embodiment of the foregoing method, the obtaining plane coordinates (M, N) of the mobile terminal to be located in a preset coordinate system includes:
byy = gx + h obtaining the plane coordinates (x, y) of the mobile terminal to be positioned in a specific coordinate system, wherein:
g=[(L 31 X 2 )/L 21 -X 3 ]/Y 3 ；
d=-[(1-(X 2 /L 21 ) 2 )+g 2 ]；
L 21 =L 2 -L 1 when the ratio of the carbon number is more than 0,L 21 &when the flow rate is lower than the threshold value, 0,
and acquiring the plane coordinates of the mobile terminal to be positioned in the preset coordinate system by the plane coordinates (x, y) (M, N) of the mobile terminal to be positioned in the specific coordinate system according to the changes of the plane coordinates of the first base station and the second base station in the preset coordinate system and the specific coordinate system.
The embodiment of the invention provides a three-point three-dimensional base station positioning device, which comprises:
the device comprises a storage unit, a processing unit and a processing unit, wherein the storage unit is used for storing preset space coordinate (a, b, H) information of each base station in a preset coordinate system in a communication system, and the preset space coordinate (a, b, H) information comprises height H of the base station and plane coordinate (a, b) information of the base station on a plane with the height H being 0;
the mobile terminal positioning device comprises an acquisition unit, a positioning unit and a positioning unit, wherein the acquisition unit is used for acquiring preset space coordinate (a, b, H) information of three base stations which receive signals transmitted by a mobile terminal to be positioned in a preset coordinate system, and the preset space coordinate (a, b, H) information comprises the height H of the base stations and plane coordinate (a, b) information of the base stations on a plane with the height H of 0;
the system comprises a calculating unit, a positioning unit and a positioning unit, wherein the calculating unit is used for acquiring the distance difference of three base stations to a mobile terminal to be positioned according to the preset space coordinate (a, b and H) information of the three base stations;
and the positioning unit is used for acquiring the position information of the mobile terminal to be positioned according to the difference between the distances from the three base stations to the mobile terminal to be positioned and a preset positioning equation set.
In an embodiment of the foregoing apparatus, the apparatus further includes:
the system comprises a preprocessing unit, a data processing unit and a data processing unit, wherein the preprocessing unit is used for establishing a specific coordinate system according to preset space coordinate information of three base stations, so that in the specific coordinate system, the plane coordinate of one of the three base stations is (0,0), the ordinate b in the plane coordinate of the other base station is 0, and the height H of the three base stations in the specific coordinate system is the same as the height H in the preset coordinate system; acquiring plane coordinates of the three base stations in a specific coordinate system;
the calculating unit is specifically configured to obtain distance differences from other two base stations to the mobile terminal to be positioned, where the base stations have plane coordinates (0,0), according to spatial coordinate information of the three base stations in a specific coordinate system;
the preset equation set is specifically a preset equation set established based on spatial coordinate information in a specific coordinate system.
In one embodiment of the above apparatus, the preset spatial coordinate information of the three base stations is respectively represented as (a) 1 ，b 1 ，H 1 ）、（a 2 ，b 2 ，H 2 ) And (a) 3 ，b 3 ，H 3 ）；
The preprocessing unit acquires plane coordinates of three base stations in a specific coordinate system, specifically plane coordinates (a) of three base stations in the specific coordinate system 1 ，b 1 ) Base station of (0,0) as the first base station, ordinate b 2 The base station of 0 is taken as a second base station; and acquiring a plane coordinate (X) of the second base station in the specific coordinate system according to the change of the plane coordinate of the first base station in the preset coordinate system and the specific coordinate system and the change of the ordinate of the second base station with the ordinate b being 0 2 0); and according to preset features in the coordinate systemDetermining the change of the plane coordinates of the first base station and the second base station in the coordinate system, and acquiring the preset space coordinate information as (a) 3 ，b 3 ，H 3 ) Plane coordinates (X) of the third base station in a specific coordinate system 3 ，Y 3 ）。
In a specific embodiment of the above apparatus, when the positioning unit acquires the position information of the mobile terminal to be positioned, it specifically acquires a plane coordinate (M, N) of the mobile terminal to be positioned in a preset coordinate system;
the preset equation set established based on the spatial coordinate information in the specific coordinate system includes:
and
wherein L is 1 Distance, L, for the first base station to the mobile terminal to be located 21 Is the difference between the distances from the second base station to the mobile terminal to be positioned and the first base station, L 31 And (x, y) is a plane coordinate of the mobile terminal to be positioned in a specific coordinate system.
In a specific embodiment of the above apparatus, when the positioning unit obtains the plane coordinates (M, N) of the mobile terminal to be positioned in the preset coordinate system, the positioning unit specifically includesy = gx + h, acquiring the plane coordinates (x, y) of the mobile terminal to be positioned in the specific coordinate system, and according to the plane coordinates of the first base station and the second base station in the preset coordinate system and the specific coordinate systemObtaining the plane coordinates of the mobile terminal to be positioned in a preset coordinate system by the plane coordinates (x, y) (M, N) of the mobile terminal to be positioned in the specific coordinate system; wherein:
g=[(L 31 X 2 )/L 21 -X 3 ]/Y 3 ；
d=-[(1-(X 2 /L 21 ) 2 )+g 2 ]；
L 21 =L 2 -L 1 when the concentration of the carbon dioxide is more than 0,L 21 &when the molecular weight is less than 0, the molecular weight is more than 0,
based on the three-point three-dimensional base station positioning method and device provided by the embodiments of the present invention, the preset spatial coordinate information pre-established in the preset coordinate system includes the height H information of each base station, when the mobile terminal is positioned, the preset spatial coordinate (a, b, H) information in the preset coordinate system of the three base stations that receive the signal transmitted by the mobile terminal to be positioned is obtained, the distance difference from the three base stations to the mobile terminal to be positioned is obtained according to the preset spatial coordinate (a, b, H) information of the three base stations, and then the position information of the mobile terminal to be positioned is obtained by combining the preset positioning equation set. Therefore, the height information of each base station participating in positioning is merged into the mobile terminal during positioning, so that the positioning of the mobile terminal is more accurate and precise, the problem of positioning error caused by the fact that the height information of the base stations is not considered when the mobile terminal is positioned based on the TDOA positioning technology in the prior art is solved, and the positioning precision is improved.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
The invention will be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
fig. 1 is a schematic diagram of basic principles of the prior art and TDOA-based mobile terminal location technology.
Fig. 2 is a flowchart of an embodiment of a three-point stereo base station positioning method according to the present invention.
Fig. 3 is a flowchart of another embodiment of a three-point stereo base station positioning method according to the present invention.
Fig. 4 is a schematic diagram illustrating distribution of three base stations in a specific coordinate system according to an embodiment of the present invention.
Fig. 5 is a schematic plane coordinate diagram of three base stations in a specific coordinate system according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of an embodiment of a three-point stereo base station positioning apparatus according to the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
Fig. 2 is a flowchart of an embodiment of a three-point stereo base station positioning method according to the present invention. As shown in fig. 2, the three-point stereo base station positioning method of this embodiment includes:
210, obtaining preset spatial coordinate (a, b, H) information in a preset coordinate system of the three base stations receiving the signal transmitted by the mobile terminal to be positioned, where the preset spatial coordinate (a, b, H) information includes height H of the base station and plane coordinate (a, b) information of the base station on a plane with height H of 0.
And 220, acquiring the distance difference of the three base stations from the mobile terminal to be positioned according to the preset space coordinate (a, b, H) information of the three base stations.
And 230, acquiring the position information of the mobile terminal to be positioned according to the difference of the distances from the three base stations to the mobile terminal to be positioned and a preset positioning equation set.
In the three-point three-dimensional base station positioning method provided by the above embodiment of the present invention, the preset spatial coordinate information that is pre-established in the preset coordinate system includes the height H information of each base station, when the mobile terminal is positioned, the preset spatial coordinate (a, b, H) information in the preset coordinate system of the three base stations that receive the signal transmitted by the mobile terminal to be positioned is obtained, the distance difference from the three base stations to the mobile terminal to be positioned is obtained according to the preset spatial coordinate (a, b, H) information of the three base stations, and then the position information of the mobile terminal to be positioned is obtained by combining the preset positioning equation set. Therefore, the height information of each base station participating in positioning is merged into the mobile terminal during positioning, so that the positioning of the mobile terminal is more accurate and precise, the problem of positioning error caused by the fact that the height information of the base stations is not considered when the mobile terminal is positioned based on the TDOA positioning technology in the prior art is solved, and the positioning precision is improved.
According to a specific embodiment of the three-point stereo base station positioning method of the present invention, the method may further include:
establishing a specific coordinate system according to preset space coordinate information of the three base stations, so that in the specific coordinate system, the plane coordinate of one of the three base stations is (0,0), the ordinate b in the plane coordinate of the other base station is 0, and the height H of the three base stations in the specific coordinate system is the same as the height H in the preset coordinate system;
plane coordinates of three base stations in a specific coordinate system are acquired.
Accordingly, in operation 220, obtaining the distance difference from the three base stations to the mobile terminal to be located according to the preset spatial coordinate (a, b, H) information of the three base stations may specifically be implemented as follows:
according to the space coordinate information of the three base stations in a specific coordinate system, respectively obtaining the distance difference from the other two base stations to the mobile terminal to be positioned with the base station with the plane coordinate of (0,0);
the preset equation set is specifically a preset equation set established based on spatial coordinate information in a specific coordinate system.
According to another embodiment of the three-point three-dimensional base station positioning method of the present invention, the preset spatial coordinate information of the three base stations can be respectively represented as (a) 1 ，b 1 ，H 1 ）、（a 2 ，b 2 ，H 2 ) And (a) 3 ，b 3 ，H 3 ）；
Specifically, the plane coordinates of the three base stations in the specific coordinate system can be obtained as follows:
in a specific coordinate system, three base station mid-plane coordinates (a) 1 ，b 1 ) Base station of (0,0) as the first base station, ordinate b 2 The base station of 0 is taken as a second base station;
acquiring the plane coordinate (X) of the second base station in the specific coordinate system according to the change of the plane coordinate of the first base station in the preset coordinate system and the specific coordinate system and the change of the ordinate of the second base station with the ordinate b being 0 2 ，0）；
Acquiring preset space coordinate information (a) according to the change of plane coordinates of a first base station and a second base station in a preset coordinate system and a specific coordinate system 3 ，b 3 ，H 3 ) Plane coordinates (X) of the third base station in a specific coordinate system 3 ，Y 3 ）。
According to another specific embodiment of the three-point stereo base station positioning method of the present invention, in operation 230, the obtaining of the position information of the mobile terminal to be positioned may specifically be: and acquiring plane coordinates (M, N) of the mobile terminal to be positioned in a preset coordinate system. Accordingly, the preset equation set established based on the spatial coordinate information in the specific coordinate system includes:
and
wherein L is 1 Distance, L, for the first base station to the mobile terminal to be located 21 For the second base station and the first base stationDifference in distance, L, from each base station to the mobile terminal to be positioned 31 And (x, y) is a plane coordinate of the mobile terminal to be positioned in a specific coordinate system.
According to another specific embodiment of the three-point stereo base station positioning method of the present invention, the obtaining of the plane coordinates (M, N) of the mobile terminal to be positioned in the preset coordinate system may specifically include:
byy = gx + h, acquiring a plane coordinate (x, y) of the mobile terminal to be positioned in a specific coordinate system;
and acquiring the plane coordinates (M, N) of the mobile terminal to be positioned in the preset coordinate system by the plane coordinates (x, y) of the mobile terminal to be positioned in the specific coordinate system according to the changes of the plane coordinates of the first base station and the second base station in the preset coordinate system and the specific coordinate system. Wherein:
g=[(L 31 X 2 )/L 21 -X 3 ]/Y 3 ；
d=-[(1-(X 2 /L 21 ) 2 )+g 2 ]；
L 21 =L 2 -L 1 when the concentration of the carbon dioxide is more than 0,L 21 &when the flow rate is lower than the threshold value, 0,
fig. 3 is a flowchart of another embodiment of a three-point stereo base station positioning method according to the present invention. As shown in fig. 3, the three-point stereo base station positioning method of this embodiment includes:
310, obtaining the preset space coordinate information in the preset coordinate system of the three base stations receiving the signals transmitted by the mobile terminal to be positioned, and assuming that the preset space coordinate information of the three base stations can be respectively expressed as (a) for the convenience of distinguishing 1 ，b 1 ，H 1 ）、（a 2 ，b 2 ，H 2 ) And (a) 3 ，b 3 ，H 3 ) The height information of the three base stations and the plane coordinate information of the base station on the plane with the height of 0 are included.
The distance between the mobile terminal to be positioned and the ith base station antenna is as follows:
in the above formula (1), i =1,2,3.
The difference between the distances from the second base station, the third base station and the first base station to the terminal to be positioned can be obtained from the formula (1):
in formula (2), i =1,2.
Therefore, for accurate positioning, a hyperbolic equation set needs to be established, and the intersection point of the hyperbolic equation set is the actual position of the transmitting end of the mobile terminal to be positioned.Since the hyperbolic equation is a nonlinear equation of a binary quadratic equation, the calculation process is complex when the hyperbolic equation is solved, and in order to simplify the calculation, the nonlinear equation is linearized in the embodiment of the invention. According to the above formula (2), adding L i =L i1 +L 1 Both sides squared spread out and subtracted simultaneouslyThen, the following can be obtained:
in the above formula (3), a i1 ＝a i -a 1 ，b i1 ＝b i -b 1 。
320, in order to simplify the operation without loss of generality, a specific coordinate system is established according to preset space coordinate information of the three base stations, and the three base stations are placed in the specific coordinate system, so that in the specific coordinate system, the plane coordinate of one of the three base stations is (0,0), the ordinate b in the plane coordinate of the other base station is 0, and the height H of the three base stations in the specific coordinate system is the same as the height H in the preset coordinate system.
330, in a specific coordinate system, three base station mid-plane coordinates (a) 1 ，b 1 ) The base station of (0,0) is the first base station (BS 1), ordinate b 2 The base station with 0 is used as the second base station (BS 2), and the other preset space coordinate information is (a) 3 ，b 3 ，H 3 ) The base station (BS 3) as a third base station, and acquires a plane coordinate (X) of the second base station in the specific coordinate system according to the change of the plane coordinate of the first base station in the preset coordinate system and the specific coordinate system and the change of the ordinate of the second base station 2 ，0）。
340, obtaining the plane coordinate (X) of the third base station in the specific coordinate system according to the change of the plane coordinates of the first base station and the second base station in the preset coordinate system and the specific coordinate system 3 ，Y 3 ）。
As shown in fig. 4, the distribution diagram of three base stations in a specific coordinate system is shown, wherein the coordinates and heights of the three base stations are BS1 (X) respectively 1 ,Y 1 ,H 1 ）、BS2（X 2 ,Y 2 ,H 2 ）、BS3（X 3 ,Y 3 ,H 3 ）。
As shown in fig. 5, a schematic plane coordinate diagram of three base stations in a specific coordinate system is shown. The plane coordinates of the three base stations are respectively: BS1 (0,0), BS2 (X) 2 ,0)，BS3(X 3 ，Y 3 )。
Assuming that the plane coordinates of the mobile terminal to be positioned in the specific coordinate system are represented as (x, y), in the above formula, a i1 、b i1 、L 1 The following simplification can be obtained:
X i1 ＝X i -X 1 ＝X i ，Y i1 ＝Y i -Y 1 ＝Y i （4）
350, respectively obtaining the distance difference between the second base station and the first base station and the distance difference between the third base station and the first base station and the mobile terminal to be positioned according to the space coordinate information of the three base stations in the specific coordinate system.
For the above equation (3) can be simplified in a specific coordinate system as:
the above equations (5), (6) and (7) are the preset equations set up based on the spatial coordinate information in the specific coordinate system, and the equations (5), (6) and (7)Formula simultaneous solvable L 1 And a system of x, y ternary quadratic equations.
Multiplying the expression (6) by L 31 Then, multiply the expression (7) by L 21 The obtained results are subtracted, and the unknown number L can be eliminated 1 After finishing, a simplified result can be obtained:
y＝gx+h （8）
wherein g = [ (L) 31 X 2 )/L 21 -X 3 ]/Y 3 ，
Substituting equation (8) into equation (5) to remove the unknown number y, the arrangement can obtain a quadratic equation for x:
dx 2 +ex+f=0（9）
wherein,
obtaining by solution:
from a priori information, namely: l is a radical of an alcohol 21 ＝L 2 -L 1 When the sign of L 21 &Taking the negative sign when the value is 0, namely:otherwise, L 21 &When the value is 0, taking the positive sign, namely:
the value of y can be obtained by substituting the above formula (10) into the formula (8).
360, according to the distance difference between the three base stations and the mobile terminal to be positioned and the preset positioning equation set, the method comprises the following stepsy = gx + h, planar coordinates (x, y) of the mobile terminal to be positioned in a specific coordinate system are obtained.
370, according to the change of the plane coordinates of the first base station and the second base station in the preset coordinate system and the specific coordinate system, the plane coordinates (M, N) of the mobile terminal to be positioned in the preset coordinate system are obtained through the plane coordinates (x, y) of the mobile terminal to be positioned in the specific coordinate system, so that the position information of the mobile terminal to be positioned in the preset coordinate system is obtained. And the longitude and latitude coordinates of the mobile terminal to be positioned can be further acquired by the plane coordinates (M, N) according to the corresponding relation between the plane coordinates and the longitude and latitude coordinates in the preset coordinate system.
Fig. 6 is a schematic structural diagram of an embodiment of a three-point stereo base station positioning apparatus according to the present invention. The three-point three-dimensional base station positioning device of the embodiment can be used for realizing the three-point three-dimensional base station positioning method flows. The three-point stereo base station positioning device can be exemplarily arranged in the positioning platform. As shown in fig. 6, it includes a storage unit 610, an obtaining unit 620, a calculating unit 630 and a positioning unit 640.
The storage unit 610 is configured to store preset spatial coordinate (a, b, H) information of each base station in a preset coordinate system in the communication system, where the preset spatial coordinate (a, b, H) information includes a height H of the base station and a plane coordinate (a, b) information of the base station on a plane where the height H is 0.
An obtaining unit 620, configured to obtain, from the storage unit 610, preset spatial coordinate (a, b, H) information in a preset coordinate system of the three base stations that receive the signal transmitted by the mobile terminal to be located, where the preset spatial coordinate (a, b, H) information includes a height H of the base station and a plane coordinate (a, b) information of the base station on a plane where the height H is 0.
The calculating unit 630 is configured to obtain distance differences between the three base stations and the mobile terminal to be located according to the preset spatial coordinate (a, b, H) information of the three base stations obtained by the obtaining unit 620.
And the positioning unit 640 is configured to obtain the position information of the mobile terminal to be positioned according to the distance difference between the three base stations and the mobile terminal to be positioned, which is calculated by the calculating unit 630, and a preset positioning equation set.
In the three-point three-dimensional base station positioning device provided in the above embodiment of the present invention, the preset spatial coordinate information that is pre-established in the preset coordinate system includes the height H information of each base station, when the mobile terminal is positioned, the preset spatial coordinate (a, b, H) information in the preset coordinate system of the three base stations that receive the signal transmitted by the mobile terminal to be positioned is obtained, the distance difference from the three base stations to the mobile terminal to be positioned is obtained according to the preset spatial coordinate (a, b, H) information of the three base stations, and then the position information of the mobile terminal to be positioned is obtained by combining the preset positioning equation set. Therefore, the height information of each base station participating in positioning is merged into the mobile terminal during positioning, so that the positioning of the mobile terminal is more accurate and precise, the problem of positioning error caused by the fact that the height information of the base stations is not considered when the mobile terminal is positioned based on the TDOA positioning technology in the prior art is solved, and the positioning precision is improved.
For example, the storage unit 610 may store each base station Identification (ID) uniquely identifying each base station and preset spatial coordinate (a, b, H) information of the corresponding base station in a preset coordinate system. After a signal is transmitted by a mobile terminal to be positioned and response messages of a plurality of base stations for the transmitted signal are received, the base station IDs of the plurality of base stations can be acquired from the response messages, three base station IDs are selected from the response messages and reported to the acquiring unit 620, and the acquiring unit 620 acquires preset spatial coordinate (a, b, H) information of the three base stations in a preset coordinate system from the storage unit 610 according to the base station IDs. The positioning unit 640 may feed back the position information of the mobile terminal to be positioned to the mobile terminal to be positioned after obtaining the position information of the mobile terminal to be positioned.
Referring to fig. 6 again, in another embodiment of the three-point stereo base station positioning apparatus of the present invention, a preprocessing unit 650 may further be included, configured to establish a specific coordinate system according to the preset spatial coordinate information of the three base stations acquired by the acquiring unit 620, so that in the specific coordinate system, a planar coordinate of one of the three base stations is (0,0), a vertical coordinate b in a planar coordinate of another base station is 0, and a height H of the three base stations in the specific coordinate system is the same as the height H in the preset coordinate system; and acquiring plane coordinates of the three base stations in the specific coordinate system. Accordingly, the calculating unit 630 specifically obtains the distance difference from the other two base stations to the mobile terminal to be located, where the base station has the plane coordinate of (0,0), according to the spatial coordinate information of the three base stations in the specific coordinate system. The preset equation set in this embodiment is specifically a preset equation set established based on spatial coordinate information in a specific coordinate system.
According to another embodiment of the three-point three-dimensional base station positioning device of the present invention, the predetermined spatial coordinate information of the three base stations can be respectively expressed as (a) 1 ，b 1 ，H 1 ）、（a 2 ，b 2 ，H 2 ) And (a) 3 ，b 3 ，H 3 ). The preprocessing unit 650 may specifically acquire the plane coordinates (a) of the three base stations in the specific coordinate system when acquiring the plane coordinates of the three base stations in the specific coordinate system 1 ，b 1 ) Base station of (0,0) as the first base station, ordinate b 2 The base station of 0 is taken as a second base station; and acquiring a plane coordinate (X) of the second base station in the specific coordinate system according to the change of the plane coordinate of the first base station in the preset coordinate system and the specific coordinate system and the change of the ordinate of the second base station with the ordinate b being 0 2 0); and acquiring preset space coordinate information (a) according to the change of the plane coordinates of the first base station and the second base station in the preset coordinate system and the specific coordinate system 3 ，b 3 ，H 3 ) Plane coordinates (X) of the third base station in a specific coordinate system 3 ，Y 3 ）。
According to another embodiment of the three-point stereo base station positioning apparatus of the present invention, when the positioning unit 640 obtains the position information of the mobile terminal to be positioned, it may specifically obtain the plane coordinates (M, N) of the mobile terminal to be positioned in the preset coordinate system. In this embodiment, the preset equation set established based on the spatial coordinate information in the specific coordinate system includes:
and
wherein L is 1 Is the distance, L, from the first base station to the mobile terminal to be positioned 21 Is the difference between the distances from the second base station to the mobile terminal to be positioned and the first base station, L 31 And (x, y) is a plane coordinate of the mobile terminal to be positioned in a specific coordinate system.
According to another embodiment of the three-point three-dimensional base station positioning device of the present invention, when the positioning unit 640 obtains the plane coordinates (M, N) of the mobile terminal to be positioned in the preset coordinate system, the plane coordinates may be specifically obtained byy = gx + h, acquiring a plane coordinate (x, y) of the mobile terminal to be positioned in the specific coordinate system, and acquiring the plane coordinate (x, y) (M, N) of the mobile terminal to be positioned in the specific coordinate system according to the change of the plane coordinates of the first base station and the second base station in the preset coordinate system and the specific coordinate system; wherein:
g=[(L 31 X 2 )/L 21 -X 3 ]/Y 3 ；
d=-[(1-(X 2 /L 21 ) 2 )+g 2 ]；
L 21 ＝L 2 -L 1 when the ratio of the carbon number is more than 0,L 21 &when the flow rate is lower than the threshold value, 0,
in the present specification, the embodiments are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same or similar parts in each embodiment are referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The method and apparatus of the present invention may be implemented in a number of ways. For example, the methods and apparatus of the present invention may be implemented in software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustrative purposes only, and the steps of the method of the present invention are not limited to the order specifically described above unless specifically indicated otherwise. Furthermore, in some embodiments, the present invention may also be embodied as a program recorded in a recording medium, the program including machine-readable instructions for implementing a method according to the present invention. Thus, the present invention also covers a recording medium storing a program for executing the method according to the present invention.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The embodiment of the invention integrates the height information of each base station into the algorithm on the basis of the algorithm for obtaining the position of the mobile terminal by adopting the conventional TDOA method, thereby solving the problem of positioning error caused by not considering the height information of the base station in the TDOA positioning in the prior art.
The description of the present invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (10)
1. A three-point three-dimensional base station positioning method is characterized by comprising the following steps:
acquiring preset space coordinate (a, b, H) information of three base stations which receive signals transmitted by a mobile terminal to be positioned in a preset coordinate system, wherein the preset space coordinate (a, b, H) information comprises height H of the base stations and plane coordinate (a, b) information of the base stations on a plane with the height H of 0;
according to preset space coordinate (a, b, H) information of the three base stations, obtaining the distance difference of the three base stations to a mobile terminal to be positioned;
and acquiring the position information of the mobile terminal to be positioned according to the difference between the distances from the three base stations to the mobile terminal to be positioned and a preset positioning equation set, wherein the position information is plane coordinate information.
2. The method of claim 1, further comprising:
establishing a specific coordinate system according to preset space coordinate information of the three base stations, wherein in the specific coordinate system, the plane coordinate of one of the three base stations is (0,0), the ordinate b in the plane coordinate of the other base station is 0, and the height H of the three base stations in the specific coordinate system is the same as the height H in the preset coordinate system;
acquiring plane coordinates of three base stations in a specific coordinate system;
according to the preset space coordinate (a, b, H) information of the three base stations, the step of obtaining the distance difference from the three base stations to the mobile terminal to be positioned specifically comprises the following steps:
respectively acquiring the distance difference between the other two base stations and the base station with the plane coordinate of (0,0) and reaching the mobile terminal to be positioned according to the space coordinate information of the three base stations in the specific coordinate system;
the preset equation set is specifically a preset equation set established based on spatial coordinate information in a specific coordinate system.
3. The method of claim 2, wherein the preset spatial coordinate information of the three base stations is respectively represented as (a) 1 ，b 1 ，H 1 )、(a 2 ，b 2 ，H 2 ) And (a) 3 ，b 3 ，H 3 )；
The acquiring plane coordinates of three base stations in a specific coordinate system comprises:
in a specific coordinate system, three base station mid-plane coordinates (a) 1 ，b 1 ) Base station of (0,0) as the first base station, ordinate b 2 The base station of 0 is taken as a second base station;
acquiring the plane coordinate (X) of the second base station in the specific coordinate system according to the change of the plane coordinate of the first base station in the preset coordinate system and the specific coordinate system and the change of the ordinate of the second base station with the ordinate b being 0 2 ，0)；
Acquiring preset space coordinate information (a) according to the change of plane coordinates of a first base station and a second base station in a preset coordinate system and a specific coordinate system 3 ，b 3 ，H 3 ) Plane coordinates (X) of the third base station in a specific coordinate system 3 ，Y 3 )。
4. The method according to claim 3, wherein the obtaining of the location information of the mobile terminal to be located specifically comprises: acquiring plane coordinates (M, N) of a mobile terminal to be positioned in a preset coordinate system;
the preset equation set established based on the spatial coordinate information in the specific coordinate system includes:
and
wherein L is 1 Distance, L, for the first base station to the mobile terminal to be located 21 Is the difference between the distances from the second base station to the mobile terminal to be positioned and the first base station, L 31 And (x, y) is a plane coordinate of the mobile terminal to be positioned in a specific coordinate system.
5. The method according to claim 4, wherein obtaining the plane coordinates (M, N) of the mobile terminal to be positioned in the preset coordinate system comprises:
byy = gx + h obtaining the plane coordinates (x, y) of the mobile terminal to be positioned in a specific coordinate system, wherein:
g＝[(L 31 X 2 )/L 21 -X 3 ]/Y 3 ；
d＝-[(1-(X 2 /L 21 ) 2 )+g 2 ]；
L 21 ＝L 2 -L 1 when the concentration of the carbon dioxide is more than 0,L 21 when the ratio is less than 0, the reaction mixture is,
and acquiring the plane coordinates of the mobile terminal to be positioned in the preset coordinate system by the plane coordinates (x, y) (M, N) of the mobile terminal to be positioned in the specific coordinate system according to the changes of the plane coordinates of the first base station and the second base station in the preset coordinate system and the specific coordinate system.
6. A three-point stereo base station positioning device is characterized by comprising:
the device comprises a storage unit, a processing unit and a processing unit, wherein the storage unit is used for storing preset space coordinate (a, b, H) information of each base station in a preset coordinate system in a communication system, and the preset space coordinate (a, b, H) information comprises height H of the base station and plane coordinate (a, b) information of the base station on a plane with the height H being 0;
the mobile terminal positioning device comprises an acquisition unit, a positioning unit and a positioning unit, wherein the acquisition unit is used for acquiring preset space coordinate (a, b, H) information of three base stations which receive signals transmitted by a mobile terminal to be positioned in a preset coordinate system, and the preset space coordinate (a, b, H) information comprises the height H of the base stations and plane coordinate (a, b) information of the base stations on a plane with the height H of 0;
the system comprises a calculating unit, a positioning unit and a positioning unit, wherein the calculating unit is used for acquiring the distance difference of three base stations to a mobile terminal to be positioned according to the preset space coordinate (a, b and H) information of the three base stations;
and the positioning unit is used for acquiring the position information of the mobile terminal to be positioned according to the difference between the distances from the three base stations to the mobile terminal to be positioned and a preset positioning equation set, wherein the position information is plane coordinate information.
7. The apparatus of claim 6, further comprising:
the system comprises a preprocessing unit, a data processing unit and a data processing unit, wherein the preprocessing unit is used for establishing a specific coordinate system according to preset space coordinate information of three base stations, so that in the specific coordinate system, the plane coordinate of one of the three base stations is (0,0), the ordinate b in the plane coordinate of the other base station is 0, and the height H of the three base stations in the specific coordinate system is the same as the height H in the preset coordinate system; acquiring plane coordinates of the three base stations in a specific coordinate system;
the calculating unit specifically obtains the distance difference from the other two base stations to the mobile terminal to be positioned and the base station with the plane coordinate of (0,0) according to the space coordinate information of the three base stations in the specific coordinate system;
the preset equation set is specifically a preset equation set established based on spatial coordinate information in a specific coordinate system.
8. The apparatus of claim 7, wherein the preset spatial coordinate information of the three base stations is respectively represented as (a) 1 ，b 1 ，H 1 )、(a 2 ，b 2 ，H 2 ) And (a) 3 ，b 3 ，H 3 )；
The pretreatmentWhen the physical unit acquires the plane coordinates of the three base stations in the specific coordinate system, specifically, the plane coordinates (a) of the three base stations in the specific coordinate system 1 ，b 1 ) Base station of (0,0) as the first base station, ordinate b 2 The base station of 0 is taken as a second base station; and acquiring a plane coordinate (X) of the second base station in the specific coordinate system according to the change of the plane coordinate of the first base station in the preset coordinate system and the specific coordinate system and the change of the ordinate of the second base station with the ordinate b being 0 2 0); and acquiring preset space coordinate information (a) according to the change of the plane coordinates of the first base station and the second base station in the preset coordinate system and the specific coordinate system 3 ，b 3 ，H 3 ) Plane coordinates (X) of the third base station in a specific coordinate system 3 ，Y 3 )。
9. The device according to claim 8, wherein when the positioning unit obtains the position information of the mobile terminal to be positioned, it specifically obtains the plane coordinates (M, N) of the mobile terminal to be positioned in the preset coordinate system;
the preset equation set established based on the spatial coordinate information in the specific coordinate system includes:
and
wherein L is 1 Is the distance, L, from the first base station to the mobile terminal to be positioned 21 Is the difference between the distances from the second base station to the mobile terminal to be positioned and the first base station, L 31 For reaching the mobile terminal to be positioned by the third and first base stationsThe distance difference (x, y) is a plane coordinate of the mobile terminal to be positioned in a specific coordinate system.
10. The apparatus according to claim 9, wherein the positioning unit obtains the plane coordinates (M, N) of the mobile terminal to be positioned in the predetermined coordinate system, specifically byy = gx + h, acquiring a plane coordinate (x, y) of the mobile terminal to be positioned in the specific coordinate system, and acquiring the plane coordinate (x, y) (M, N) of the mobile terminal to be positioned in the specific coordinate system according to the change of the plane coordinates of the first base station and the second base station in the preset coordinate system and the specific coordinate system; wherein:
g＝[(L 31 X 2 )/L 21 -X 3 ]/Y 3 ；
d＝-[(1-(X 2 /L 21 ) 2 )+g 2 ]；
L 21 ＝L 2 -L 1 when the concentration of the carbon dioxide is more than 0,L 21 when the ratio is less than 0, the reaction mixture is,
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| CN105631390B (en) * | 2014-10-28 | 2021-04-27 | 佛山市顺德区美的电热电器制造有限公司 | Method and system for spatial finger positioning |
| CN104950288B (en) * | 2015-04-30 | 2017-12-12 | 成都恒高科技有限公司 | Tunnel environmental positioning method, apparatus, system and positioning label card |
| CN106093862B (en) * | 2016-06-15 | 2019-06-04 | 惠州Tcl移动通信有限公司 | It is a kind of to enhance the indoor orientation method and system that can be observed up to time difference |
| CN106093855B (en) * | 2016-07-07 | 2019-02-05 | 中国矿业大学 | Navigation control method and control system of unmanned aerial vehicle |
| WO2018161255A1 (en) * | 2017-03-07 | 2018-09-13 | 华为技术有限公司 | Method and apparatus for positioning indoor base station |
| CN109618284A (en) * | 2019-02-20 | 2019-04-12 | 清华珠三角研究院 | Three-dimensional base station positioning method and device |
| CN109743777B (en) * | 2019-03-12 | 2020-04-28 | 北京邮电大学 | A positioning method, apparatus, electronic device and readable storage medium |
| CN110730503B (en) * | 2019-10-23 | 2020-11-03 | 珠海优特电力科技股份有限公司 | Positioning method and device |
| CN111308418B (en) * | 2020-03-10 | 2021-11-23 | 慧众行知科技（北京）有限公司 | Steady method for two-dimensional positioning of target with unknown height |
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