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CN105182289A - Positioning method and device - Google Patents

Positioning method and device Download PDF

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Publication number
CN105182289A
CN105182289A CN201410276264.XA CN201410276264A CN105182289A CN 105182289 A CN105182289 A CN 105182289A CN 201410276264 A CN201410276264 A CN 201410276264A CN 105182289 A CN105182289 A CN 105182289A
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CN
China
Prior art keywords
receiver
phase
measured
transmitter
receiving
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CN201410276264.XA
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Chinese (zh)
Inventor
李远勇
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ZTE Corp
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ZTE Corp
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Publication date
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Priority to CN201410276264.XA priority Critical patent/CN105182289A/en
Priority to PCT/CN2014/092023 priority patent/WO2015192599A1/en
Publication of CN105182289A publication Critical patent/CN105182289A/en
Withdrawn legal-status Critical Current

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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
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a positioning method and device. The method comprises steps: positioning signals sent from a position to be detected are received in least three reception positions; first phase differences between the positioning signals in the at least three reception positions and reference signals in the at least three reception positions are determined; any two of the at least three first phase differences are subtracted, at least three second phase differences are obtained; distances of the at least three reception positions to the position to be detected are obtained according to the at least three second phase differences; the position to be detected is obtained according to the distances of the at least three reception positions to the position to be detected and the at least three reception positions.

Description

A kind of localization method and equipment
Technical field
The present invention relates to wireless location technology, particularly relate to a kind of localization method and equipment.
Background technology
GPS (GPS, GlobalPositioningSystem) has obtained and has used widely, and GPS can obtain the accurate location of observation station, and obtains the relative position of two observation stations according to the accurate location of two observation stations.
But GPS can only be available under satellites in view condition, this constrains the application scenario of GPS greatly; And GPS positioning precision is lower, civilian precision is within 10 meters.
Summary of the invention
For solving the problems of the technologies described above, the embodiment of the present invention is expected to provide a kind of localization method and equipment, has positioning precision high, the advantages such as application restriction is little.
The technical scheme of the embodiment of the present invention is achieved in that
First aspect, embodiments provides a kind of positioning equipment, and described positioning equipment comprises: transmitter, at least three receivers, the respectively phase detector, the processor that connect corresponding to described at least three receivers, wherein,
Described transmitter, for sending positioning signal to described at least three receivers;
Described receiver, for receiving the positioning signal that described transmitter sends;
Described phase detector, for determine the receiver that the Received signal strength of the receiver that described phase detector is corresponding is corresponding with described phase detector reference signal between first-phase potential difference;
Described processor, for by described at least three first-phase potential differences any two subtract each other and obtain at least three second-phase potential differences; And
The distance of at least three receivers respectively and between described transmitter described in obtaining according to described at least three second-phase potential differences; And
The position of described transmitter is obtained according to the position of the distance between described at least three receivers and described transmitter and described at least three receivers.
The implementation possible according to the first, in conjunction with first aspect, described phase detector, also for:
The phase offset Φ between the Received signal strength of receiver corresponding to described phase detector and described positioning signal is obtained by following formula pA;
Φ PA＝2πfT PA
Wherein, f is the frequency of described positioning signal, T pAfor positioning signal to arrive the time of receiver A corresponding to described phase detector from described transmitter P, and wherein, c is the light velocity, R pAfor the distance between described transmitter A and receiver A corresponding to described phase detector, τ pAfor between described transmitter P and receiver A corresponding to described phase detector because transmission medium reflects the signal propagation errors caused;
And the first-phase potential difference △ Φ between the reference signal obtaining the Received signal strength of receiver corresponding to the described phase detector receiver corresponding with described phase detector according to following formula pA:
△Φ PA＝2πλ -1(R PA+τ PA)+f×(δt P-δt A)+N PA+ε Φ,PA
Wherein, λ is the wavelength of described positioning signal, δ t prepresent the clocking error of described transmitter P, δ t arepresent the clocking error of the receiver A that described phase detector is corresponding, N pArepresent the complete cycle of phase between described transmitter P and receiver A corresponding to described phase detector, ε Φ, PAfor the test error of receiver A corresponding to described phase detector.
The implementation possible according to the second, in conjunction with the implementation that the first is possible, described processor, for the distance of at least three receivers respectively and between described transmitter described in obtaining according to following formula:
△Φ AB＝2πλ -1(R PA-R PB+τ PAB)+△N PAB+ε Φ,AB
Wherein, △ N pAB=N pA-N pB, ε Φ, AB=ε Φ, PA-ε Φ, PB, τ pAB=τ pA-τ pB;
Wherein, △ Φ aBrepresent the second-phase potential difference between described receiver A and described receiver B; N pArepresent the complete cycle of phase between described transmitter P and described receiver A; N pBrepresent the complete cycle of phase between described transmitter P and receiver B corresponding to another phase detector; ε Φ, PAfor the test error of described receiver A; ε Φ, PBfor the test error of described receiver B; τ pAfor between described transmitter P and described receiver A because transmission medium reflects the signal propagation errors caused; τ pBfor between described transmitter P and described receiver B because transmission medium reflects the signal propagation errors caused.
The implementation possible according to the third, in conjunction with first aspect, described processor, for obtaining the position of described transmitter according to the distance of described at least three receivers respectively and between described transmitter, the position of described at least three receivers and the range formula of point-to-point transmission.
Second aspect, embodiments provides a kind of localization method, and described localization method comprises:
The positioning signal that position to be measured sends is received at least three receiving position places;
First-phase potential difference between the Received signal strength at least three receiving position places described in determining and the reference signal at described at least three receiving position places;
By in described at least three first-phase potential differences any two subtract each other and obtain at least three second-phase potential differences;
The distance of at least three receiving positions respectively and between described position to be measured described in obtaining according to described at least three second-phase potential differences;
Described position to be measured is obtained according to the distance of described at least three receiving positions respectively and between described position to be measured and described at least three receiving positions.
The implementation possible according to the first, in conjunction with second aspect, described determine described in first-phase potential difference between the Received signal strength at least three receiving position places and the reference signal at described at least three receiving position places, comprising:
The phase offset between the Received signal strength at arbitrary described receiving position place and described positioning signal is obtained by following formula;
Φ PA＝2πfT PA
Wherein, f is the frequency of described positioning signal, T pAfor positioning signal to arrive the time of described receiving position A from described position P to be measured, and wherein, c is the light velocity, R pAfor the distance between described position P to be measured and described receiving position A, τ pAfor between described position P to be measured and described receiving position A because transmission medium reflects the signal propagation errors caused;
And obtain the first-phase potential difference △ Φ between the Received signal strength of described receiving position A and the reference signal of described receiving position A according to following formula pA:
△Φ PA＝2πλ -1(R PA+τ PA)+f×(δt P-δt A)+N PA+ε Φ,PA
Wherein, λ is the wavelength of described positioning signal, δ t prepresent the clocking error of described position P to be measured, δ t arepresent the clocking error of described receiving position A, N pArepresent the complete cycle of phase between described position P to be measured and described receiving position A, ε Φ, PAfor the test error of described receiving position A.
The implementation possible according to the second, in conjunction with the implementation that the first is possible, the distance of at least three receiving positions respectively and between described position to be measured described at least three second-phase potential differences described in described basis obtain, comprising:
The distance of at least three receiving positions respectively and between described position to be measured described in obtaining according to following formula;
△Φ AB＝2πλ -1(R PA-R PB+τ PAB)+△N PAB+ε Φ,AB
Wherein, △ N pAB=N pA-N pB, ε Φ, AB=ε Φ, PA-ε Φ, PB, τ pAB=τ pA-τ pB;
Wherein, △ Φ aBrepresent the second-phase potential difference between described receiver A and described receiver B; N pArepresent the complete cycle of phase between described position P to be measured and described receiving position A; N pBrepresent the complete cycle of phase between described position P to be measured and another receiving position B; ε Φ, PAfor the test error of described receiving position A; ε Φ, PBfor the test error of described receiving position B; τ pAfor between described position P to be measured and described receiving position A because transmission medium reflects the signal propagation errors caused; τ pBfor between described position P to be measured and described receiving position B because transmission medium reflects the signal propagation errors caused.
The implementation possible according to the third, in conjunction with second aspect, the distance of at least three receiving positions described in described basis respectively and between described position to be measured and described at least three receiving positions obtain described position to be measured, comprising:
The position of described position to be measured is obtained according to the range formula of the distance of described at least three receiving positions respectively and between described position to be measured, described at least three receiving positions and point-to-point transmission.
Embodiments provide a kind of localization method and equipment, adopting the phase difference ranging principle of wireless signal to carrying out Relatively orientation, there is positioning precision high, the advantages such as the advantages such as application restriction is little, have positioning precision high, and application restriction is little.
Accompanying drawing explanation
The structural representation of a kind of positioning equipment that Fig. 1 provides for the embodiment of the present invention;
A kind of localization method schematic flow sheet that Fig. 2 provides for the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
See Fig. 1, it illustrates the structure of a kind of positioning equipment 10 that the embodiment of the present invention provides, described positioning equipment 10 can comprise: transmitter 101, at least three receivers 102, the respectively phase detector 103, the processor 104 that connect corresponding to described at least three receivers;
Particularly, described transmitter 101 can be positioned on position to be measured;
Described at least three receivers 102 can be positioned in known location; Preferably, by as a reference point for any one in described at least three receivers 102, and coordinate system can be set up with this reference point, thus the particular location of other receivers 102 can be learnt;
Processor 104 can connect with the described phase detector 103 be connected corresponding to described at least three receivers 102 respectively, so that carry out computing to the data after processing through phase detector 103.
In positioning equipment 10, described transmitter 101, for sending positioning signal to described at least three receivers 102;
Described receiver 102, for receiving the positioning signal that described transmitter 101 sends;
Described phase detector 103, for the Received signal strength of the receiver 102 the determining described phase detector 103 correspondence receiver 102 corresponding with described phase detector 103 reference signal between first-phase potential difference;
Described processor 104, for by described at least three first-phase potential differences any two subtract each other and obtain at least three second-phase potential differences;
And the distance of at least three receivers 102 respectively and between described transmitter 101 described in obtaining according to described at least three second-phase potential differences;
And the position of described transmitter 101 is obtained according to the position of the distance between described at least three receivers 102 and described transmitter 101 and described at least three receivers 102.
It should be noted that, in the present embodiment, described at least three receivers 102 can be at least three identical receivers 102, can be specifically antenna or the device for receiving wireless signal; Preferably, the present embodiment is for three receivers 102, be respectively receiver 102A, receiver 102B and receiver 102C, mutual alignment relation between three receivers 102 is confirmable, therefore, with in three receivers 102 any one receiver 102 is as a reference point sets up coordinate system, the coordinate of other two receivers 102 is also determined, in order to can clearly illustrate, suppose that the coordinate of receiver 102A is (x a, y a, z a), the coordinate of receiver 102B is (x b, y b, z b), the coordinate of receiver 102C is (x c, y c, z c), above three coordinates are known.
In addition, because the processing procedure of phase detector 103 to the positioning signal received of three receiver 102 correspondences is identical, therefore, the present embodiment is described for the phase detector 103A that receiver 102A and receiver 102A is corresponding, understandably, the corresponding respectively phase detector 103B of receiver 102B and receiver 102C and phase detector 103C also respectively can be identical according to the phase detector 103A corresponding with receiver 102A processing procedure the positioning signal received is processed, do not repeat them here.
Exemplarily, the phase detector 103A that described receiver 102A is corresponding, may be used for:
By the first calculating formula Φ pA=2 π fT pAobtain the phase offset between the Received signal strength of receiver 102A corresponding to described phase detector 103A and described positioning signal;
Wherein, P represents that described transmitter 101, A represents the receiver 102A that described phase detector 103A is corresponding, T pAfor positioning signal to arrive the time of receiver 102A corresponding to described phase detector 103A from described transmitter 101, f is the frequency of described positioning signal, and wherein, c is the light velocity, R pAfor the distance between described transmitter 101 and receiver 102A corresponding to described phase detector 103A, τ pAfor between described transmitter 101 and receiver 102A corresponding to described phase detector 103A because transmission medium reflects the signal propagation errors caused;
And the first-phase potential difference △ Φ between the reference signal obtaining the Received signal strength of receiver 102A corresponding to the described phase detector 103A receiver 102A corresponding with described phase detector 103A according to the reference signal of described phase offset and receiver 102A corresponding to described phase detector 103A pA;
Wherein, described first-phase potential difference △ Φ pAcan be determined by following formula:
△Φ PA＝2πλ -1(R PA+τ PA)+f×(δt P-δt A)+N PA+ε Φ,PA
Wherein, λ is the wavelength of described positioning signal, δ t prepresent the clocking error of described transmitter 101, δ t arepresent the clocking error of the receiver 102A that described phase detector 103A is corresponding, N pArepresent the complete cycle of phase between described transmitter 101 and receiver 102A corresponding to described phase detector 103A, ε Φ, PAfor the test error of receiver 102A corresponding to described phase detector 103A.
It should be noted that, the phase detector 103C that the phase detector 103B that receiver 102B is corresponding and receiver 102C is corresponding also can carry out identical process according to above-mentioned process to positioning signal, obtain the first-phase potential difference between the Received signal strength of first-phase potential difference between the Received signal strength of receiver 102B and the reference signal of receiver 102B and receiver 102C and the reference signal of receiver 102C, the present embodiment repeats no more.
Preferably, processor 104 specifically may be used for obtaining according to described at least three second-phase potential differences and described second calculating formula described in the distance of at least three receivers 102 respectively and between described transmitter 101;
For receiver 102A and receiver 102B, described second calculating formula is:
△Φ AB＝2πλ -1(R PA-R PB+τ PAB)+△N PAB+ε Φ,AB
Wherein, △ N pAB=N pA-N pB, ε Φ, AB=ε Φ, PA-ε Φ, PB, τ pAB=τ pA-τ pB;
Wherein, A represents receiver 102A, and B represents receiver 102B; △ Φ aBrepresent the second-phase potential difference between described receiver 102A and described receiver 102B; N pArepresent the complete cycle of phase between described transmitter 101 and described receiver 102A; N pBrepresent the complete cycle of phase between described transmitter 101 and described receiver 102B; ε Φ, PAfor the test error of described receiver 102A; ε Φ, PBfor the test error of described receiver 102B; τ t-PAfor between described transmitter 101 and described receiver 102A because transmission medium reflects the signal propagation errors caused; τ t-PBfor between described transmitter 101 and described receiver 102B because transmission medium reflects the signal propagation errors caused.
It should be noted that, due to △ N pABwith the distance R of receiver 102A and receiver 102B 2 aBrelevant, according to trigonometric equation R aB>=R pA-R pB, therefore and R aBwill much smaller than R pAand R pBthis objective condition, △ N pABvalue can pass through carry out approximate obtaining.
Also it should be noted that, △ Φ can be obtained from the second calculating formula aBwith R pAand R pBbetween relation, in like manner known, also can obtain △ Φ according to the second calculating formula bCwith R pBand R pCbetween relation and △ Φ aCwith R pAand R pCbetween relation; Processor 104 can according to above-mentioned three relations and △ Φ aB, △ Φ bC, and △ Φ aCanti-release R pA, R pBand R pC, namely three distances between receiver and transmitter.
Exemplarily, processor 104, specifically may be used for the position obtaining described transmitter according to the distance of described at least three receivers 102 respectively and between described transmitter 101, the described position of at least three receivers 102 and the range formula of point-to-point transmission.
Understandably, due to described three the distance Rs of receiver 102 respectively and between described transmitter 101 pA, R pBand R pCknown, the respective position coordinates of three receivers 102 is also known, and therefore, processor 104 can according to the range formula between 2 o'clock d = ( x 1 - x 2 ) 2 + ( y 1 - y 2 ) 2 + ( z 1 - z 2 ) 2 , 2 Obtain the position coordinates of transmitter 101 by setting up three system of equations, thus the relative position between transmitter 101 and three receivers 102 can be obtained.
A kind of positioning equipment that the present embodiment provides, adopting the phase difference ranging principle of wireless signal to carrying out Relatively orientation, having positioning precision high, the advantages such as application restriction is little.
Based on identical technical conceive, see Fig. 2, it illustrates a kind of localization method flow process that the embodiment of the present invention provides, the method can comprise:
S201: receive the positioning signal that position to be measured sends at least three receiving position places;
It should be noted that, in the present embodiment, described at least three receiving positions can be respectively receiving position A, receiving position B and receiving position C, mutual alignment relation between three receiving positions is confirmable, therefore, set up coordinate system so that any one receiving position is as a reference point in three receiving positions, the coordinate of other two receiving positions is also determined, in order to can clearly illustrate, suppose that the coordinate of receiving position A is (x a, y a, z a), the coordinate of receiving position B is (x b, y b, z b), the coordinate of receiving position C is (x c, y c, z c), above three coordinates are known.
S202: the first-phase potential difference between the Received signal strength at least three receiving position places described in determining and the reference signal at described at least three receiving position places;
Exemplarily, described determine described in first-phase potential difference between the Received signal strength at least three receiving position places and the reference signal at described at least three receiving position places, specifically can comprise:
By the first calculating formula Φ pA=2 π fT pAobtain the phase offset Φ between the Received signal strength at arbitrary described receiving position place and described positioning signal pA;
Wherein, P represents described position to be measured, and A represents arbitrary described receiving position, T pAfor positioning signal to arrive the time of described receiving position A from described position P to be measured, f is the frequency of described positioning signal, and wherein, c is the light velocity, R pAfor the distance between described position to be measured and described receiving position A, τ pAfor between described position to be measured and described receiving position A because transmission medium reflects the signal propagation errors caused;
And obtain the first-phase potential difference △ Φ between the Received signal strength of described receiving position A and the reference signal of described receiving position A according to the reference signal of described phase offset and described receiving position A pA;
Wherein, described first-phase potential difference △ Φ pAcan be determined by following formula:
△Φ PA＝2πλ -1(R PA+τ T-PA)+f×(δt P-δt A)+N PA+ε Φ,PA
Wherein, λ is the wavelength of described positioning signal, δ t prepresent the clocking error of described position P to be measured, δ t arepresent the clocking error of described receiving position A, N pArepresent the complete cycle of phase between described position P to be measured and described receiving position A, ε Φ, PAfor the test error of described receiving position A.
S203: by described at least three first-phase potential differences any two subtract each other and obtain at least three second-phase potential differences;
S204: the distance of at least three receiving positions respectively and between described position to be measured described in obtaining according to described at least three second-phase potential differences;
Preferably, the distance of at least three receiving positions respectively and between described position to be measured described at least three second-phase potential differences described in described basis obtain, specifically comprises:
The distance of at least three receiving positions respectively and between described position to be measured described in obtaining according to described at least three second-phase potential differences and described second calculating formula;
Wherein, described second calculating formula is:
△Φ AB＝2πλ -1(R PA-R PB+τ PAB)+△N PAB+ε Φ,AB
Wherein, △ N pAB=N pA-N pB, ε Φ, AB=ε Φ, PA-ε Φ, PB, τ pAB=τ pA-τ pB;
Wherein, A represents that described receiving position A, B represent another receiving position B; △ Φ aBrepresent the second-phase potential difference between described receiving position A and described receiving position B; N pArepresent the complete cycle of phase between described position P to be measured and described receiving position A; N pBrepresent the complete cycle of phase between described position P to be measured and described receiving position B; ε Φ, PAfor the test error of described receiving position A; ε Φ, PBfor the test error of described receiving position B; τ pAfor between described position P to be measured and described receiving position A because transmission medium reflects the signal propagation errors caused; τ pBfor between described position P to be measured and described receiving position B because transmission medium reflects the signal propagation errors caused.
It should be noted that, due to △ N pABwith the distance R of described receiving position A and described receiving position B 2 aBrelevant, according to trigonometric equation R aB>=R pA-R pBwith and R aBwill much smaller than R pAand R pBthis objective condition, △ N pABvalue can pass through carry out approximate obtaining.
Also it should be noted that, △ Φ can be obtained from the second calculating formula aBwith R pAand R pBbetween relation, in like manner known, also can obtain △ Φ according to the second calculating formula bCwith R pBand R pCbetween relation and △ Φ aCwith R pAand R pCbetween relation; Therefore, can according to above-mentioned three relations and △ Φ aB, △ Φ bC, and △ Φ aCanti-release R pA, R pBand R pC, the distance namely between three receiving positions A, B, C and position P to be measured.
S205: obtain described position to be measured according to the distance of described at least three receiving positions respectively and between described position to be measured and described at least three receiving positions.
Preferably, the distance of at least three receiving positions described in described basis respectively and between described position to be measured and described at least three receiving positions obtain described position to be measured, specifically comprise:
The position of described position to be measured is obtained according to the range formula of the distance of described at least three receiving positions respectively and between described position to be measured, described at least three receiving positions and point-to-point transmission.
Present embodiments provide a kind of localization method, adopting the phase difference ranging principle of wireless signal to carrying out Relatively orientation, there is positioning precision high, the advantages such as application restriction is little.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt the form of hardware embodiment, software implementation or the embodiment in conjunction with software and hardware aspect.And the present invention can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disk memory and optical memory etc.) of computer usable program code.
The present invention describes with reference to according to the process flow diagram of the method for the embodiment of the present invention, equipment (system) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or square frame.These computer program instructions can being provided to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computing machine or other programmable data processing device produce device for realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
The above, be only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.

Claims (8)

1. a positioning equipment, is characterized in that, described positioning equipment comprises: transmitter, at least three receivers, the respectively phase detector, the processor that connect corresponding to described at least three receivers, wherein,
Described transmitter, for sending positioning signal to described at least three receivers;
Described receiver, for receiving the positioning signal that described transmitter sends;
Described phase detector, for determine the receiver that the Received signal strength of the receiver that described phase detector is corresponding is corresponding with described phase detector reference signal between first-phase potential difference;
Described processor, for by described at least three first-phase potential differences any two subtract each other and obtain at least three second-phase potential differences; And
The distance of at least three receivers respectively and between described transmitter described in obtaining according to described at least three second-phase potential differences; And
The position of described transmitter is obtained according to the position of the distance between described at least three receivers and described transmitter and described at least three receivers.
2. positioning equipment according to claim 1, is characterized in that, described phase detector, also for:
The phase offset Φ between the Received signal strength of receiver corresponding to described phase detector and described positioning signal is obtained by following formula pA;
Φ PA＝2πfT PA
Wherein, f is the frequency of described positioning signal, T pAfor positioning signal to arrive the time of receiver A corresponding to described phase detector from described transmitter P, and wherein, c is the light velocity, R pAfor the distance between described transmitter A and receiver A corresponding to described phase detector, τ pAfor between described transmitter P and receiver A corresponding to described phase detector because transmission medium reflects the signal propagation errors caused;
And the first-phase potential difference △ Φ between the reference signal obtaining the Received signal strength of receiver corresponding to the described phase detector receiver corresponding with described phase detector according to following formula pA:
△Φ PA＝2πλ -1(R PA+τ PA)+f×(δt P-δt A)+N PA+ε Φ,PA
Wherein, λ is the wavelength of described positioning signal, δ t prepresent the clocking error of described transmitter P, δ t arepresent the clocking error of the receiver A that described phase detector is corresponding, N pArepresent the complete cycle of phase between described transmitter P and receiver A corresponding to described phase detector, ε Φ, PAfor the test error of receiver A corresponding to described phase detector.
3. according to the positioning equipment shown in claim 2, it is characterized in that, described processor, for the distance of at least three receivers respectively and between described transmitter described in obtaining according to following formula:
△Φ AB＝2πλ -1(R PA-R PB+τ PAB)+△N PAB+ε Φ,AB
Wherein, △ N pAB=N pA-N pB, ε Φ, AB=ε Φ, PA-ε Φ, PB, τ pAB=τ pA-τ pB;
Wherein, △ Φ aBrepresent the second-phase potential difference between described receiver A and described receiver B; N pArepresent the complete cycle of phase between described transmitter P and described receiver A; N pBrepresent the complete cycle of phase between described transmitter P and receiver B corresponding to another phase detector; ε Φ, PAfor the test error of described receiver A; ε Φ, PBfor the test error of described receiver B; τ pAfor between described transmitter P and described receiver A because transmission medium reflects the signal propagation errors caused; τ pBfor between described transmitter P and described receiver B because transmission medium reflects the signal propagation errors caused.
4. positioning equipment according to claim 1, it is characterized in that, described processor, for obtaining the position of described transmitter according to the distance of described at least three receivers respectively and between described transmitter, the position of described at least three receivers and the range formula of point-to-point transmission.
5. a localization method, is characterized in that, described localization method comprises:
The positioning signal that position to be measured sends is received at least three receiving position places;
First-phase potential difference between the Received signal strength at least three receiving position places described in determining and the reference signal at described at least three receiving position places;
By in described at least three first-phase potential differences any two subtract each other and obtain at least three second-phase potential differences;
The distance of at least three receiving positions respectively and between described position to be measured described in obtaining according to described at least three second-phase potential differences;
Described position to be measured is obtained according to the distance of described at least three receiving positions respectively and between described position to be measured and described at least three receiving positions.
6. method according to claim 5, is characterized in that, described determine described in first-phase potential difference between the Received signal strength at least three receiving position places and the reference signal at described at least three receiving position places, comprising:
The phase offset between the Received signal strength at arbitrary described receiving position place and described positioning signal is obtained by following formula;
Φ PA＝2πfT PA
Wherein, f is the frequency of described positioning signal, T pAfor positioning signal to arrive the time of described receiving position A from described position P to be measured, and wherein, c is the light velocity, R pAfor the distance between described position P to be measured and described receiving position A, τ pAfor between described position P to be measured and described receiving position A because transmission medium reflects the signal propagation errors caused;
And obtain the first-phase potential difference △ Φ between the Received signal strength of described receiving position A and the reference signal of described receiving position A according to following formula pA:
△Φ PA＝2πλ -1(R PA+τ PA)+f×(δt P-δt A)+N PA+ε Φ,PA
Wherein, λ is the wavelength of described positioning signal, δ t prepresent the clocking error of described position P to be measured, δ t arepresent the clocking error of described receiving position A, N pArepresent the complete cycle of phase between described position P to be measured and described receiving position A, ε Φ, PAfor the test error of described receiving position A.
7. method according to claim 6, is characterized in that, the distance of at least three receiving positions respectively and between described position to be measured described at least three second-phase potential differences described in described basis obtain, comprising:
The distance of at least three receiving positions respectively and between described position to be measured described in obtaining according to following formula;
△Φ AB＝2πλ -1(R PA-R PB+τ PAB)+△N PAB+ε Φ,AB
Wherein, △ N pAB=N pA-N pB, ε Φ, AB=ε Φ, PA-ε Φ, PB, τ pAB=τ pA-τ pB;
Wherein, △ Φ aBrepresent the second-phase potential difference between described receiver A and described receiver B; N pArepresent the complete cycle of phase between described position P to be measured and described receiving position A; N pBrepresent the complete cycle of phase between described position P to be measured and another receiving position B; ε Φ, PAfor the test error of described receiving position A; ε Φ, PBfor the test error of described receiving position B; τ pAfor between described position P to be measured and described receiving position A because transmission medium reflects the signal propagation errors caused; τ pBfor between described position P to be measured and described receiving position B because transmission medium reflects the signal propagation errors caused.
8. method according to claim 5, is characterized in that, the distance of at least three receiving positions described in described basis respectively and between described position to be measured and described at least three receiving positions obtain described position to be measured, comprising:
The position of described position to be measured is obtained according to the range formula of the distance of described at least three receiving positions respectively and between described position to be measured, described at least three receiving positions and point-to-point transmission.
CN201410276264.XA 2014-06-19 2014-06-19 Positioning method and device Withdrawn CN105182289A (en)

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