CN107454671B - A kind of range difference processing method and processing device based on TDOA positioning - Google Patents
A kind of range difference processing method and processing device based on TDOA positioning Download PDFInfo
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- CN107454671B CN107454671B CN201710589865.XA CN201710589865A CN107454671B CN 107454671 B CN107454671 B CN 107454671B CN 201710589865 A CN201710589865 A CN 201710589865A CN 107454671 B CN107454671 B CN 107454671B
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- 238000003672 processing method Methods 0.000 title claims abstract description 16
- 238000012545 processing Methods 0.000 title claims abstract description 9
- 238000000034 method Methods 0.000 claims description 14
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- 238000005516 engineering process Methods 0.000 abstract description 4
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- 241001269238 Data Species 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The present invention relates to TDOA field of locating technology, especially a kind of range difference processing method and processing device based on TDOA positioning.The present invention calculates any base station relative to the distance between positioning device difference；The base station that can be communicated according to node i is found into node j, establishes weighted digraph, each base station is considered as a node of weighted digraph；In weighted digraph, all paths from node i to node j are found, weight data of the node i relative to all paths of node j is obtained；According to node i relative to all paths of node j effective weight data and value average value, obtain node i to the range difference of node j to get to range difference of the positioning device relative to base station i to base station j.
Description
Technical field
The present invention relates to TDOA field of locating technology, especially a kind of range difference processing method and dress based on TDOA positioning
It sets.
Background technique
TDOA location technology is to utilize the distance between positioning device and two fixed base stations poor, passes through and constructs hyperbola side
Journey group, the final location coordinate information for obtaining positioning device.But since Hyperbolic Equation group is complicated Nonlinear System of Equations, make
It is extremely difficult that its optimal solution must be solved.In order to simplify solution procedure, it is desirable that main website is selected as in some base station, all range differences all turn
Change the range difference to other base stations relative to main website.In the case that in base station, number is more, this possibility of transformation is more, at present still
More not outstanding method.
Because range difference is the basis of the locating effect obtained in TDOA positioning system.In actual use,
Due to the complexity of environment, the distance between positioning device and two fixed base stations difference possibly can not be obtained, it is also possible to obtain
The range difference deviation obtained is larger.How research makes full use of these range differences, so that locating effect reaches best, has very heavy
The meaning wanted.
Summary of the invention
The technical problems to be solved by the present invention are: in view of the problems of the existing technology, it is a kind of fixed based on TDOA to provide
The range difference processing method and processing device of position.A plurality of active path is obtained by weighted digraph, and obtains corresponding distance difference,
High-precision distance difference is obtained after being averaging according to multiple distance differences, provides basic data for subsequent TDOA positioning.
The technical solution adopted by the invention is as follows:
It is a kind of based on TDOA positioning range difference processing method include:
Any base station is calculated relative to the distance between positioning device difference；
The base station that can be communicated according to node i is found into node j, establishes weighted digraph, each base station is considered as
One node of weighted digraph；
In weighted digraph, all paths from node i to node j are found, institute of the node i relative to node j is obtained
There is the weight data in path；
According to node i relative to all paths of node j weight data and value average value, and obtain node i and arrive
The range difference of node j to get to positioning device relative to base station i to the range difference of base station j.
Further, the calculating range difference detailed process is for a positioning device, and it is wide that positioning device receives base station
The timestamp broadcast, and it is uploaded to engine of positioning, then engine of positioning can calculate any two according to these timestamps
Base station is relative to the distance between positioning device difference.
Further, the base station that the searching node i can be communicated into node j refers to directly calculating by timestamp
When range difference of the positioning device relative to any two base station, then it is assumed that described two base stations can communicate.
Further, all paths of the searching from node i to node j refer to from node i by it is arbitrary other
Node reaches the path of node j.
Further, the node i refers to node i to node j institute relative to the weight data in all paths of node j
There is the corresponding distance difference in path.
Further, a kind of range difference processing method based on TDOA positioning includes processing step of the node j to node i,
Detailed process is:
All paths from node j to node i are found, weight number of the node j relative to all paths of node i is obtained
According to；
Obtain node j relative to all paths of node i weight data and value；
By the weight data in all paths of node i to node j and value with all paths of the node j relative to node i
Weight data and value sum seek draw value again.
Further, it is described average before, abnormal data erasing is carried out to the weight data in all paths.
Range difference processing unit based on the range difference processing method includes:
Weighted digraph computing module, for calculating any base station relative to the distance between positioning device difference；According to
The base station that node i can be communicated into node j is found, establishes weighted digraph, each base station is considered as weighted digraph
One node；
Range difference computing module, for finding all paths from node i to node j, being saved in weighted digraph
Weight data of the point i relative to all paths of node j；
According to node i relative to all paths of node j weight data and value average value, and obtain node i and arrive
The range difference of node j to get to positioning device relative to base station i to the range difference of base station j.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
The weighted digraph between any two base station can be made up of the distance between base station difference.And it is oriented according to weighting
The mulitpath of base station i to base station j in figure, obtains corresponding multiple range differences, carries out mean operation by multiple range differences, obtains
The distance difference of higher positioning accuracy provides basic data for subsequent TDOA positioning.And in order to improve distance difference accuracy,
It can also further be realized by reversely obtaining base station j and base station i relative to multiple range differences between positioning device.
Specific embodiment
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification unless specifically stated can be equivalent or with similar purpose by other
Alternative features are replaced.That is, unless specifically stated, each feature is an example in a series of equivalent or similar characteristics
.
Background introduction of the present invention:
Assuming that there is N number of base station to participate in TDOA positioning, then theoretically available all range differences are as follows: Δ Ti,j, wherein i
≠ j, i=1,2 ... N, j=1,2 ... N.Theoretically these range differences have following relationship:
ΔTi,j=-Δ Tj,i
ΔTi,j=Δ Ti,k+ΔTk,j(k≠i,k≠j)
ΔTi,j=Δ Ti,k+ΔTk,p+ΔTp,j(k, p ≠ i, k, p ≠ j, k ≠ p)
In fact, above-mentioned equation is not absolutely to set up due to the error of measurement, i.e., there should be following equation:
ΔTi,j=-Δ Tj,i+ΔT1
ΔTi,j=Δ Ti,k+ΔTk,j+ΔT2(k≠i,k≠j)
Wherein, Δ T1 and Δ T2 is random error, it is believed that the mean value of Δ T1 and Δ T2 are 0.Due to obtaining range difference
Method it is different, in certain methods, Δ T1 may be 0.But this has no effect on our discussion below, so following
In discussion, differentiation specially is not made to this.
In systems in practice, due to the complexity of environment, the positioning device that we can obtain relative to two base stations it
Between distance difference may not have, may there was only 1, it is also possible to have multiple.These data are adequately utilized, we can obtain
One better locating effect.
In order to more easily in these data, find out positioning device relative between any two base station it is all away from
Deviation makes full use of the processing method of weighted digraph to be handled.Processing method is as follows:
Each base station is considered as a node of weighted digraph, for a positioning device, if it is possible to directly
Δ T is calculated by timestampi,j, then it is assumed that from being connection base station i to base station j, weight is range difference.It is all
These can constitute a weighted digraph by the directly calculated range difference of timestamp.
Then in this weighted digraph, each communication path from base station i to base station j all corresponds to a distance
Difference, be worth for the path weight and.In this way, we can directly utilize these numbers of the algorithm process of all about weighted digraph
According to, and the Processing Algorithm of figure is highly developed.
Weighted digraph computing module and range difference computing module are realized by engine of positioning.
Embodiment one:
Specific embodiment are as follows: be provided with base station i, j, k, m, n, o；Each base station is considered as one of weighted digraph
Node；
Step 1: calculating any two base station relative to the distance between positioning device difference；
Specifically: for a positioning device, positioning device receives the timestamp of base station broadcast, and is uploaded to positioning
Engine, then engine of positioning can according to these timestamps, calculate any two base station relative between positioning device away from
Deviation；
1) if base station i and range difference Δ T of the base station j relative to positioning device can be calculated by timestampi,′j；Then save
Point i directly arrives node j；
2) if base station i and range difference Δ T of the base station k relative to positioning device can be calculated by timestampi,k；
If base station k and range difference Δ T of the base station j relative to positioning device can be calculated by timestampk,j；Then node i
The route that can pass through to node j arrives node j to node k for node i again；
Then range difference Δ T "i,j=Δ Ti,k+ΔTk,j；
3) if base station i and range difference Δ T of the base station m relative to positioning device can be calculated by timestampi,m；
If base station m and range difference Δ T of the base station k relative to positioning device can be calculated by timestampm,k；
If base station k and range difference Δ T of the base station j relative to positioning device can be calculated by timestampk,j；
The route that then node i can pass through to node j is node i to node m to node k to node j；
Then range difference Δ T " 'i,j=Δ Ti,m+ΔTm,k+ΔTk,j；
4) if base station i and range difference Δ T of the base station m relative to positioning device can be calculated by timestampi,m；
If base station m and range difference Δ T of the base station o relative to positioning device can be calculated by timestampm,o；
If base station o and range difference Δ T of the base station n relative to positioning device can be calculated by timestampo,n；
If base station n and range difference Δ T of the base station k relative to positioning device can be calculated by timestampn,k；
If base station k and range difference Δ T of the base station j relative to positioning device can be calculated by timestampk,j；
The route that then node i can pass through to node j is node i to node m to node o to node n to node k to node j；
Then range difference Δ T " "i,j=Δ Ti,m+ΔTm,o+ΔTo,n+ΔTn,k+ΔTk,j；
Step 2: weighted digraph is established in the base station that can be communicated according to node i into node j；Side in weighted digraph
Weight respective distances are poor；
Step 3: in weighted digraph, finding all paths from node i to node j, obtain node i relative to node
The weight data in all paths of j, and assume there was only this 4 paths from node i to node j, it may be assumed that
First paths, node i directly reach node j, and corresponding routine weight value is Δ T 'i,j；
Second paths, node i to node k to node j, corresponding routine weight value are Δ T "i,j；Third path, node
I to node m to node k to node j, corresponding routine weight value are Δ T " 'I, j；
Article 4 path, node i to node m to node o to node n to node k to node j, corresponding routine weight value are
ΔT""I, j；
Step 4: abnormal data erasing is carried out to all weight datas of node i to node j；
Step 5: obtain the corresponding weight of 4 paths and, then four weights and:
ΔT′i,j+ΔT"′i,j+ΔT"′i,j+ΔT""i,j=-Δ Tj,i
+ΔTi,k+ΔTk,j
+ΔTi,m+ΔTm,k+ΔTk,j
+ΔTi,m+ΔTm,o+ΔTo,n+ΔTn,k+ΔTk,j；
To above-mentioned Δ T 'i,j+ΔT"i,j+ΔT"′i,j+ΔT""i,jIt averages, high-precision node i can be obtained to section
The range difference of point j.Obtain high-precision range difference of the positioning device relative to base station i to base station j.
Embodiment two: step 21: on the basis of embodiment one, the corresponding weight of 4 paths of acquisition node i to node j
With Δ T 'i,j+ΔT"i,j+ΔT"′i,j+ΔT""i,j, similarly steps 1 and 2,3 obtain finding from node j to node i in embodiment one
All paths, and assume there was only following 4 paths from node j to node i:
First paths: node j directly arrives node i；
Second paths: the route that node j to node i can pass through arrives node i to node k for node j again；Then range difference Δ
T"j,i=Δ Tj,k+ΔTk,i；
Third path: the route that node j to node i can pass through is node j to node k to node m to node i；Then away from
Deviation Δ T " 'j,i=Δ Tj,k+ΔTk,m+ΔTm,i；
Article 4 path: the route that node j to node i can pass through is node j to node k to node n to node o to node
M is to node i；Then range difference Δ T " "j,i=Δ Tj,k+ΔTk,n+ΔTn,o+ΔTo,m+ΔTm,i；
Step 22: obtain node j relative to all paths of node i weight data i.e.:
First paths, node j directly reach node i, and corresponding routine weight value is Δ T 'j,i；
Second paths, node j to node k to node i, corresponding routine weight value are Δ T "J, i；
Third path, node j to node k to node m to node i, corresponding routine weight value are Δ T " 'j,i；
Article 4 path, node j to node k to node n to node o to node m to node i, corresponding routine weight value are
ΔT""J, i；
Step 23: abnormal data erasing is carried out relative to the weight data in all paths of node i to node j；
Step 24: obtain node j to the corresponding weight of 4 paths of node i and, then four weights with:
ΔT′j,i+ΔT"j,i+ΔT"′j,i+ΔT""j,i=-Δ Ti,j
+ΔTj,k+ΔTk,i
+ΔTj,k+ΔTk,m+ΔTm,i
+ΔTj,k+ΔTk,n+ΔTn,o+ΔTo,m+ΔTm,i；
To above-mentioned Δ T 'j,i+ΔT"j,i+ΔT"′j,i+ΔT""j,iSeek opposite number；
Step 25: 4 paths corresponding weight and Δ T ' of the node i to node j will be obtained in embodiment one againi,j+Δ
T"i,j+ΔT"′i,j+ΔT""i,j, and node j is obtained in embodiment two to the corresponding weight of 4 paths of node i and Δ T 'j,i+
ΔT"j,i+ΔT"′j,i+ΔT""j,iOpposite number summation be averaged, then obtain high-precision node i to node j range difference；
Improve the precision of range difference.
If base station number is more, the range difference that can be obtained between two base stations is also more, using these redundant datas,
We can not only increase positioning accuracy, additionally it is possible to increase the stability of positioning system.
The invention is not limited to specific embodiments above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (6)
1. a kind of range difference processing method based on TDOA positioning, characterized by comprising:
Any two base station is calculated relative to the distance between positioning device difference；
The base station that can be communicated according to node i is found into node j, establishes weighted digraph, each base station is considered as weighting
One node of digraph；The base station that the searching node i can be communicated into node j refers to directly calculating by timestamp
When range difference of the positioning device relative to any two base station, then it is assumed that described two base stations can communicate；
In weighted digraph, all paths from node i to node j are found, all roads of the node i relative to node j are obtained
The weight data of diameter；The node i refers to node i to all roads node j relative to the weight data in all paths of node j
The corresponding distance difference of diameter；
According to node i relative to all paths of node j weight data and value average value, obtain node i to node j's
Range difference to get to positioning device relative to base station i to the range difference of base station j.
2. a kind of range difference processing method based on TDOA positioning according to claim 1, it is characterised in that the calculating
Range difference detailed process is for a positioning device, and positioning device receives the timestamp of base station broadcast, and is uploaded to and is determined
Position engine, then engine of positioning can calculate any two base station relative between positioning device according to these timestamps
Range difference.
3. a kind of range difference processing method based on TDOA positioning according to claim 1, it is characterised in that the searching
All paths from node i to node j refer to reaching the path of node j by other arbitrary nodes from node i.
4. according to claim 1 to a kind of range difference processing method based on TDOA positioning described in one of 3, it is characterised in that also
Processing step including node j to node i, detailed process are:
All paths from node j to node i are found, weight data of the node j relative to all paths of node i is obtained；
Obtain node j relative to all paths of node i weight data and value；
By the weight data in all paths of node i to node j and value with power of the node j relative to all paths of node i
Value Data is averaged again with value summation.
5. a kind of range difference processing method based on TDOA positioning according to claim 4, it is characterised in that described to ask flat
Before mean value, abnormal data erasing is carried out to the weight data in all paths.
6. the range difference processing unit based on range difference processing method described in claim 5, characterized by comprising:
Weighted digraph computing module, for calculating any base station relative to the distance between positioning device difference；According to searching
The base station that node i can be communicated into node j, establishes weighted digraph, each base station is considered as one of weighted digraph
Node；
Range difference computing module, for finding all paths from node i to node j, obtaining node i in weighted digraph
The weight data in all paths relative to node j；
According to node i relative to all paths of node j weight data and value average value, and obtain node i to node j
Range difference to get to positioning device relative to base station i to the range difference of base station j.
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| CN101221235A (en) * | 2008-02-02 | 2008-07-16 | 北京航空航天大学 | A location refinement method for wireless sensor networks based on hop count |
| CN101472334A (en) * | 2007-12-28 | 2009-07-01 | 三星电子株式会社 | Method and device for eliminating NLOS of wireless honeycomb network |
| CN102547827A (en) * | 2010-12-30 | 2012-07-04 | 展讯通信（上海）有限公司 | Identification method for non-visual path and mobile terminal positioning method |
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| US8489114B2 (en) * | 2011-09-19 | 2013-07-16 | Qualcomm Incorporated | Time difference of arrival based positioning system |
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| CN101472334A (en) * | 2007-12-28 | 2009-07-01 | 三星电子株式会社 | Method and device for eliminating NLOS of wireless honeycomb network |
| CN101221235A (en) * | 2008-02-02 | 2008-07-16 | 北京航空航天大学 | A location refinement method for wireless sensor networks based on hop count |
| CN102547827A (en) * | 2010-12-30 | 2012-07-04 | 展讯通信（上海）有限公司 | Identification method for non-visual path and mobile terminal positioning method |
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