CN106353728A - Method of ranging and positioning based on optical synchronization signal and devices thereof - Google Patents
Method of ranging and positioning based on optical synchronization signal and devices thereof Download PDFInfo
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- CN106353728A CN106353728A CN201610709211.1A CN201610709211A CN106353728A CN 106353728 A CN106353728 A CN 106353728A CN 201610709211 A CN201610709211 A CN 201610709211A CN 106353728 A CN106353728 A CN 106353728A
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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
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
The MBS transmits the CS and SYNi. MS receives the CS and transmits S. The MBS receives the positioning signal S and records the arrival time information. The SBSi receives SYNi and S, and records the arrival time of the two signals. Based on the aforesaid time information and the distance between the MBS and the SBSi, the distances from the MS to MBS and the SBSi are calculated. The present invention uses optical signal as synchronizing signal, the receiver of which costs less as compared to UWB signal; compared with sound signals, the optical signal has shorter wave and higher frequency and steeper rising edge after being modulated by pulses as ; compared with other narrow-band radio-frequency signal, the optical signal has shorter wave and is less sensitive to impacts resulted from multipath when multiple paths of signals overlay and requires no complex phase demodulation.
Description
Technical field
It relates to radio communication, more specifically, it relates to range finding and positioning field.
Background technology
Short distance, high precision wireless indoor positioning technologies are very wide in urban compact region and indoor closing space application
General.The location algorithm that existing indoor positioning technologies are commonly used has the toa positioning time of advent and reaching time-difference tdoa positioning etc..Above-mentioned
Algorithm requires accurate time synchronized between each locating base station and mobile terminal to can be only achieved higher positioning in implementation process
Precision.Two kinds are mainly had for conventional synchronous method between each locating base station, one is each locating base station in prior art
In each self-contained accurate synchronised clock, such as atomic clock etc., this method is relatively costly, and needs periodically it is entered with row clock school
Test；Two is the synchronizing signal transmitted between each locating base station, and the selection of synchronizing signal is the pass of impact synchronization accuracy and stepped cost
Key factor.Adopting radiofrequency signal existing synchronizing signal, including narrow radio frequency signal, ultra-wide band radio-frequency signal etc. more.Wherein narrow
Band radiofrequency signal includes: Continuous Wave with frequency modulation, frequency modulation on pulse etc., during using this kind of signal as synchronizing signal, when there is multipath
In the case of, multi-channel rf signal can be superimposed in receiving terminal, needs to separate multiple signals using phase demodulating, just enables same
Step, and phase demodulation algorithm and receiver structure are complex, demodulation effect is unstable, and receiver cost is higher.Work as employing
When ultra-wide band radio-frequency signal is as synchronizing signal, because its time domain resolving power is higher, so there being preferable synchronous effect, but receiver
Need ultra-broadband signal is filtered, ultra broadband amplification, the analog digital conversion of high sampling rate etc. are processed, just can accurately detect
Time domain edge, this makes receiver cost steeply rise.Therefore, Low-cost, high-precision synchronous alignment system become
The problem of this area research worker urgent need to resolve.
Content of the invention
According to one aspect of the present invention it is proposed that a kind of range unit.This positioner includes first device, the second dress
Put and 3rd device.First device transmitting roll-call signal and synchronizing signal, wherein, roll-call signal and synchronizing signal have known
Time relationship, synchronizing signal is optical signal.Second device receives roll-call signal, and transmitting positioning letter under the triggering of roll-call signal
Number.3rd device receives synchronizing signal and framing signal, wherein, known to the distance between 3rd device and first device.Wherein,
One device also receives framing signal；Range unit is launched roll-call signal and synchronizing signal by first device and is received positioning letter
Number, 3rd device receives the temporal information of synchronizing signal and framing signal, and the distance between 3rd device and first device, solution
Calculate second device to the distance of first device and 3rd device.
According to another aspect of the present invention it is proposed that a kind of distance-finding method.This localization method includes: is generated and transmitted by a little
Name signal and synchronizing signal, described roll-call signal and synchronizing signal have known time relationship；Touching in described roll-call signal
Give and be generated and transmitted by framing signal；And the launch time information of record roll-call signal and synchronizing signal, record location signal
The temporal information being received by roll-call signal and synchronizing signal discharger, recording synchronism signal and framing signal reach same device
Temporal information, and the launch time information according to roll-call signal and synchronizing signal, framing signal is called the roll signal and synchronous believe
The temporal information that the temporal information that number discharger receives, synchronizing signal and framing signal reach same device resolves framing signal
Discharger is to the distance of roll-call signal and synchronizing signal discharger and synchronizing signal and positioning signal reception device.
According to another aspect of the present invention it is proposed that a kind of positioner.This positioner include first device, second
Device, 3rd device and the 4th device.First device transmitting roll-call signal and synchronizing signal, wherein, roll-call signal and synchronization are believed
Number there is known time relationship, synchronizing signal is optical signal, and known to the physical location of first device.Second device receiving point
Name signal, and launch framing signal under the triggering of roll-call signal.3rd device receives synchronizing signal and framing signal, wherein,
Known to the physical location of 3rd device.4th device, receives synchronizing signal and framing signal, wherein, the physical bit of the 4th device
Put known.Wherein, first device also receives framing signal；Positioner launches roll-call signal and synchronizing signal by first device
And reception framing signal, the temporal information of 3rd device and the 4th device reception synchronizing signal and framing signal, and first
The physical location of device, 3rd device and the 4th device, resolves the positional information of second device.
According to another aspect of the present invention it is proposed that a kind of localization method.This localization method includes: is generated and transmitted by a little
Name signal and synchronizing signal, described roll-call signal and synchronizing signal have known time relationship；Touching in described roll-call signal
Give and be generated and transmitted by framing signal；And the launch time information of record roll-call signal and synchronizing signal, record location signal
The temporal information being received by roll-call signal and synchronizing signal discharger, recording synchronism signal and framing signal reach same device
Temporal information, recording synchronism signal and framing signal reach the temporal information of another device, and according to roll-call signal and synchronization
Temporal information that the launch time information of signal, framing signal are received by called the roll signal and synchronizing signal discharger, synchronous believe
Number and framing signal reaches the temporal information of same device and synchronizing signal and framing signal reaches the temporal information of another device
Resolve the positional information of framing signal discharger.
Brief description
Fig. 1 provides the schematic diagram of the distance measuring structure 100 according to an embodiment of the present invention；
Fig. 2 provides the work schedule schematic diagram of above-mentioned distance measuring structure 100；
Fig. 3 provides the schematic diagram of the alignment system 300 according to an embodiment of the present invention；
Fig. 4 provides the schematic diagram of the positioning master station internal structure 400 according to an embodiment of the present invention；
Fig. 5 provides the schematic diagram of the positioning slave station internal structure 500 according to one embodiment of the invention；
Fig. 6 provides the schematic diagram of the device internal structure 600 to be positioned according to one embodiment of the invention；
The flow chart that Fig. 7 is shown according to the localization method 700 of one embodiment of the invention.
Specific embodiment
The specific embodiment of the present invention is described more fully below it should be noted that the embodiments described herein is served only for illustrating
Illustrate, be not limited to the present invention.In the following description, in order to provide thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that: need not be carried out this using these specific detail
Bright.In other instances, in order to avoid obscuring the present invention, known circuit, material or method are not specifically described.
Throughout the specification, meaning is referred to " embodiment ", " embodiment ", " example " or " example "
: be comprised at least one embodiment of the present invention with reference to the special characteristic of this embodiment or example description, structure or characteristic.
Therefore, in phrase " in one embodiment ", " in an embodiment ", " example " of each place appearance of entire disclosure
Or " example " is not necessarily all referring to same embodiment or example.Furthermore, it is possible to any suitable combination and or sub-portfolio will be specific
Feature, structure or property combination be in one or more embodiments or example.Additionally, those of ordinary skill in the art should manage
Solution, provided herein diagram be provided to descriptive purpose, and diagram is not necessarily drawn to scale.It should be appreciated that working as
Claim " element " " being connected to " or during " coupled " to another element, it can be to be directly connected or coupled to another element or permissible
There is intermediary element.On the contrary, when claiming element " being directly connected to " or " being directly coupled to " another element, there is not cental element
Part.Identical reference indicates identical element.Term "and/or" used herein includes what one or more correlations were listed
Any and all combination of project.
Fig. 1 provides the schematic diagram of the distance measuring structure 100 according to an embodiment of the present invention.As shown in figure 1, this distance measuring structure
100 exemplarily include positioning master station mbs, positioning slave station sbsi and device ms to be positioned.In one embodiment, described positioning
Main website mbs and/or positioning slave station sbsi be geographically fix and three-dimensional position it is known that and device ms to be positioned is geographically may be used
Movement.
Positioning master station mbs launches roll-call signal cs and optical synchronous signal syni.Wherein, roll-call signal cs and phototiming letter
Number syni has known time relationship.For example, in one embodiment, roll-call signal cs and optical synchronous signal syni is simultaneously
Transmitting.Again for example, in another embodiment, the transmitting of optical synchronous signal syni and the transmitting of roll-call signal cs have known to one
Time difference.Device ms to be positioned receives the roll-call signal cs of positioning master station mbs transmitting, meanwhile or postpone one default
Framing signal s is launched, positioning master station mbs receives framing signal s and records it and reach the temporal information of itself after time.Positioning from
The sbsi that stands receives framing signal s of the optical synchronous signal syni and device ms to be positioned transmitting of positioning master station mbs transmitting, and records
Both reach the temporal information of itself.
In one embodiment, optical synchronous signal syni can be the visible light flash of laser, infrared light or high intensity；Call the roll
Signal cs can be optical signal or radiofrequency signal, such as 2.4g signal of communication, continuous wave signal, pulse signal, ultra-broadband signal etc.；
Framing signal s can be ultra-broadband signal, continuous wave signal, pulse signal etc..The transmission channel of above-mentioned signal can be selected from true
Any one in sky, air, Wireline, waters or their combinations.
Fig. 2 provides the work schedule schematic diagram of above-mentioned distance measuring structure 100.As shown in Fig. 2 positioning master station mbs is in the t0 moment
Launch roll-call signal cs to device ms to be positioned, meanwhile, positioning master station mbs is to positioning slave station sbsi transmitting optical synchronous signal
syni.Slave station sbsi is in t1 reception to optical synchronous signal syni for positioning.Device to be positioned is in t2 reception to letter of calling the roll
Number cs, and it is spaced a default delay time td, launch framing signal s in the t3 moment.Positioning slave station sbsi connect in the t4 moment
Receive framing signal s, positioning master station mbs is in t5 reception to framing signal s.
It will be appreciated by those skilled in the art that in the embodiment depicted in figure 2, positioning master station mbs is simultaneously emitted by roll-call signal
Cs and optical synchronous signal syni.However, in other embodiments, the transmitting of the transmitting of optical synchronous signal syni and roll-call signal cs
Can there is a known time difference.And, in the embodiment depicted in figure 2, device ms to be positioned is receiving roll-call signal cs
After be spaced a default delay time td after launch framing signal s again, however, in other embodiments, device to be positioned
Ms can also launch framing signal s while receiving roll-call signal cs.
The moment that positioning master station mbs launches roll-call signal cs is t0, and the moment receiving framing signal s is t5, when this section
Between interval contain roll-call signal cs and framing signal s travel to and fro between respectively positioning master station mbs and device ms to be positioned propagation when
Between and default delay time td, and the signal cs and framing signal s biography between positioning master station mbs and device ms to be positioned of calling the roll
Identical between sowing time, all for tm, therefore foregoing description can use (1) formula to represent.
T5-t0=tm+tm+td (1)
And call the roll the signal cs and framing signal s propagation time tm between positioning master station mbs and device ms to be positioned can
Represented with (2) formula.
Wherein lm is the distance between device ms to be positioned and positioning master station mbs, and c is the speed that signal is propagated in space.
By (2) formula and then (3) formula can be can get.
By above-mentioned be calculated device ms to be positioned reach positioning master station mbs apart from lm.
The moment t0 launching optical synchronous signal syni from positioning master station mbs receives framing signal s to positioning slave station sbsi
Propagation time tm between positioning master station mbs and device ms to be positioned for the roll-call signal s is contained between in the period of moment t4, undetermined
Position device ms default delay time td, and during propagation between device ms to be positioned and positioning slave station sbsi for framing signal s
Between ti.Reach the process apart from lm of positioning master station mbs by asking for device ms to be positioned, if having obtained framing signal s
Propagation time ti between device ms to be positioned and positioning slave station sbsi, you can try to achieve device ms to be positioned and reach positioning slave station
Sbsi apart from li.Can be represented by (4) formula.
Li=ti c=(t4-t0-td-tm) c (4)
But the moment t0 of positioning master station mbs transmitting optical synchronous signal syni is the clock according to positioning master station mbs itself
Record, positioning slave station sbsi receive framing signal s moment t4 be according to positioning the slave station sbsi clock log of itself,
In one embodiment, the clock of positioning master station mbs and positioning slave station sbsi is not synchronous, therefore, for positioning slave station
For sbsi, the moment t0 that positioning master station mbs launches optical synchronous signal syni is unknown, but positioning slave station sbsi receives light
The moment t1 of synchronizing signal syni is known, and optical synchronous signal syni is between positioning master station mbs and positioning slave station sbsi
Transmission path lmi can be resolved by both physical locations, and that is, optical synchronous signal syni is in positioning master station mbs and positioning slave station
Transmission time tmi of sbsi can be asked, then positioning master station mbs launch optical synchronous signal syni moment can be positioned slave station sbsi
Try to achieve.In the present embodiment, positioning master station mbs transmitting optical synchronous signal syni and roll-call signal cs is synchronization, therefore fixed
The moment t0 of position main website mbs transmitting roll-call signal cs can be positioned slave station sbsi and try to achieve.It will be appreciated by those skilled in the art that
When positioning master station mbs transmitting optical synchronous signal syni and roll-call signal cs has a known time interval, only need to be further according to
Described time interval is counter to release the moment t0 that positioning master station mbs launches roll-call signal cs.
Such that it is able to obtain device ms to be positioned reach positioning slave station sbsi apart from li, that is, (4) formula can be rewritten into (5)
Formula.
In the present embodiment, using optical signal as synchronizing signal, compared to ultra-broadband signal, the receiver of optical signal becomes
This is relatively low；Compared to audio signal, wavelength of optical signal is short, frequency is high, and after pulse modulated, rising edge is precipitous, thus has higher
Synchronization accuracy；Compared to other narrow radio frequency signals, wavelength of optical signal is shorter, when multiple signals are superimposed, multipath is produced
Impact insensitive it is not necessary to carry out complexity phase demodulating.
Fig. 3 provides the schematic diagram of the alignment system 300 according to an embodiment of the present invention.As shown in Figure 3, alignment system
300 exemplarily include positioning master station mbs, positioning slave station sbs1 and sbs2 and device ms to be positioned.In one embodiment,
Described positioning master station mbs, positioning slave station sbs1 and sbs2 can be geographically fix and three-dimensional position it is known that and dress to be positioned
It is moveable for putting ms.In the embodiment shown in fig. 3, positioning master station mbs, positioning slave station sbs1 and device ms to be positioned, fixed
Position main website mbs, positioning slave station sbs2 and device ms to be positioned respectively constitute the distance measuring structure 100 shown in Fig. 1, that is, with Fig. 1 institute
Slave station sbsi and device ms to be positioned is corresponding for positioning master station mbs shown, positioning.They with distance measuring structure 100 shown in Fig. 1
Similar mode is operated.Therefore, it will be appreciated by those skilled in the art that alignment system 300 shown in Fig. 3 may include and quotes
The content of embodiment illustrated in fig. 1, without running counter to the spirit of the present invention.
Positioning master station mbs launches roll-call signal cs to device ms to be positioned.Meanwhile, or postpone one section of known time
Afterwards, positioning master station mbs is respectively to positioning slave station sbs1 and positioning slave station sbs2 transmitting optical synchronous signal syn1 and syn2.This area
It will be appreciated by the skilled person that described optical synchronous signal syn1 and syn2 can be same signal or unlike signal, work as light
When synchronizing signal syn1 and syn2 are unlike signals, its x time can be mutually can also to have a systemic presupposition in the same time
Time difference.After device ms to be positioned receives roll-call signal cs, meanwhile, or after one known time of delay, transmitting positioning
Signal s.Positioning master station receives framing signal s, and records it and reach the temporal information of itself.Positioning slave station sbs1 and sbs2 is respectively
Receive optical synchronous signal syn1 and syn2, and framing signal s, and record it respectively and reach the temporal information of itself.When described
Between information can be the due in of signal or the reaching time-difference of signal.
Launch roll-call signal cs using positioning master station mbs and receive the temporal information of framing signal s and dress to be positioned
Put ms from receiving the delay time td to transmitting framing signal s for the roll-call signal cs, device ms to be positioned can be calculated and determine
Position main website mbs between apart from lm.Receive the time letter of optical synchronous signal syn1 and framing signal s using positioning slave station sbs1
Breath, positioning master station mbs of systemic presupposition launch the interval time of roll-call signal cs and optical synchronous signal syn1, device ms to be positioned
From receive roll-call signal cs to the transmitting delay time td of framing signal s, positioning master station mbs and positioning slave station sbs1 away from
Distance lm between the device ms to be positioned calculating from lm1 and before and positioning master station mbs, can calculate device to be positioned
Ms and positioning slave station sbs1 between apart from l1.In the same manner, optical synchronous signal syn2 and positioning letter are received using positioning slave station sbs2
The temporal information of number s, positioning master station mbs of systemic presupposition launch roll-call signal cs and optical synchronous signal syn2 interval time,
Device ms to be positioned from receive roll-call signal cs to the transmitting delay time td of framing signal s, positioning master station mbs and positioning from
Stand between sbs2 apart from lm2 and between the device ms to be positioned that calculates before and positioning master station mbs apart from lm, can resolve
Go out device ms to be positioned and positioning slave station sbs1 between apart from l2.
In one embodiment, positioning master station mbs1 transmitting roll-call signal cs, optical synchronous signal syn1 and syn2 are same
In the moment, it is t0 that positioning master station mbs launches roll-call signal cs with the time interval receiving framing signal s, and positioning slave station sbs1 connects
Receiving optical synchronous signal syn1 and the time interval of framing signal s is t1, and positioning slave station sbs2 receives optical synchronous signal syn2
Time interval with framing signal s is t2, then device ms to be positioned reaches positioning master station mbs, positions slave station sbs1's and sbs2
(6) formula, (7) formula, (8) formula is can use to represent apart from lm, l1, l2.
L1=(t1-td) c+lm1-lm (7)
L2=(t2-td) c+lm2-lm (8)
Using device ms to be positioned reach positioning master station mbs, positioning slave station sbs1 and sbs2 apart from lm, l1, l2, and
Positioning master station mbs, the positional information of positioning slave station sbs1 and sbs2 can resolve the positional information of device ms to be positioned, resolving side
Method is known in the art technology, and is not the emphasis that the present invention discloses, so being not described in detail here.Those skilled in the art
It should be appreciated that positioning master station mbs, positioning slave station sbsi, the number of device ms to be positioned flexibly can change according to practical application scene
Become.
Fig. 4 provides the schematic diagram of the positioning master station internal structure 400 according to one embodiment of the invention.As shown in figure 4, it is fixed
Position main website mbs includes optical synchronous signal transmitter module 401, roll-call signal emission module 402, antenna 403, positioning signal reception mould
Block 404.Wherein, optical synchronous signal transmitter module 401 is used for launching optical synchronous signal to one or more positioning slave station sbsi
Syni, its internal structure is determined by the signal form of the optical synchronous signal syni of system requirements, if optical synchronous signal syni is sharp
Light, then optical synchronous signal transmitter module 401 comprise generating laser；If optical synchronous signal syni is infrared light, phototiming is believed
Number transmitter module 401 comprises infrared transmitting tube；If optical synchronous signal syni is the visible light flash of high intensity, optical synchronous signal is sent out
Penetrate module 401 and comprise blinker signal emitter.Optical synchronous signal transmitter module 401 launch optical synchronous signal syni number and
Direction is determined by the number positioning slave station sbsi and orientation.Roll-call signal emission module 402 is used for one or more to be positioned
Device ms launches roll-call signal cs, and its internal structure is determined by the signal form of the roll-call signal cs of system requirements, roll-call signal
Cs can be optical signal, 2.4g signal of communication, continuous wave signal, pulse signal, ultra-broadband signal etc..Roll-call signal cs launches mould
The roll-call signal cs that block 402 is generated travels in space through antenna 403.Positioning signal reception module 404 is used for receiving
From framing signal s of antenna 403, and record it and reach the temporal information of itself, the present embodiment is with framing signal s as ultra broadband
As a example signal, positioning signal reception module 404 includes wave filter, ultra-wideband amplifier, analog-digital converter, signal processor.?
In one embodiment, positioning master station also includes control module 405, for controlling optical synchronous signal transmitter module 401, roll-call signal
Transmitter module 402, the sequential relationship of positioning signal reception module 404, data transfer etc..
Fig. 5 provides the schematic diagram of the positioning slave station internal structure 500 according to one embodiment of the invention.As shown in figure 5, it is fixed
Position slave station includes optical synchronous signal receiver module 501, antenna 502, positioning signal reception module 503.Wherein, optical synchronous signal connects
Receive module 501 and be used for receiving optical synchronous signal syni, and record it and reach the temporal information of itself.Its concrete structure depends on light
The signal form of synchronizing signal syni.If optical synchronous signal syni is laser, optical synchronous signal receiver module 501 includes optics
Lens, light-sensitive device etc..The angle of the optical lenses in optical synchronous signal receiver module 501 during cloth station, can be adjusted,
Make it be directed at the optical synchronous signal transmitter module 401 in positioning master station mbs, make the two constitute sighting distance path.Positioning signal reception
Module 503 is used for receiving framing signal s from antenna 502, and records it and reach the temporal information of itself, and the present embodiment is with fixed
As a example position signal s is ultra-broadband signal, positioning signal reception module 503 includes wave filter, ultra-wideband amplifier, analog digital conversion
Device, signal processor.In one embodiment, positioning slave station also includes control module 504, for controlling optical synchronous signal to receive
Module 501, the sequential relationship of positioning signal reception module 503, data transfer etc..
Fig. 6 provides the schematic diagram of the device internal structure 600 to be positioned according to one embodiment of the invention.As shown in fig. 6,
Device to be positioned includes antenna 601, roll-call signal receiving module 602, framing signal generation module 603.Wherein, roll-call signal connects
Receive module 602 and receive the roll-call signal cs incoming by antenna 601, and send framing signal to framing signal generation module 603 and send out
Penetrate instruction lc.After framing signal generation module 603 receives framing signal firing order lc, it is generated and transmitted by framing signal s, and
There is provided and travel in space to antenna 601.The present embodiment so that framing signal s is as ultra-broadband signal as a example, then produce by framing signal
Raw module 603 includes ultra-wideband pulse and produces circuit, shaping circuit, ultra-wide band filter and amplifier.In one embodiment,
Device ms to be positioned also includes time delay module 604, so that after device ms to be positioned receives roll-call signal cs, time delay one is preset
Time launch framing signal s again.
Those skilled in the art should be to solve, and the antenna in Fig. 5, Fig. 6, embodiment illustrated in fig. 7 is functional module, its work(
Can be transmitting and receipt signal, therefore need flexibly to select antenna system according to signal form.When a certain device have transmitting and/or
During the function of reception variety classes signal, Anneta module can comprise multiple different types of antennas according to signal form.
In one embodiment, positioning master station mbs shown in Fig. 5, Fig. 6, Fig. 7, positioning slave station sbsi, device ms to be positioned
Constitute alignment system 300 shown in Fig. 3.Also include distance in described alignment system 300 and resolve module and position resolving module.Described
Distance resolves module and position resolves module and can be divided in different device, also can be integrated in same device.For example, distance
Resolve module to be respectively placed in positioning master station mbs and positioning slave station sbsi, be respectively used to resolve device ms arrival positioning to be positioned
Main website mbs and the distance of positioning slave station sbsi, and position resolves module and is integrated in a certain device, to collect device ms to be positioned
Reach positioning master station mbs and the distance of positioning slave station sbsi, thus resolving the positional information of device ms to be positioned.Again for example, institute
State distance resolving module and position resolves module and is integrated in same device, other devices resolve apart from required to the transmission of this device
Signal transmitting or the temporal information reaching, resolved device ms to be positioned and reached positioning master station mbs and positioning by this device is unified
The distance of slave station sbsi and the positional information of device m to be positioned.
The flow chart that Fig. 7 is shown according to the localization method 700 of one embodiment of the invention.Localization method includes walking as follows
Rapid:
Step 701: positioning master station mbs to positioning slave station sbsi transmitting synchronizing signal syni, meanwhile or interval is default
Time to device ms to be positioned launch roll-call signal cs.
Step 702: after device ms to be positioned receives roll-call signal cs, meanwhile or interval default time transmitting is fixed
Position signal s.
Step 703: positioning master station mbs receives framing signal s, and records it and reach the time of itself.
Step 704: positioning slave station sbsi receives synchronizing signal syni and framing signal s, and record the two and reach itself
Temporal information.
Step 705: alignment system according to the time of arrival (toa) information of record in step 703 and 704, and each positioning from
The distance stood between sbsi and positioning master station mbs, resolves device ms to be positioned and reaches between positioning master station mbs and each positioning slave station sbsi
Distance.
Step 706: alignment system according to device ms to be positioned reach between positioning master station mbs and each positioning slave station sbsi away from
From, and the positional information of positioning master station mbs and each positioning slave station sbsi, resolve the position of device ms to be positioned.
As the above mentioned although having illustrated and described the preferred embodiments of the present invention, but without departing substantially from this
In the case of bright spirit and scope, many changes can be carried out.Thus, the scope of the present invention is not by the open institute of preferred embodiment
Limit.But it should to determine the present invention entirely by reference to following claims.
Claims (10)
1. a kind of range unit, comprising:
First device, transmitting roll-call signal and synchronizing signal, wherein, roll-call signal and synchronizing signal have known time pass
System, synchronizing signal is optical signal；
Second device, receives roll-call signal, and launches framing signal under the triggering of roll-call signal；And
3rd device, receives synchronizing signal and framing signal, wherein, known to the distance between 3rd device and first device；
Wherein, first device also receives framing signal；Range unit by first device launch roll-call signal and synchronizing signal with
And reception framing signal, 3rd device receives the temporal information of synchronizing signal and framing signal, and 3rd device and the first dress
Distance between putting, resolves second device to the distance of first device and 3rd device.
2. range unit as claimed in claim 1, wherein, framing signal is ultra-broadband signal.
3. range unit as claimed in claim 1, wherein, first device includes:
Synchronizing signal transmitter module, is generated and transmitted by synchronizing signal, and wherein, synchronizing signal transmitter module is generating laser, red
One of external transmitter or blinker signal emitter or its combination in any；
Roll-call signal emission module, is coupled to antenna to be generated and transmitted by roll-call signal；
Positioning signal reception module, is coupled to antenna to receive framing signal；And
Antenna, receives from the roll-call signal of roll-call signal emission module and propagates to space, receive framing signal with provide to
Positioning signal reception module.
Wherein, first device record transmitting synchronizing signal and roll-call signal, and the temporal information receiving framing signal.
4. range unit as claimed in claim 1, wherein, second device includes:
Antenna, receives roll-call signal to provide to roll-call signal receiving module, and receives positioning letter from framing signal generation module
Number and propagate to space；
Roll-call signal receiving module, is coupled to antenna to receive roll-call signal, and produce framing signal firing order with provide to
Framing signal generation module；And
Framing signal generation module, receives framing signal firing order, to produce framing signal under its triggering, and provides to sky
Line.
5. range unit as claimed in claim 4, wherein, second device also includes time delay module, so that second device is connecing
After receiving roll-call signal, one known time of time delay launches framing signal again.
6. range unit as claimed in claim 1, wherein, 3rd device includes:
Synchronous signal receiver module, receives synchronizing signal；
Antenna, receives framing signal to provide to positioning signal reception module；And
Positioning signal reception module, is coupled to antenna to receive framing signal；
Wherein, 3rd device record receives the temporal information of synchronizing signal and framing signal.
7. range unit as claimed in claim 6, wherein, synchronous signal receiver module includes:
Optical lenses, receive synchronizing signal；With
Light-sensitive device, is coupled to optical lenses to receive the synchronizing signal after processing through optical lenses.
8. a kind of distance-finding method, comprising:
It is generated and transmitted by roll-call signal and synchronizing signal, described roll-call signal and synchronizing signal have known time relationship；
It is generated and transmitted by framing signal under the triggering of described roll-call signal；And
Record roll-call signal and the launch time information of synchronizing signal, record location signal is called the roll signal and synchronizing signal is launched
The temporal information that device receives, recording synchronism signal and framing signal reach the temporal information of same device, and according to letter of calling the roll
Number and synchronizing signal launch time information, the time that framing signal is received by call the roll signal and synchronizing signal discharger believes
Breath, the temporal information that synchronizing signal and framing signal reach same device resolves framing signal discharger and arrives roll-call signal and together
Step sender unit and the distance of synchronizing signal and positioning signal reception device.
9. a kind of positioner, comprising:
First device, transmitting roll-call signal and synchronizing signal, wherein, roll-call signal and synchronizing signal have known time pass
System, synchronizing signal is optical signal, and known to the physical location of first device；
Second device, receives roll-call signal, and launches framing signal under the triggering of roll-call signal；
3rd device, receives synchronizing signal and framing signal, wherein, known to the physical location of 3rd device；And
4th device, receives synchronizing signal and framing signal, wherein, known to the physical location of the 4th device；
Wherein, first device also receives framing signal；Positioner by first device launch roll-call signal and synchronizing signal with
And reception framing signal, the temporal information of 3rd device and the 4th device reception synchronizing signal and framing signal, and the first dress
Put, the physical location of 3rd device and the 4th device, resolve the positional information of second device.
10. a kind of localization method, comprising:
It is generated and transmitted by roll-call signal and synchronizing signal, described roll-call signal and synchronizing signal have known time relationship；
It is generated and transmitted by framing signal under the triggering of described roll-call signal；And
Record roll-call signal and the launch time information of synchronizing signal, record location signal is called the roll signal and synchronizing signal is launched
The temporal information that device receives, recording synchronism signal and framing signal reach the temporal information of same device, recording synchronism signal
Reach the temporal information of another device with framing signal, and the launch time information according to roll-call signal and synchronizing signal, positioning
Signal is reached same device by temporal information, synchronizing signal and the framing signal of call the roll signal and the reception of synchronizing signal discharger
Temporal information and synchronizing signal and framing signal reach the temporal information of another device and resolve the position of framing signal discharger
Confidence ceases.
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