CN101938690A - Cellular network positioning method and cellular network positioning device - Google Patents
Cellular network positioning method and cellular network positioning device Download PDFInfo
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Abstract
The invention discloses a cellular network positioning method and a cellular network positioning device. The cellular network positioning method comprises the following steps of: establishing wireless communication connection among a mobile unit to be positioned, a first positioning base station and a second positioning base station; detecting a first time difference from positioning signals emitted by the mobile unit to be positioned to the first positioning base station and a service base station of the mobile unit to be positioned and a second time difference from positioning signals to the second positioning base station and the service base station; performing Kalman filtering on the first time difference and the second time difference to obtain a first estimation value and a second estimation value; and calculating the position coordinate of the mobile unit to be positioned according to the pre-stored position information of the first positioning base station, the second positioning base station and the service base station, the first estimation value and the second estimation value. The cellular network positioning method can eliminate the randomness of NLOS error and the influence of positive deviation by performing Kalman filtering on the first time difference and the second time difference, and improve the cellular network positioning precision.
Description
Technical field
The present invention relates to mobile communication technology, relate in particular to a kind of cellular network localization method and cellular network positioner.
Background technology
Along with development of wireless communication devices, wireless location technology gets more and more people's extensive concerning in recent years, is all to have obtained to use widely at military affairs or civil area.
Position fixing process is to obtain certain positional parameter earlier, as: a plurality of AOA (Angle of Arrival, arrive angle) or TOA (Time of Arrival, the time of advent) or TDOA (Time Differenceof Arrival, electric wave is poor the time of advent) or the field intensity value, just can constitute one group of rhumb line or circumference or Hyperbolic Equation group by these parameters, again by finding the solution the positional information that these equation group obtain mobile unit undetermined about position of mobile unit to be positioned.In existing cellular network The Location achievement, the electric wave difference method time of advent is owing to change less and need not mobile unit and the base station strict time is synchronous mobile unit, thereby is a kind of desirable localization method.
Because corresponding positioning equation group is made of nonlinear equation mostly, find the solution comparatively complicated.Propose the algorithm of multiple various computing complexity and precision in the prior art, as had the algorithm that analytical expression is separated: Fang, Chan, Friendlander, SX, SI etc.; And recursive algorithm: the Taylor series expansion method, method etc. is conquered in classification.These methods all belong to static immobilization.Because the position of mobile unit to be positioned is likely continually varying, so adopt these method positioning accuracies not high.
NLOS (Non Light of Sight, non line of sight) error is the key factor that influences positioning accuracy, in traditional location algorithm, as Chan, Fang, Taylor series expansion scheduling algorithm is not all considered the influence of NLOS error, when comprising bigger NLOS error in the measured value, the positioning accuracy of these methods will reduce greatly, not reach the E-911 requirement of FCC (Federal Communications Commission, the United States Federal's communication authentication).The method that can reduce the NLOS error effect in the prior art is a positioning mode, promptly in traditional location algorithm, improved, improve its robustness to NLOS, as residual error weighting algorithm etc., these class methods are handled the influence that reduces NLOS by redundant positioning result is weighted or accepts or rejects, and need at least 3 base stations to participate in the location, but must have LOS (Lightof Sight, sighting distance) base station guarantees positioning accuracy, and such requirement is difficult for realizing in practice.
Summary of the invention
The invention provides the method and the system thereof of a kind of cellular network location, it can improve the cellular network locating accuracy.
Technical scheme of the present invention is: a kind of cellular network localization method comprises step:
Step 1, set up mobile unit to be positioned and be connected with the radio communication of first locating base station with second locating base station;
The framing signal of step 2, the described mobile unit emission to be positioned of detection is poor to the very first time of the serving BS of described first locating base station and described mobile unit to be positioned, and described framing signal is to second time difference of described second locating base station and described serving BS;
Step 3, the described very first time difference and second time difference are carried out Kalman filtering, obtain first estimated value and second estimated value;
The positional information of step 4, first locating base station according to storage in advance, second locating base station, serving BS and described first estimated value and second estimated value are calculated the position coordinates of described mobile unit to be positioned.
A kind of cellular network positioner comprises:
Communication module is used to set up mobile unit to be positioned and is connected with the radio communication of first locating base station with second locating base station;
Detection module, be connected with described communication module, at described mobile unit to be positioned with after the radio communication of first locating base station and second locating base station is connected, the framing signal that is used to detect described mobile unit emission to be positioned is poor to the very first time of the serving BS of described first locating base station and described mobile unit to be positioned, and described framing signal arrives second time difference of described second locating base station and described serving BS;
Filtration module is connected with described detection module, and the detected described very first time difference of described detection module and second time difference are carried out Kalman filtering, obtains first estimated value and second estimated value;
Computing module is connected with described filtration module, is used for the position coordinates that the positional information of first locating base station, second locating base station, serving BS according to storage in advance and described first estimated value and second estimated value are calculated described mobile unit to be positioned.
Cellular network localization method of the present invention and device thereof, after detecting the very first time difference and second time difference, the described very first time difference and second time difference are carried out Kalman filtering respectively, can eliminate the randomness of NLOS error and the influence of positivity bias, improve the cellular network locating accuracy.And the present invention does not need a lot of base stations to participate in the location, only needs two locating base station and a serving BS can finish the location, nor must guarantee the cellular network locating accuracy in the LOS base station, realizes than being easier in the reality.
Description of drawings
Fig. 1 is the flow chart of cellular network localization method of the present invention;
Fig. 2 is a cellular network positioner of the present invention structural principle block diagram in one embodiment;
Fig. 3 is a cellular network positioner of the present invention structural principle block diagram in one embodiment;
Fig. 4 is a cellular network positioner of the present invention structural principle block diagram in one embodiment.
Embodiment
Cellular network localization method of the present invention and device thereof, after detecting the very first time difference and second time difference, the described very first time difference and second time difference are carried out Kalman filtering respectively, can eliminate the randomness of NLOS error and the influence of positivity bias, improve the cellular network locating accuracy.And the present invention does not need a lot of base stations to participate in the location, only needs two locating base station and a serving BS, can finish the location, nor must guarantee the cellular network locating accuracy in the LOS base station, realizes than being easier in the reality.
Below in conjunction with the drawings and specific embodiments the present invention is done a detailed elaboration.
Cellular network localization method of the present invention as Fig. 1, comprises step:
S101, set up mobile unit to be positioned and be connected with the radio communication of first locating base station with second locating base station.Mobile unit to be positioned is generally mobile devices such as mobile phone.First locating base station and second locating base station are the base stations that participates in the location, can select near two base stations of this mobile unit to be positioned as first locating base station and second locating base station in the reality.
The framing signal of S102, detection mobile unit emission to be positioned is poor to the very first time of the serving BS of described first locating base station and described mobile unit to be positioned, and described framing signal is to second time difference of described second locating base station and described serving BS.Serving BS is the base station of sub-district, mobile unit to be positioned place.During concrete enforcement, mobile unit to be positioned can be launched a location signal branch simultaneously and be clipped to first locating base station and described serving BS, determine this very first time difference T31=(T3-T1)-(T2-T1)=T3-T2 by the time T 3 of the time T 1 that detects mobile unit emission framing signal to be positioned, the time T 2 that arrives first locating base station and arrival serving BS, in like manner can determine for second time difference.
S103, the described very first time difference and second time difference are carried out Kalman filtering, obtain first estimated value and second estimated value.Promptly very first time difference is carried out Kalman filtering and obtain first estimated value, second time difference was carried out Kalman filtering obtain second estimated value.The described very first time difference and second time difference are carried out Kalman filtering respectively, can eliminate the randomness of NLOS error and the influence of positivity bias, improved mobile unit locating accuracy to be positioned in the cellular network.
The positional information of first base station, second base station and serving BS that S104, basis are stored in advance and first estimated value and second estimated value are calculated the position coordinates of described mobile unit to be positioned.During concrete enforcement, can adopt the Chan algorithm to calculate the position coordinates of described mobile unit to be positioned according to the positional information of first base station, second base station and the serving BS of storage in advance and first estimated value and second estimated value.
In a preferred embodiment, in order to improve cellular network mobile unit locating accuracy to be positioned, after step S101, also comprise step before the step S102: the time of synchronous described first locating base station, second locating base station and serving BS.During concrete enforcement, can send a time information to first locating base station, second locating base station and serving BS on schedule, the time that first locating base station, second locating base station and serving BS show according to this time information renovation respectively.Improved the time synchronized of first locating base station, second base station and serving BS like this, can detect the very first time difference and second time difference accurately, for the accurate position coordinates that calculates mobile unit to be positioned in back is carried out place mat.
In a preferred embodiment, after step S104, can also comprise step: the position coordinates that calculates is carried out Kalman's smoothing processing, obtain the final position coordinate of mobile unit to be positioned.By further the position coordinates that calculates being carried out Kalman's smoothing processing, can further improve and treat the positioning mobile units locating accuracy.
In a preferred embodiment, after step S104, can also comprise step: described final position coordinate is wirelessly transmitted to described mobile unit to be positioned.Can be timely the position coordinates of mobile unit to be positioned be notified to mobile unit to be positioned at any time.
In the above-mentioned described cellular network localization method of the present invention, comprise 2 locating base station and 1 serving BS, in actual applications locating base station number also can promptly, be provided with according to actual needs for a plurality of greater than 2.But because the locating base station number is many, the mutual interference of meeting phase has influenced the cellular network locating accuracy between the locating base station, and in an optimum embodiment, the number of locating base station is 3, promptly comprises 2 locating base station and 1 serving BS.
This shows, cellular network localization method of the present invention, after detecting the very first time difference and second time difference, the described very first time difference and second time difference are carried out Kalman filtering respectively, can eliminate the randomness of NLOS error and the influence of positivity bias, improve the cellular network locating accuracy.And the present invention does not need a lot of base stations to participate in the location, only needs two locating base station and a serving BS can finish the location, nor must guarantee the cellular network locating accuracy in the LOS base station, realizes than being easier in the reality.
The present invention has also disclosed a kind of cellular network positioner, and as Fig. 2, it comprises:
Communication module is used to set up mobile unit to be positioned and is connected with the radio communication of first locating base station with second locating base station.Mobile unit to be positioned can be mobile devices such as mobile phone.First locating base station and second locating base station are the base stations that participates in the location, can select near two base stations of this mobile unit to be positioned as first locating base station and second locating base station in the reality.
Detection module, be connected with described communication module, at described mobile unit to be positioned with after the radio communication of first locating base station and second locating base station is connected, the framing signal that is used to detect described mobile unit emission to be positioned is poor to the very first time of the serving BS of described first locating base station and described mobile unit to be positioned, and described framing signal arrives second time difference of described second locating base station and described serving BS.Serving BS is the base station of sub-district, mobile unit to be positioned place.During concrete enforcement, mobile unit to be positioned can be launched a location signal branch simultaneously and be clipped to first locating base station and described serving BS, detection module is determined this very first time difference T31=(T3-T1)-(T2-T1)=T3-T2 by the time T 3 of the time T 1 that detects mobile unit emission framing signal to be positioned, the time T 2 that arrives first locating base station and arrival serving BS, in like manner can determine for second time difference.
Filtration module is connected with described detection module, and the detected described very first time difference of described detection module and second time difference are carried out Kalman filtering, obtains first estimated value and second estimated value.The described very first time difference and second time difference are carried out Kalman filtering respectively, can eliminate the randomness of NLOS error and the influence of positivity bias, improved cellular network positioner locating accuracy.
Computing module is connected with described filtration module, is used for the position coordinates that the positional information of first locating base station, second locating base station, serving BS according to storage in advance and described first estimated value and second estimated value are calculated described mobile unit to be positioned.During concrete enforcement, computing module is the position coordinates that utilizes the described mobile unit to be positioned of Chan algorithm computation according to the positional information of first locating base station of storage in advance, second locating base station, serving BS and described first estimated value and second estimated value.
In the practical application, this communication module, detection module can be installed in respectively on first locating base station or second locating base station or the serving BS, and filtration module and computing module can be installed in the core net as required, promptly in the near-end cellular localization centring system.
In a preferred embodiment, in order to improve the cellular network apparatus locating accuracy, cellular network positioner of the present invention also comprises the time synchronized module, as Fig. 3, be connected between communication module and the detection module, be used for the time of described first locating base station, second locating base station and serving BS synchronously.During concrete enforcement, the time synchronized module can send a time information to first locating base station, second locating base station and serving BS on schedule, the time that first locating base station, second locating base station and serving BS show according to this time information renovation respectively.Improved the time synchronized of first locating base station, second base station and serving BS like this, detection module can detect the very first time difference and second time difference accurately, for the accurate position coordinates that calculates mobile unit to be positioned of subsequent calculations module is carried out place mat.
In a preferred embodiment, cellular network positioner of the present invention also comprises processing module, as Fig. 4, is connected with described computing module, is used for the position coordinates that calculates is carried out Kalman's smoothing processing, obtains the final position coordinate of mobile unit to be positioned.By further the position coordinates that calculates being carried out Kalman's smoothing processing, can further improve cellular network positioner locating accuracy.
In a preferred embodiment, cellular network positioner of the present invention also comprises wireless transport module, as Fig. 4, is connected with described processing module, is used for described final position coordinate is wirelessly transmitted to described mobile unit to be positioned.Can be timely the position coordinates of mobile unit to be positioned be notified to mobile unit to be positioned at any time.
In the above-mentioned described cellular network positioner of the present invention, the number of locating base station is 2, and serving BS is 1, in actual applications locating base station number also can promptly, be provided with according to actual needs for a plurality of greater than 2.Because the locating base station number is many, the mutual interference of meeting phase has influenced the cellular network locating accuracy between the locating base station, and in an optimum embodiment, the number of locating base station is 3, i.e. a serving BS and two locating base station.
In sum, cellular network positioner of the present invention, filtration module is after detecting the very first time difference and second time difference, the described very first time difference and second time difference are carried out Kalman filtering respectively, can eliminate the randomness of NLOS error and the influence of positivity bias, improve the cellular network locating accuracy.And the present invention does not need a lot of base stations to participate in the location, only needs two locating base station and a serving BS can finish the location, and does not need the LOS base station to guarantee positioning accuracy, realizes than being easier in the reality.
Above-described embodiment of the present invention does not constitute the qualification to protection range of the present invention.Any modification of being done within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within the claim protection range of the present invention.
Claims (10)
1. a cellular network localization method is characterized in that, comprises step:
Step 1, set up mobile unit to be positioned and be connected with the radio communication of first locating base station with second locating base station;
The framing signal of step 2, the described mobile unit emission to be positioned of detection is poor to the very first time of the serving BS of described first locating base station and described mobile unit to be positioned, and described framing signal is to second time difference of described second locating base station and described serving BS;
Step 3, the described very first time difference and second time difference are carried out Kalman filtering, obtain first estimated value and second estimated value;
The positional information of step 4, described first locating base station according to storage in advance, second locating base station, serving BS and described first estimated value and second estimated value are calculated the position coordinates of described mobile unit to be positioned.
2. cellular network localization method according to claim 1 is characterized in that: after step 1, also comprise step before the step 2: the time of synchronous described first locating base station, second locating base station and serving BS.
3. cellular network localization method according to claim 1 is characterized in that: also comprise step after step 4: described position coordinates is carried out Kalman's smoothing processing, obtain the final position coordinate of described mobile unit to be positioned.
4. cellular network localization method according to claim 3 is characterized in that: also comprise step, described final position coordinate is wirelessly transmitted to described mobile unit to be positioned.
5. cellular network localization method according to claim 1, it is characterized in that: step 4 is specially: according to first locating base station, second locating base station, the positional information of serving BS and the position coordinates of described first estimated value and the described mobile unit to be positioned of second estimated value employing Chan algorithm computation of storage in advance.
6. a cellular network positioner is characterized in that, comprising:
Communication module is used to set up mobile unit to be positioned and is connected with the radio communication of first locating base station with second locating base station;
Detection module, be connected with described communication module, at described mobile unit to be positioned with after the radio communication of first locating base station and second locating base station is connected, the framing signal that is used to detect described mobile unit emission to be positioned is poor to the very first time of the serving BS of described first locating base station and described mobile unit to be positioned, and described framing signal arrives second time difference of described second locating base station and described serving BS;
Filtration module is connected with described detection module, and the detected described very first time difference of described detection module and second time difference are carried out Kalman filtering, obtains first estimated value and second estimated value;
Computing module is connected with described filtration module, is used for the position coordinates that the positional information of first locating base station, second locating base station, serving BS according to storage in advance and described first estimated value and second estimated value are calculated described mobile unit to be positioned.
7. cellular network positioner according to claim 6 is characterized in that: also comprise the time synchronized module, be connected between described communication module and the described detection module, be used for the time of described first base station, second base station and serving BS synchronously.
8. cellular network positioner according to claim 6 is characterized in that: also comprise processing module, be connected with described computing module, be used for described position coordinates is carried out Kalman's smoothing processing, obtain the final position coordinate of described mobile unit to be positioned.
9. cellular network positioner according to claim 8 is characterized in that: also comprise wireless transport module, be connected with described processing module, be used for described final position coordinate is wirelessly transmitted to described mobile unit to be positioned.
10. cellular network positioner according to claim 6 is characterized in that: described computing module is used for the position coordinates according to the positional information of first locating base station of storage in advance, second locating base station, serving BS and described first estimated value and the described mobile unit to be positioned of second estimated value employing Chan algorithm computation.
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| CN103906228B (en) * | 2012-12-28 | 2018-04-10 | 中国电信股份有限公司 | Base station Differential positioning method, positioner and the system of mobile terminal |
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| CN104581858A (en) * | 2013-10-18 | 2015-04-29 | 中兴通讯股份有限公司 | Method and device for improving soft handoff success rate |
| CN105898865B (en) * | 2016-06-17 | 2019-06-18 | 杭州电子科技大学 | Based on the co-located method of EKF and PF under the conditions of nonlinear and non-Gaussian |
| CN105898865A (en) * | 2016-06-17 | 2016-08-24 | 杭州电子科技大学 | Cooperative location method based on EKF (Extended Kalman Filter) and PF (Particle Filter) under nonlinear and non-Gaussian condition |
| CN106170124A (en) * | 2016-06-29 | 2016-11-30 | 宁波市由乐讯通讯科技有限公司 | Location acquiring method and system in a kind of radio communication based on multiple location technology |
| CN108112071A (en) * | 2016-11-11 | 2018-06-01 | 中兴通讯股份有限公司 | Localization method, locating base station, location-server and alignment system |
| CN108112071B (en) * | 2016-11-11 | 2021-07-20 | 中兴通讯股份有限公司 | Positioning method, positioning base station, positioning server and positioning system |
| CN111505574A (en) * | 2020-03-18 | 2020-08-07 | 中国民用航空总局第二研究所 | Optimized distributed positioning method and system |
| CN111597504A (en) * | 2020-05-19 | 2020-08-28 | 南京航空航天大学 | Airplane key feature detection method |
| CN115314989A (en) * | 2022-09-15 | 2022-11-08 | 重庆大学 | Time synchronization method for 5G and TSN fusion network |
| CN115314989B (en) * | 2022-09-15 | 2024-02-13 | 重庆大学 | Time synchronization method of 5G and TSN fusion network |
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Application publication date: 20110105 |