CN101136678B - Location data processing method and device used for mobile station locating service - Google Patents
Location data processing method and device used for mobile station locating service Download PDFInfo
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Abstract
This invention puts forward a method and a device for processing locating data of locating business of mobile stations in an array antenna system, in which, the method includes the following steps: obtaining data of arriving direction and time to determine computation position data (a,b) of a mobile station according to the data, fitting and estimating operation lines of the mobile station and estimating the forecast position data of the next time of the mobile station and processing the forecast data and related computed position data to get position output data, in which, this invention estimates the actual position of a mobile station by memorizing and forecasting its operation lines according to DOA and TOA data and other information.
Description
Technical field
The present invention relates to moving communicating field, specifically, the present invention relates to a kind of processing method of data and device that in array antenna system (for example, TD-SCDMA system etc.), is used for the mobile position estimation business.
Background technology
Those of ordinary skills can know, in array antenna system, can export DOA (arrival direction) information and TOA (time of advent) information by array antenna.Can calculate the distance of travelling carriage (MS) by TOA information to array antenna.Can determine the position of travelling carriage according to institute's calculated distance and the DOA information exported.
Yet in the application of reality, the accuracy that DOA estimates depends on the algorithm that adopted and suitable channel environment condition thereof.In general, DOA algorithm for estimating (for example: MUSIC, ESPRIT algorithm and improvement algorithm thereof etc.) is devoted to solve the accurate estimation to arrival bearing.These algorithms mainly solve bottom wave beam arrival direction problem, and the practical application of positioning service aspect are not considered.
Therefore, under the Complex Channel environmental impact that is subjected to factor affecting such as non-direct projection, multipath effect, decline, can not determine the true bearing of travelling carriage exactly to arrival bearing's estimation, thereby, can't be directly provide available accurate data for the position application on upper strata.
For example, the DOA drawing for estimate of the static travelling carriage of simulating under complex conditions as shown in Figure 1.Wherein, suppose and think that the DOA value that the DOA algorithm for estimating obtains is accurately under this channel condition, still, nonetheless, because the angle hopping amplitude of these initial data is very big, so also be difficult to be applied to exactly in the practical position business.This be because, the variation of channel condition can directly cause the DOA direction to have greatly changed, still, actual user's position is that so fast saltus step impossible take place.Therefore, need handle these original DOA data by certain algorithm, the DOA data after the processing just can be applied to the practical position business; Otherwise, can't position travelling carriage exactly.
Similarly, because the influence of factors such as non-direct projection, multipath effect, decline, bigger saltus step also can take place in the TOA data that directly obtain by array antenna, thereby can not represent the distance of travelling carriage to array antenna exactly.Therefore, the TOA data of directly being exported by array antenna also can't directly apply to the upper strata positioning service.Before being applied to the actual location application, need handle these original TOA data.
Summary of the invention
The present invention proposes a kind of locator data processing method and device thereof that in array antenna system, is applied to the mobile position estimation business.According to the present invention, can improve the accuracy of in actual environment, using DOA and TOA data estimator on the whole, thereby make described data can be applied to the upper strata positioning service.
According to an aspect of the present invention, provide a kind of locator data processing method that is used for the mobile position estimation business, it may further comprise the steps: obtain arrive bearing data and the time of advent data; According to the arrival direction data and the time of advent data determine the calculating location data of travelling carriage; Match and the moving line of estimating travelling carriage; Estimate that travelling carriage is in next predicted position data constantly; And predicted position data and corresponding calculated position data handled obtain the position dateout.
In one embodiment of the invention, described locator data processing method also comprises: determine the position data output gap according to current channel conditions, so that position data output gap and current channel conditions are inversely proportional to, wherein, position data comprises calculating location data and predicted position data.
In another embodiment of the present invention, estimate current channel conditions according to SIR, BLER data.
In another embodiment of the present invention, according to the arrival direction data and the time of advent data determine that the step of the calculating location data of travelling carriage also comprises: to the arrival direction data and the time of advent data instantaneous value carry out algorithm average treatment or Screening Treatment.
In another embodiment of the present invention, match also comprises with the step of the moving line of estimating travelling carriage: come match and the moving line of estimating travelling carriage according to the position dateout.
In another embodiment of the present invention, match also comprises with the step of the moving line of estimating travelling carriage: information is come match and the moving line of estimating travelling carriage according to the map.
In another embodiment of the present invention, predicted position data and corresponding calculated position data are handled the step that obtains the position dateout also to be comprised: if predicted position data and corresponding calculated position data differ greatly, and outputting alarm information then.
According to another aspect of the present invention, a kind of locator data processing unit that is used for the mobile position estimation business is provided, it comprises with lower unit: the calculating location acquiring unit, be used for according to the arrival direction data and the time of advent data determine the calculating location data of travelling carriage; Moving line match and estimation unit are used for match and the moving line of estimating travelling carriage; The predicted position estimation unit links to each other with estimation unit with the moving line match, is used to estimate that travelling carriage is in next predicted position data constantly; And the position output unit links to each other with the predicted position estimation unit with estimation unit with calculating location acquiring unit, moving line match respectively, is used for predicted position data and corresponding calculated position data handled obtaining the position dateout.
In another embodiment of the present invention, described locator data processing unit also comprises: the output gap determining unit, link to each other with the predicted position estimation unit with the calculating location acquiring unit respectively, be used for determining the position data output gap according to current channel conditions, so that position data output gap and current channel conditions are inversely proportional to, wherein, position data comprises calculating location data and predicted position data.
In another embodiment of the present invention, estimate current channel conditions according to SIR, BLER data.
In another embodiment of the present invention, the calculating location acquiring unit comprises: average and screening subelement, be used for to the arrival direction data and the time of advent data instantaneous value carry out algorithm average treatment or Screening Treatment.
In another embodiment of the present invention, moving line match and estimation unit come match and the moving line of estimating travelling carriage according to position dateout B.
In another embodiment of the present invention, moving line match and estimation unit also according to the map information come match and the moving line of estimating travelling carriage.
In another embodiment of the present invention, the position output unit also comprises: the alarm subelement is used for outputting alarm information under the situation that predicted position data and corresponding calculated position data differ greatly.
By the present invention, can solve because the instantaneous saltus step of DOA and TOA data causes estimating inaccurate problem; Can resist the error effect that ecological deterioration caused of short time; And can resist because the problem of the accurate positioning decline that multipath effect caused.
Description of drawings
With reference to accompanying drawing, according to following detailed, can be expressly understood the present invention more, wherein:
Fig. 1 is the DOA drawing for estimate of the static travelling carriage of simulating under complex conditions;
Fig. 2 has schematically described schematic diagram how to use the system that the present invention positions according to embodiments of the invention;
Fig. 3 is the flow chart of locator data processing method according to an embodiment of the invention; And
Fig. 4 is the block diagram of locator data processing unit according to an embodiment of the invention.
Embodiment
For the sake of simplicity and for the purpose of clear, the unit in the accompanying drawing needn't proportionally be drawn, and in different accompanying drawings, same reference numbers is represented identical unit.In addition, concisely and not can aspect unnecessary, make the present invention fuzzy for what describe, and omit description and details about known steps and unit.
Those of ordinary skill in the art should be understood that the general description of front and following detailed give an example to invention and illustrate, rather than in order to limit the invention.
The method according to this invention and device thereof be according to DOA and TOA data and in conjunction with other information, by memory and the prediction to the moving line of travelling carriage, and estimates the physical location of travelling carriage.With reference to Fig. 2-4 the present invention is described in further detail below.
In Fig. 2, schematically show the system that how positions according to embodiments of the invention.
In Fig. 2, system obtains directional information by the DOA data that obtained by array antenna, and obtains range information by the TOA data.Then, passing through the directional information obtained and range information calculates travelling carriage (a b) etc., and stores these calculating locations at each constantly calculating location.As shown in Figure 2, the first calculating location a at first constantly calculates first in system, then calculates second calculating location (next calculating location) b in second moment (next moment).Simultaneously, system also carries out match and estimation to the moving line (as shown in phantom in FIG.) of travelling carriage, and estimates the predicted position b of travelling carriage in second moment
*Then, system is to next calculating location b and predicted position b
*Handle, thereby obtain position dateout B.
Fig. 3 is the flow chart of the locator data processing method of embodiments of the invention.Below with reference to Fig. 2,, locator data processing method according to the present invention is carried out more detailed description in conjunction with the flow chart of Fig. 3.
In step S1, obtain DOA data, TOA data and other data according to the bottom of locator data processing unit of the present invention by array antenna slave unit (for example, base station, repeater etc.) (for example, physical layer etc.).Described other data for example can comprise the information that reflects current channel conditions, for example, and SIR (signal to noise ratio), BLER (Block Error Rate) etc.
Alternatively, the locator data processing unit can also be determined the position data output gap according to current channel conditions.For example, can estimate current channel conditions according to data such as SIR, BLER.The frequency that the adjustment of locator data processing unit is handled data is so that processing frequency and channel conditions are inversely proportional to, promptly, when the channel conditions difference, the output time of position data becomes greatly at interval, and when channel conditions was good, the output time of position data diminished at interval.
The reason that order processing frequency and channel conditions are inversely proportional to is as follows.Continue at channel conditions under the situation of variation, the shake of DOA and TOA measured value can become very strong, thereby, the estimated predicted position value b that comes out
*And the error between the corresponding calculated location value b that is calculated by DOA and TOA data can become very big.Therefore, by to b and b
*The accuracy of handling resulting position output valve B will reduce.Because when moving line being carried out match, position output valve B also will be as one of input parameter that moving line is carried out match next time, therefore, in such cyclic process, the error of position output valve B may be accumulated and be increased.Therefore, consider to increase the time interval.In the described time interval, can be as far as possible the instantaneous value of DOA and TOA data be carried out the average or Screening Treatment of some algorithm, thereby reduce the error of position output valve B.
In step S2, the locator data processing unit can according to wait from DOA, TOA data that bottom obtained the calculating location that calculates travelling carriage (a, b).Alternatively, for increase calculating location (a, accuracy b) can also be carried out the average or Screening Treatment of some algorithm to the instantaneous value of DOA and TOA data, and the calculating location that calculates travelling carriage according to the DOA after handling and TOA data (a, b).Average or the Screening Treatment of described algorithm for example can directly average value by the data sequence that certain time period is obtained, row is average again after perhaps filtering out the value that surpasses the expection span, perhaps with the value that falls into certain quadrant at most as choosing foundation, can certainly adopt more complicated algorithm to carry out choosing to final value.
In step S3, match of locator data processing unit and the moving line that estimates travelling carriage.Moving line is carried out match and estimation approach is those of ordinary skills' a common practise.For example, under a kind of simple situation, can two positions of recording occurring continuously, and draw a ray to the second place from the primary importance that is write down, then travelling carriage should be on this ray in next position constantly.In addition, more accurate in order to make to the estimation of the moving line of travelling carriage, can also come match and the moving line of estimating travelling carriage by a plurality of positions of considering travelling carriage.
The locator data processing unit can (a b) estimates the moving line of travelling carriage according to calculating location.Preferably, in one embodiment of the invention, the locator data processing unit can be estimated the moving line of travelling carriage according to position dateout B.For example, the locator data processing unit is recorded in the position dateout B that each position data output time is write down, and estimates moving line according to the position dateout B that is write down at each position data output time.Because position dateout B is by predicted position b
*B obtains with the corresponding calculated position, therefore estimates to take all factors into consideration predicted position b by position dateout B
*With calculating location b, thereby obtain higher accuracy.
In certain embodiments of the present invention, when moving line is estimated, it is also conceivable that the ambient conditions of travelling carriage Location, for example, street on every side, building etc. utilize cartographic information to estimate the moving line of travelling carriage.
In step S4, the locator data processing unit estimates that according to estimated moving line travelling carriage is at next predicted position b constantly
*
In step S5, the locator data processing unit is to predicted position b
*B handles with the corresponding calculated position, thereby obtains position dateout B.
For the person of ordinary skill of the art, how to predicted position b
*Handle with corresponding calculated position b that to obtain position dateout B be known.For example, in a schematic example, travelling carriage is in the urban area circumstance; In the previous moment, the input measurement value of DOA is 15, and this is corresponding to calculating location a; At the next one constantly, the input measurement value of DOA is 50, and this is corresponding to calculating location b.According to actual conditions, can know that travelling carriage can not produce so fast angular movement speed in urban area circumstance, and, can calculate the translational speed of travelling carriage in urban area circumstance according to calculating location b and reach 120km/h, this also is impossible.Therefore, think that calculating location b can't be accepted and believed fully.Described next constantly, the locator data processing unit is b according to the predicted position that the position data match of front obtains
*In the case, can be with predicted position b
*Be foundation, come outgoing position dateout B with reference to other geography information (for example cartographic information etc.).And those of ordinary skill in the art can also handle predicted position b by many alternate manners
*With corresponding calculated position b to obtain position dateout B.
Alternatively, in one embodiment of the invention, if predicted position b
*With corresponding calculated position b differ greatly (fitting degree is low or variance is big), then outputting alarm information.Described warning information can provide parameter for upper layer application.For example, when the warning information that receives from the locator data processing unit, upper layer application can redness flashes so that the respective point that marks on the user display screen becomes, thus the prompting user: circumstance complication and can't judging accurately at present.In addition, after receiving warning information, through certain hour, upper layer application can be given an order and temporarily be stopped to position, and the positional parameter of perhaps resetting is so that for example eliminate the historical movement route to estimation effect etc.
Although those of ordinary skill in the art should be appreciated that in the drawings to come each step is identified with S1-S5,, this does not also mean that described step carries out with the order that is identified.In the application of reality, can carry out these steps by order arbitrarily, and these steps can be side by side carried out, and these steps can be carried out circularly.
Fig. 4 is the block diagram of locator data processing unit according to an embodiment of the invention.
As shown in Figure 4, described locator data processing unit 400 comprises: output gap determining unit 410, calculating location acquiring unit 420, moving line match and estimation unit 430, predicted position estimation unit 440 and position output unit 450.
Optionally output gap determining unit 410 is estimated current channel conditions according to the data of being imported by outside (for example, bottom), thereby determines the position data output gap.Described data by the outside input for example can be data such as SIR, BLER.Output gap determining unit 410 is adjusted the frequency that data are handled, so that processing frequency and channel conditions are inversely proportional to, promptly, when the channel conditions difference, the output time of position data becomes greatly at interval, and when channel conditions was good, the output time of position data diminished at interval.
Calculating location acquiring unit 420 can wait according to DOA, TOA data by outside (for example, bottom) input the calculating location that calculates travelling carriage (a, b).Alternatively, in order to increase calculating location (a, b) accuracy, calculating location acquiring unit 420 can also comprise that the instantaneous value that is used for DOA and TOA data carries out the average and screening subelement of the average or Screening Treatment of some algorithm, and the calculating location that calculating location acquiring unit 420 calculates travelling carriage according to the DOA after handling and TOA data (a, b).
Moving line match and estimation unit 430 matches and the moving line that estimates travelling carriage.Moving line match and estimation unit 430 can (a b) estimates the moving line of travelling carriage according to calculating location.Preferably, in one embodiment of the invention, moving line match and estimation unit 430 can be estimated the moving line of travelling carriage according to position dateout B.
In certain embodiments of the present invention, when moving line was estimated, moving line match and estimation unit 430 it is also conceivable that the ambient conditions of travelling carriage Location, for example, street on every side, building etc. utilize cartographic information to estimate the moving line of travelling carriage.
Predicted position estimation unit 440 estimates that according to estimated moving line travelling carriage is at next predicted position b constantly
*
450 couples of predicted position b of position output unit
*B handles with the corresponding calculated position, thereby obtains position dateout B.
Alternatively, in one embodiment of the invention, position output unit 450 also comprises: the alarm subelement is used in the predicted position data b
*Outputting alarm information under the situation about differing greatly with corresponding calculated position b.Described warning information can provide parameter for upper layer application.For example, when the warning information that receives from the locator data processing unit, upper layer application can redness flashes so that the respective point that marks on the user display screen becomes, thus the prompting user: circumstance complication and can't judging accurately at present.In addition, after receiving warning information, through certain hour, upper layer application can be given an order and temporarily be stopped to position, and the positional parameter of perhaps resetting is so that for example eliminate the historical movement route to estimation effect etc.
Can realize method of the present invention and device by variety of way.For example, can by software, hardware, firmware with and combination in any realize method of the present invention and device.In addition, in certain embodiments, the program that the present invention can also be presented as on recording medium to be write down, it comprises the machine readable instructions that is used to realize the method according to this invention.
Although specific embodiment of the present invention is described in detail above by example,, those of ordinary skill in the art should be appreciated that above-mentioned example only is illustrative and be not to be limitation of the present invention.Those of ordinary skill in the art should be understood that can make modification to the foregoing description under the situation that does not break away from the spirit and scope of the present invention.Scope of the present invention is limited to the appended claims.
Claims (14)
1. locator data processing method that is used for the mobile position estimation business, it may further comprise the steps:
Obtain arrive bearing data and the time of advent data;
According to the arrival direction data and the time of advent data determine travelling carriage first constantly calculating location data a and in next calculating location data b constantly;
Match and the moving line of estimating travelling carriage;
Estimate that travelling carriage is at next predicted position data b * constantly; And
Predicted position data b * and corresponding calculated position data b handled obtain position dateout B.
2. method according to claim 1, also comprise: determine the position data output gap according to current channel conditions, so that position data output gap and current channel conditions are inversely proportional to, wherein, described position data comprises described calculating location data a, calculating location data b and predicted position data b *.
3. method according to claim 2 wherein, is estimated current channel conditions according to signal to noise ratio, Block Error Rate data.
4. according to any one the described method in the claim 1 to 3, wherein, according to the arrival direction data and the time of advent data determine that the calculating location data a of travelling carriage and the step of calculating location data b also comprise: to the arrival direction data and the time of advent data instantaneous value carry out algorithm average treatment or Screening Treatment.
5. method according to claim 1, wherein, match also comprises with the step of the moving line of estimating travelling carriage: the position dateout B that obtains according to the last time comes match and the moving line of estimating travelling carriage.
6. according to claim 1 or 5 described methods, wherein, match also comprises with the step of the moving line of estimating travelling carriage: information is come match and the moving line of estimating travelling carriage according to the map.
7. method according to claim 1, wherein, predicted position data b * and corresponding calculated position data b are handled the step that obtains position dateout B also to be comprised: if predicted position data b * and corresponding calculated position data b differ greatly, and outputting alarm information then.
8. locator data processing unit that is used for the mobile position estimation business, it comprises with lower unit:
Calculating location acquiring unit (420), be used for according to the arrival direction data and the time of advent data determine travelling carriage first constantly calculating location data a and in next calculating location data b constantly;
Moving line match and estimation unit (430) are used for match and the moving line of estimating travelling carriage;
Predicted position estimation unit (440) links to each other with estimation unit (430) with described moving line match, is used to estimate that travelling carriage is at next predicted position data b * constantly; And
Position output unit (450), link to each other with described predicted position estimation unit (440) with estimation unit (430) with described calculating location acquiring unit (420), described moving line match respectively, be used for predicted position data b * and corresponding calculated position data b handled obtaining position dateout B.
9. device according to claim 8, also comprise: output gap determining unit 410, link to each other with predicted position estimation unit (440) with described calculating location acquiring unit (420) respectively, be used for determining the position data output gap according to current channel conditions, so that position data output gap and current channel conditions are inversely proportional to, wherein, described position data comprises described calculating location data a, calculating location data b and predicted position data b *.
10. device according to claim 9 wherein, is estimated current channel conditions according to signal to noise ratio, Block Error Rate data.
11. any one described device in 10 according to Claim 8, wherein, calculating location acquiring unit (420) comprising: average and screening subelement, be used for to the arrival direction data and the time of advent data instantaneous value carry out algorithm average treatment or Screening Treatment.
12. device according to claim 8, wherein, moving line match and estimation unit (430) come match and the moving line of estimating travelling carriage according to the last position dateout B that obtains of described position output unit (450).
13. according to Claim 8 or 12 described devices, wherein, moving line match and estimation unit (430) also according to the map information come match and the moving line of estimating travelling carriage.
14. device according to claim 8, wherein, position output unit (450) also comprises: the alarm subelement is used for outputting alarm information under the situation that predicted position data b * and corresponding calculated position data b differ greatly.
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| US9219668B2 (en) | 2012-10-19 | 2015-12-22 | Facebook, Inc. | Predicting the future state of a mobile device user |
| CN106714298A (en) * | 2016-12-12 | 2017-05-24 | 杭州爱赛德科技有限公司 | Antenna array-based wireless positioning method |
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| CN1383282A (en) * | 2001-04-20 | 2002-12-04 | Lg电子株式会社 | Device and method for judging position of mobile communication terminal |
| CN1413058A (en) * | 2001-10-18 | 2003-04-23 | 华为技术有限公司 | Method for estimating position of mobile station by utilizing time for receiving signal and time difference and its equipment |
| CN1710981A (en) * | 2004-06-18 | 2005-12-21 | 大唐移动通信设备有限公司 | Method for realizing terminal positioning utilizing digit map infomration in wireless communication system |
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| US6397073B1 (en) * | 1997-10-03 | 2002-05-28 | Nokia Networks Oy | Method of locating terminal, and cellular radio system |
| CN1383282A (en) * | 2001-04-20 | 2002-12-04 | Lg电子株式会社 | Device and method for judging position of mobile communication terminal |
| CN1413058A (en) * | 2001-10-18 | 2003-04-23 | 华为技术有限公司 | Method for estimating position of mobile station by utilizing time for receiving signal and time difference and its equipment |
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