CN102045837A - Mobile node positioning method and device - Google Patents

Abstract

The embodiment of the invention provides a mobile node positioning method and a mobile node positioning device. The mobile node positioning method comprises the following steps of: determining azimuth and radial distance of a mobile node relative to an anchor point; and determining the position of the mobile node according to the azimuth and radial distance of the mobile node relative to the anchor point, the intelligent antenna reference direction of the anchor point and the position information of the anchor point. By using the technical scheme provided by the embodiment of the invention, antenna cost and complexity can be reduced.

Description

Mobile node localization method and device

Technical field

The present invention relates to communication technical field, particularly a kind of mobile node localization method and device.

Background technology

Traditional localization method of wireless network has: based on received signal intensity indication (Receive SignalStrength Indicator, RSSI), the time of advent (TOA), the time of advent poor (TDOA), arrival angle (AOA), wherein the method for RSSI is the easiest realization, most economical, and often need a plurality of signal of base station strength informations as a reference; Adopt the AOA/TOA hybrid locating method only to need a base station just can carry out two-dimensional localization, but its system is comparatively complicated to portable terminal, also higher to equipment requirements; And the TDOA method needs two base stations equally at least.

Popularizing and using along with smart antenna, the scheme that the smart antenna that prior art provides a kind of utilization to have the direction finding function positions portable terminal, be specially: the electromagnetic wave that the antenna mobile terminal receive sends is also made phase estimation, calculate the angle that electromagnetic wave arrives according to the phase estimation result, utilize the angle of the electromagnetic wave arrival of being calculated and the time that electromagnetic wave arrives, portable terminal is accurately located.

The inventor is in realizing process of the present invention, find that there is following shortcoming at least in prior art: the scheme that prior art provides needs smart antenna to have the phase estimation function, and have and detect the electromagnetic wave time detection device of the time of advent, requirement to smart antenna is very high, has increased the cost and the complexity of antenna.

Summary of the invention

The embodiment of the invention provides a kind of mobile node localization method and device, has reduced the cost and the complexity of antenna.

In view of this, the embodiment of the invention provides:

A kind of mobile node localization method comprises:

Determine azimuth and the radial distance of mobile node with respect to anchor point;

According to azimuth and the radial distance of described mobile node with respect to described anchor point, reach the smart antenna reference direction of anchor point and the positional information of anchor point, determine the position of described mobile node.

A kind of mobile node positioner comprises:

Determining unit is used for determining azimuth and the radial distance of mobile node with respect to anchor point;

The position converting unit is used for according to azimuth and the radial distance of described mobile node with respect to described anchor point, and the smart antenna reference direction of anchor point and the positional information of anchor point, determines the position of described mobile node.

The embodiment of the invention is determined the position of mobile node by obtaining the azimuth and the distance of mobile node with respect to anchor point, does not need antenna to have phase estimation function and time detection device, has reduced the cost and the complexity of antenna.

Description of drawings

In order to be illustrated more clearly in the technical scheme of the embodiment of the invention, to do to introduce simply to the accompanying drawing of required use among the embodiment below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the mobile node localization method flow chart that the embodiment of the invention one provides;

Fig. 2 is the mobile node localization method flow chart that the embodiment of the invention two provides;

Fig. 3 is the wave beam schematic diagram that the embodiment of the invention provides;

Fig. 4 is the angular relationship schematic diagram of the wave beam that provides of the embodiment of the invention;

Fig. 5 is the schematic diagram that relative coordinate that the embodiment of the invention provides converts absolute coordinate to;

Fig. 6 is the mobile node localization method flow chart that the embodiment of the invention three provides;

Fig. 7 is the mobile node localization method flow chart that the embodiment of the invention four provides;

Fig. 8 is the mobile node localization method flow chart that the embodiment of the invention five provides;

Fig. 9 is the mobile node localization method flow chart that the embodiment of the invention six provides;

Figure 10 A is a kind of mobile node positioning device structure figure that the embodiment of the invention seven provides;

Figure 10 B is the another kind of mobile node positioning device structure figure that the embodiment of the invention seven provides.

Embodiment

Embodiment one:

Consult Fig. 1, the embodiment of the invention one provides a kind of mobile node localization method, comprising:

101, determine azimuth and the radial distance of mobile node with respect to anchor point;

Wherein, mobile node is the deflecting angle of the line of mobile node and anchor point with respect to the communication beams of the smart antenna of anchor point with respect to the azimuth of anchor point.

Wherein, this step can be the information according to the smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determines azimuth and the radial distance of mobile node with respect to the anchor point at smart antenna place.

Concrete, this step can realize by following dual mode:

First kind of mode: adopt two formula following and calculate azimuth and the radial distance of mobile node with respect to anchor point:

C+G(θ ₁)+L(r)＝s ₁

C+G(θ ₂)+L(r)＝s ₂

Wherein, s ₁The received signal intensity of mobile node when being operated on first communication beams for anchor point; s ₂The received signal intensity of mobile node when being operated on the second communication wave beam for anchor point; G (θ ₁) be that first communication beams is based on deflecting angle θ ₁Antenna gain; G (θ ₂) be that the second communication wave beam is based on deflecting angle θ ₂Antenna gain; L (r) is based on the path loss apart from r; Deflecting angle θ ₁Be the deflecting angle of mobile node with the relative first communication beams reference line of line of anchor point; Deflecting angle θ ₂Be the deflecting angle of mobile node with the relative second communication wave beam of the line reference line of anchor point, C is a constant.

Can determine deflecting angle θ by beamwidth ₁With deflecting angle θ ₂Between relation, therefore, utilize above-mentioned two formula and beamwidth just can obtain deflecting angle θ ₁Value, deflecting angle θ ₂Value and mobile node are with respect to the radial distance of anchor point.

Wherein, first communication beams, second communication wave beam are respectively the optimal communication wave beam of anchor point use and any two communication beams in the adjacent communication wave beam, and wherein, the adjacent communication wave beam is and the adjacent communication beams of described optimal communication wave beam.

The second way: utilize the smart antenna communication beams received signal strength information in when communication according to mobile node, obtain average μ and the variance yields σ of the observation vector x corresponding with described smart antenna communication beams ²According to observation vector x and angle θ with apart from relational expression C+G (θ)+L (r)=x of r, and average μ and the variance yields σ of observation vector x ², determine θ value and r value, wherein, G (θ) is the antenna gain of smart antenna communication beams based on angle θ; L (r) is based on the path loss apart from r;

Wherein, when only utilizing a communication beams, determine to make the θ value and the r value of the probability density function maximum of observation vector x, the described θ value and the r value of the probability density function maximum of observation vector x of making is respectively azimuth and the radial distance of described mobile node with respect to anchor point.

When utilizing a plurality of communication beams, determine to make the θ value and the r value of the joint probability density function maximum of the observation vector x corresponding with each communication beams; Wherein, a plurality of communication beams can comprise at least two communication beams of an anchor point; The communication beams that perhaps comprises a plurality of anchor points.

Perhaps, this step also can be according to average μ and the variance yields σ of the smart antenna communication beams sign that prestores with observation vector x ²Corresponding relation, obtain average μ and variance yields σ that smart antenna communication beams in the smart antenna communication beams information identifies pairing observation vector x ²According to observation vector x and angle θ with apart from relational expression C+G (θ)+L (r)=x of r, and average μ and the variance yields σ of observation vector x ², determine θ value and r value, wherein, G (θ) is the antenna gain of smart antenna communication beams based on angle θ; L (r) is based on the path loss apart from r.Wherein, when only utilizing a communication beams, determine to make the θ value and the r value (being azimuth and the radial distance of described mobile node) of the probability density function maximum of observation vector x with respect to anchor point; When utilizing a plurality of communication beams, determine to make the θ value and the r value of the joint probability density function maximum of the observation vector x corresponding with each communication beams; Wherein, a plurality of communication beams can comprise at least two communication beams of an anchor point; The communication beams that perhaps comprises a plurality of anchor points.

102, according to azimuth and the radial distance of described mobile node with respect to described anchor point, reach the smart antenna reference direction of anchor point and the positional information of anchor point, determine the position of described mobile node.

Wherein, the executive agent of this method is the network entity that is used to locate, and this network entity that is used to locate can be a physical entity that is independent of mobile node and anchor point, also can be positioned on mobile node or the anchor point, perhaps be positioned on the server, do not influence realization of the present invention.

The embodiment of the invention one is determined the position of mobile node by obtaining the azimuth and the distance of mobile node with respect to anchor point, does not need antenna to have phase estimation function and time detection device, has reduced the cost and the complexity of antenna.

Embodiment two:

Consult Fig. 2, the embodiment of the invention two provides a kind of mobile node localization method, comprising:

201, (Anchor Point in the time of AP), writes down the reference direction information and the position of anchor point in unified coordinate system of the smart antenna of anchor point use disposing anchor point.

Concrete, when disposing anchor point, need to determine the reference direction of smart antenna reference beam, wave beam sign and beamwidth, the follow-up reference direction that can obtain any wave beam according to above-mentioned information.

202, the network entity that is used to locate obtains optimal communication wave beam information and adjacent communication wave beam information, the RSSI information of mobile node when obtaining anchor point and being operated on the optimal communication wave beam, and the RSSI information of anchor point mobile node when being operated on the adjacent communication wave beam, wherein, the adjacent communication wave beam is the wave beam adjacent with the optimal communication wave beam.

This step includes but not limited to following two kinds of implementations:

First kind of mode: the wave beam that antenna system is communicated by letter with mobile node according to certain rule selection, such as the wave beam of selecting the RSSI maximum is the optimal communication wave beam, and antenna system is notified the network entity that is used to locate with the sign of optimal communication wave beam and the sign of adjacent communication wave beam.The RSSI information of mobile node when the sign of the network entity that is used to locate record optimal communication wave beam and anchor point are operated on the optimal communication wave beam, and the RSSI information of the sign of record adjacent communication wave beam and anchor point mobile node when being operated on the adjacent communication wave beam.The RSSI information of mobile node was to be obtained from mobile node by the network entity that is used to locate when the RSSI information of mobile node and anchor point were operated on the adjacent communication wave beam when wherein, anchor point was operated on the optimal communication wave beam.

The second way: antenna system does not possess the function of selecting the wave beam communicate by letter with mobile node, when Location Request is initiated, network entity that is used to locate and anchor point carry out information interaction, require the anchor point switching-beam, and the wave beam of RSSI maximum of determining mobile node is as the optimal communication wave beam.When smart antenna is worked on the optimal communication wave beam, the RSSI information of mobile node when the sign of the network entity record optimal communication wave beam that is used to locate and anchor point are operated on the optimal communication wave beam; When smart antenna switches on two wave beams adjacent with the optimal communication wave beam respectively, the RSSI information of mobile node when the sign of the network entity record adjacent communication wave beam that is used to locate and anchor point are operated on the adjacent communication wave beam.The RSSI information of mobile node was to be obtained from mobile node by the network entity that is used to locate when the RSSI information of mobile node and anchor point were operated on the adjacent communication wave beam when wherein, anchor point was operated on the optimal communication wave beam.

As shown in Figure 3, when the wave beam of smart antenna at S ₁, S ₂And S ₃Between when switching successively, the RSSI that mobile node M receives is respectively s ₁, s ₂And s ₃, the RSSI information of wave beam information that the network entity that is used to locate is collected and mobile node is as shown in table 1:

Table 1

The RSSI information of mobile node when 203, being used to the network entity of locating and being operated on the corresponding wave beam according to the sign of three groups of wave beams and anchor point is determined the deflecting angle of mobile node and the relative optimal communication wave beam of the line reference line of anchor point and this mobile node radial distance to anchor point.Wherein, mobile node is the azimuth of mobile node with respect to anchor point with the deflecting angle of the relative optimal communication wave beam of the line reference line of anchor point.

Fig. 4 is the angle schematic diagram of smart antenna, supposes S ₂Be the optimal communication wave beam of smart antenna, the beamwidth ψ of this wave beam is BOC, and wherein, OA, OB and OC are respectively wave beam S ₁, S ₂And S ₃Sector start angle reference line (be called for short communication beams reference line), mobile node is benchmark to the angle of the line of anchor point and each wave beam with the sector start angle reference line of respective beam, counter clockwise direction is a positive-angle, clockwise direction is a negative angle.

When anchor point is operated in wave beam S ₁, S ₂And S ₃When last, the RSSI that mobile node is received is respectively s ₁, s ₂And s ₃

Smart antenna transmit with the relation of received signal intensity as shown in Equation (1):

P _T-P _L+G _T+G _R＝P _R (1)

Wherein, G _TBe transmitter antenna gain (dBi), G _RBe receiving antenna gain, P _TAnd P _RBe respectively and transmit and receive signal strength signal intensity, P _LBe path loss, the unit of each variable all is dB.

Wherein, transmit signal strength P _TBe constant, suppose with C and represent.Path loss P _LBe the function L (r) relevant with radial distance r, transmitter antenna gain (dBi) G _TBe the function G (θ) relevant, because reception antenna is an omnidirectional antenna, so receiving antenna gain G with deflecting angle θ _TBe 0.

Wherein, if antenna is a cubical antenna, then:

$G\left(\mathrm{\θ}\right)={\left(\frac{2J_1\left((\mathrm{\πD}/\mathrm{\λ})\sin \mathrm{\θ}\right)}{\sin \mathrm{\θ}}\right)}^2---\left(2\right)$

This shows that formula (1) is simplified to following formula:

C+G(θ)-L(r)＝s (3)

As shown in Figure 4, with optimal beam S ₂Be reference, S ₂The relatively move deflecting angle of line of node and anchor point of sector start angle reference line be θ ₂, S ₁The relatively move deflecting angle of line of node and anchor point of sector start angle reference line be θ ₁, S ₃The relatively move deflecting angle of line of node and anchor point of sector start angle reference line be θ ₃, then according to wave beam sign and beamwidth, θ as can be known ₁, θ ₂And θ ₃Between satisfy following formula:

θ ₁＝ψ+θ ₂ (4)

θ ₃＝-(ψ-θ ₂) (5)

With formula (4) and formula (5) substitution formula (3), obtain following equation group respectively:

C+G(θ _i)-L(r)＝s _i i＝1，2，3 (6)

Can adopt following dual mode to obtain mobile node in this step with respect to the azimuth of anchor point and mobile node radial distance to anchor point.

First kind of mode:

The RSSI information of mobile node when utilizing above-mentioned anchor point to be operated in three wave beams on any two wave beams, simultaneous is set up equation group, and is following with wave beam S ₁And S ₂Equation group for example foundation:

C+G(θ ₁)-L(r)＝s ₁ (7)

C+G(θ ₂)-L(r)＝s ₂ (8)

According to formula (7), (8) and (4), obtain the r value, θ ₁Value and θ ₂Value.

In addition, the combination of the received signal strength information of mobile node is (as wave beam S in the time of also can getting two groups of different wave beam information and anchor point at every turn and be operated on the respective beam ₁And S ₃, or wave beam S ₂And S ₃), calculate a plurality of azimuths and radial distance after the same method.

Adopt this implementation, amount of calculation is less.

The second way:

In this implementation, the received signal strength information when utilizing the communication of smart antenna communication beams according to mobile node obtains each observation vector x corresponding with this smart antenna communication beams _iAverage μ _iWith variance yields σ ² _i, observation vector x _i(being variable) is about θ _i(its functional relation is x=C+G (θ with the function of r _i)+L (r)), will be with θ _iWith r be the observation vector s of variable _iRespectively in the probability density function of each observation vector of substitution, determine to make the θ of the probability density function product maximum of each observation vector _iAnd r.

How the probability density function of following each observation vector of description makes up:

Known vector x=[x ₁, x ₂, x ₃], can be converted into known parameters α=[θ, r] to the maximal possibility estimation of parameter alpha=[θ, r], the maximum a posteriori probability of vector x is estimated that then the maximum a posteriori probability estimator to vector x is:

$\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\max }p\left(\mathrm{\α}\right|x)---\left(9\right)$

According to Bayesian formula, have following relation:

$p\left(\mathrm{\α}\right|x)=\frac{p\left(x\right|\mathrm{\α})p\left(\mathrm{\α}\right)}{p\left(x\right)}=\frac{p\left(x\right|\mathrm{\α})p\left(\mathrm{\α}\right)}{{\∫}_{\mathrm{\Θ}}\left(x\right|{\mathrm{\α}}^{\′})p\left({\mathrm{\α}}^{\′}\right)d{\mathrm{\α}}^{\′}}---\left(10\right)$

Wherein, p (x)=∫ _ΘP (x| α ') p (α ') d α ' is equivalent to normaliztion constant, p (α | x) maximum is equivalent to p (x| α) p (α) maximum, and then the maximum a posteriori probability estimator to vector x is:

$\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\max }p\left(x\right|\mathrm{\α})p\left(\mathrm{\α}\right)---\left(11\right)$

Wherein, formula (11) is equivalent to:

$\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\max }[\ln p\left(x\right|\mathrm{\α})+\ln p\left(\mathrm{\α}\right)]---\left(12\right)$

Because positions of mobile nodes is evenly to distribute, then formula (12) is equivalent to:

$\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\max }\left[\ln p\left(x\right|\mathrm{\α})\right]---\left(13\right)$

For continuous random variable, variable drops on certain point one section very little probability that length Δ x scope is interior on every side, be approximately equal to probability density function at the value of this point and the product of Δ x, the interior probability of Δ x scope can be according to value approximate obtain of probability density function at these points around then variable dropped on some points.

Because observation vector x _iGaussian distributed x _i～n (μ _i, σ _i ²), according to the derivation of formula (9)～(13) as can be known, and Probability p (α | probability maximum equivalent x) is in the probability maximum of Probability p (x| α)

$p\left(x_i\right|\mathrm{\α})=p({\mathrm{\μ}}_i+n_i|\mathrm{\α})\≈\mathrm{\Δx}\frac{1}{\sqrt{2\mathrm{\π}}{\mathrm{\σ}}_i}\exp \{-\frac{{(x_i-{\mathrm{\μ}}_i)}^2}{2{{\mathrm{\σ}}_i}^2}\}---\left(14\right)$

For i=1,2,3 o'clock, p (x _i| α) uncorrelated each other, then

Wherein, by formula (6) as can be known, this variable x _iFor the function of θ and r, with x _i=C+G (θ _i)-L (r) substitution formula (14);

Wherein, u _iWith

Be respectively observation vector x _iAverage and variance, can adopt following dual mode to obtain u _iWith

:

(1), in certain time period, observation vector is sampled with higher sampling rate, obtain the u of this observation vector by statistics _iWith

(2), off-line measurement obtains the u of observation vector _iWith , on the network entity that is used to locate, set up gain lookup, storage u _iWith

With the corresponding relation of communication beams sign, the network entity that is used for locating in this step is identified at gain lookup according to communication beams and searches corresponding u _iWith

To the best estimate of parameter alpha=[θ, r], be the joint probability density function that makes each observation vector

P (s _i| α) separating of maximum, it can be to make following formula (15) separating when getting maximum:

$Y(\mathrm{\θ},r)={\mathrm{\Π}}_{i=1}^{i=3}\frac{1}{\sqrt{2\mathrm{\π}}{\mathrm{\σ}}_i}\exp \{-\frac{{(x_i-{\mathrm{\μ}}_i)}^2}{2{{\mathrm{\σ}}_i}^2}\}---\left(15\right)$

Promptly $\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\max }Y(\mathrm{\θ},r)---\left(16\right)$

For convenience program is calculated, to Y (θ r) gets negative logarithm, make F (θ, r)=-1n (Y (θ, r)); Then ask F (θ, r) α=[θ, r] hour is best estimate:

$\widehat{\mathrm{\α}}=\arg \underset{\mathrm{\α}}{\min }F(\mathrm{\θ},r)---\left(17\right)$

Wherein, can adopt numerical methods of solving θ and r.

204, according to the deflecting angle of mobile node and the relative optimal communication wave beam of the line reference line of anchor point and this mobile node radial distance to anchor point, with the reference direction and the positional information of anchor point in unified coordinate system of anchor point smart antenna, determine the position of this mobile node in unified coordinate system.

Need to prove, if obtain a plurality of azimuths and radial distance in first kind of mode in the above-mentioned steps 203, then try to achieve the absolute position of mobile node in this step respectively according to each azimuth and corresponding radial distance, average can be got in a plurality of absolute positions of the mobile node of trying to achieve, as the final absolute position in coordinate system of this mobile node.

Consult Fig. 5, OA is the zero degree reference line of smart antenna, and OB is the sector start angle reference line of optimal communication wave beam, and area B OC is optimal communication wave beam zone.S _IdThe numbering of expression communication beams, ψ is a beamwidth.

1) numbering and the beamwidth according to the optimal communication wave beam calculates drift angle ω, and this drift angle ω has represented the reference direction of optimal communication wave beam;

2), calculate the coordinate offset amount of the relative anchor point of mobile node according to drift angle ω, mobile node azimuth and radial distance with respect to anchor point;

x _of＝r×cos(ω+θ)，y _of＝r×sin(ω+θ) (2.18)

3) determine the position [x of mobile node in unified coordinate system ₀+ x _Of, y ₀+ y _Of]; Wherein, x ₀And y ₀Be respectively horizontal stroke, the ordinate of anchor point in unified coordinate system.

The embodiment of the invention two is by obtaining azimuth and the radial distance of mobile node with respect to anchor point, determine the position of mobile node in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced the cost and the complexity of antenna.Further, only need an anchor point to participate in the location Calculation of mobile node, can in the more sparse environment of anchor point, solve the orientation problem of mobile node.

Embodiment three:

Consult Fig. 6, the embodiment of the invention three provides a kind of mobile node localization method, and the network entity that is used to locate in this method is positioned at mobile node, and this method specifically comprises:

601, (Anchor Point, in the time of AP), anchor point writes down the reference direction and the position of anchor point in unified coordinate system of the smart antenna of anchor point use disposing anchor point.

602, mobile node is determined optimal communication wave beam S according to the maximum principle of received signal intensity ₂, send the request of switching adjacent beams to anchor point.

603, anchor point switches to the adjacent communication wave beam, utilizes the adjacent communication wave beam to send information and send the sign S of adjacent communication wave beam to mobile node to mobile node ₁And S ₃

604, the sign S of mobile node record adjacent communication wave beam ₁And S ₃, and the RSSI of record anchor point mobile node when being operated on the adjacent communication wave beam.

605, mobile node is determined the deflecting angle relation of any two communication beams, as formula (4) and formula (5) according to the sign of optimal communication wave beam, the sign and the beamwidth of adjacent communication wave beam.Mobile node according to determined deflecting angle concern, anchor point is operated in the optimal communication wave beam and the RSSI and the formula (6) of mobile node during the adjacent communication wave beam, determines the deflecting angle of mobile node and the relative optimal communication wave beam of the line reference line of anchor point and this mobile node radial distance to anchor point.

This step can have two kinds of implementations, and is concrete identical with corresponding description among the embodiment two, do not repeat them here.

606, mobile node sends the location interrogation request to anchor point.

607, anchor point sends to mobile node with the positional information of oneself.

608, mobile node is according to the deflecting angle of mobile node and the relative optimum beam reference line of line of anchor point and this mobile node radial distance to anchor point, and the reference direction and the positional information of anchor point in unified coordinate system of anchor point smart antenna, determine the position of this mobile node in unified coordinate system.

The concrete implementation of this step is identical with step 204 among the embodiment two, does not repeat them here.

Mobile node is by obtaining its azimuth and radial distance with respect to anchor point in the embodiment of the invention three, determine own position in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced the cost and the complexity of antenna.Further, only need an anchor point to participate in the location Calculation of mobile node, can in the more sparse environment of anchor point, solve the orientation problem of mobile node.

Embodiment four:

Consult Fig. 7, the embodiment of the invention four provides a kind of mobile node localization method, and the network entity that is used to locate in this method is positioned at anchor point, and this method specifically comprises:

701, (Anchor Point in the time of AP), writes down the reference direction and the position of anchor point in unified coordinate system of the smart antenna of anchor point use disposing anchor point.

702, mobile node sends Location Request to anchor point, reports anchor point to be operated in optimal communication wave beam S to anchor point simultaneously ₂The time mobile node RSSI.

703, the anchor point writing task is at optimal communication wave beam S ₂The time mobile node RSSI, and switch to the adjacent communication wave beam, use the adjacent communication wave beam to send information to mobile node.

The RSSI of mobile node when 704, mobile node record anchor point is operated on the adjacent communication wave beam, the RSSI of mobile node sends to anchor point when being operated in anchor point on the adjacent communication wave beam.

705, anchor point is determined optimal communication wave beam S ₂, adjacent communication wave beam S ₁And S ₃Between deflecting angle relation, as formula (4) and formula (5).Anchor point according to determined deflecting angle concern, anchor point is operated in the optimal communication wave beam and the RSSI and the formula (6) of mobile node during the adjacent communication wave beam, determines the deflecting angle of mobile node and the relative optimum beam reference line of line of anchor point and this mobile node radial distance to anchor point.

Wherein, anchor point is to determine the deflecting angle relation according to the sign and the beamwidth of optimal communication wave beam, adjacent communication wave beam.

This step can have two kinds of implementations, and concrete implementation is identical with corresponding description among the embodiment two, does not repeat them here.

706, anchor point is according to the deflecting angle of mobile node and the relative optimum beam reference line of line of anchor point and this mobile node radial distance to anchor point, and the reference direction and the positional information of anchor point in unified coordinate system of anchor point smart antenna, determine the position of this mobile node in unified coordinate system.

Concrete implementation is identical with step 204 among the embodiment two, does not repeat them here.

707, anchor point sends locating result information to mobile node, comprises the positional information of mobile node in unified coordinate system in this locating result information.

Anchor point is by obtaining azimuth and the radial distance of mobile node with respect to anchor point in the embodiment of the invention four, determine own position in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced the cost and the complexity of antenna.Further, only need an anchor point to participate in the location Calculation of mobile node, can in the more sparse environment of anchor point, solve the orientation problem of mobile node.

Embodiment five:

Consult Fig. 8, the embodiment of the invention five provides a kind of mobile node localization method, comprising:

801, (Anchor Point, in the time of AP), the anchor point in the system writes down the reference direction and the position of anchor point in unified coordinate system of the smart antenna of anchor point use disposing anchor point.

802, first anchor point (AP1) receives the Location Request that mobile node sends, and optimal communication wave beam information is sent to terminal to be positioned; Second anchor point (AP2) receives the Location Request that mobile node sends, and optimal communication wave beam information is sent to terminal to be positioned.The optimal communication wave beam information that is wherein sent comprises optimal communication wave beam sign and beamwidth.

803, the deflecting angle of the sector start angle reference line of the optimal communication wave beam that provides with respect to first anchor point of supposition first anchor point (AP1) and the line of mobile node (M) is θ ₁The deflecting angle of the sector start angle reference line of the optimal communication wave beam that the line of second anchor point (AP2) and mobile node (M) provides with respect to second anchor point is θ ₂, first anchor point (AP1) is r to the radial distance of mobile node (M) ₁, second anchor point (AP2) is r to the radial distance of mobile node (M) ₂, determine to make the θ of the joint probability density function maximum of each observation vector _iAnd r _iWherein, can adopt numerical methods of solving θ _iAnd r _i

Promptly determine to make

Maximum θ _iAnd r _i, wherein, the functional relation of observation vector x and deflecting angle θ and radial distance r is: x=C+G (θ)-L (r).

Wherein, observation vector x _iAverage u _iAnd variance

Two kinds of acquisition modes can be arranged, specifically see the corresponding description of embodiment two.

804, mobile node sends the location interrogation request to certain anchor point (supposing first anchor point).

805, first anchor point sends to mobile node with the positional information of oneself.

806, mobile node is according to the radial distance and the corresponding deflecting angle of itself and first anchor point, and the reference direction and the positional information of first anchor point in unified coordinate system of the first anchor point smart antenna, determines the position of this mobile node in unified coordinate system.

Mobile node is by obtaining its azimuth and radial distance with respect to anchor point in the embodiment of the invention five, determine own position in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced the cost and the complexity of antenna.

Embodiment six:

Consult Fig. 9, the embodiment of the invention six provides a kind of mobile node localization method, and this method specifically comprises:

901, (Anchor Point, in the time of AP), the anchor point in the system writes down the reference direction and the position of anchor point in unified coordinate system of the smart antenna of anchor point use disposing anchor point.

Concrete, when disposing anchor point, need to determine the reference direction of smart antenna reference beam, wave beam sign and beamwidth, the follow-up reference direction that can obtain any wave beam according to above-mentioned information.

The RSSI information of mobile node when 902, the network entity that is used to locate obtains optimal communication wave beam information and anchor point and is operated on the optimal communication wave beam.Wherein, optimal communication wave beam information comprises: the wave beam sign.

Wherein, the network entity that is used to locate can be positioned at mobile node or anchor point, does not influence realization of the present invention.

This step includes but not limited to following two kinds of implementations:

First kind of mode: the wave beam that antenna system is communicated by letter with mobile node according to certain rule selection is the optimal communication wave beam such as the wave beam of selecting the RSSI maximum, and antenna system is notified the network entity that is used to locate with the sign of optimal communication wave beam.The RSSI information of mobile node when the sign of the network entity record optimal communication wave beam that is used to locate and anchor point are operated on the optimal communication wave beam.

The second way: antenna system does not possess the function of selecting the wave beam communicate by letter with mobile node, when initiate the location, network entity that is used to locate and anchor point carry out information interaction, require the anchor point switching-beam, and the wave beam of RSSI maximum of determining mobile node is as the optimal communication wave beam.When smart antenna is worked on the optimal communication wave beam, the RSSI information of mobile node when the sign of the network entity record optimal communication wave beam that is used to locate and anchor point are operated on the optimal communication wave beam.

The particular content of the information of obtaining in this step is as shown in table 1.

903, the network entity that is used to locate identifies according to communication beams, searches the gain index table, obtains average u and the variances sigma of observation vector x ²Wherein, preserve average u and the variances sigma of communication beams sign and observation vector x in the gain index table ²Corresponding relation, the u of this observation vector _iWith It is off-line measurement.

Wherein, also can adopt other modes to obtain average u and the variances sigma of observation vector x ², the RSSI to mobile node in anchor point is operated in certain time period of optimal communication wave beam samples with higher employing speed, obtains average u and variances sigma by statistics ²

904, be used to the selected initial search point of the network entity of locating (θ, r), promptly selected θ value and r value.

905, adopt certain Policy Updates search point (θ, r), (θ value and the r value of this moment is respectively mobile node and the deflecting angle of the relative optimal communication wave beam of line of anchor point and the mobile node radial distance to anchor point for θ, r) convergence up to F promptly to upgrade θ value and r value.

(θ is to obtain in the following way r): the functional relation of determining observation vector and θ and r according to formula (6) is: x=C+G (θ)-L (r) will be the observation vector x substitution formula of variable with θ and r to F in this step

To Y (θ r) gets negative logarithm, make F (θ, r)=-ln (Y (θ, r)).

Wherein, this step can adopt steepest descent method, Newton method, quasi-Newton method or conjugate gradient method more the new search point (θ, r).

The embodiment of the invention six is by obtaining azimuth and the radial distance of mobile node with respect to anchor point, determine the position of mobile node in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced the cost and the complexity of antenna.Further, only need an anchor point to participate in the location Calculation of mobile node, can in the more sparse environment of anchor point, solve the orientation problem of mobile node.Further, adopt numerical solution to find the solution θ and r, reduce the computing capability requirement of the network entity that is used to locate.

Embodiment seven:

Consult Figure 10 A and 10B, the embodiment of the invention seven provides a kind of mobile node positioner, comprising:

Determining unit 100 is used for determining azimuth and the radial distance of mobile node with respect to anchor point;

Position converting unit 200 is used for according to azimuth and the radial distance of described mobile node with respect to described anchor point, and the smart antenna reference direction of anchor point and the positional information of anchor point, determines the position of described mobile node.

Wherein, determining unit 100 comprises: acquiring unit 300, be used to obtain the information of smart antenna communication beams, and the received signal strength information of mobile node when utilizing described smart antenna communication beams communication; With computing unit 400, be used for information according to described smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determine azimuth and the radial distance of mobile node with respect to the anchor point at smart antenna place.

Concrete, the information of the smart antenna communication beams that described acquiring unit 300 obtains comprises: first communication beams sign of anchor point, second communication wave beam sign and beamwidth; This moment, computing unit 400 was used to utilize the deflecting angle θ of mobile node and the relative first communication beams reference line of line of described anchor point ₁, mobile node and the relative second communication wave beam of the line reference line of described anchor point deflecting angle θ ₂The received signal intensity of mobile node and deflecting angle θ when relation between the two, anchor point are operated in first communication beams ₁With the relation of mobile node to the radial distance r of anchor point, the received signal intensity of mobile node and deflecting angle θ when anchor point is operated in the second communication wave beam ₂With the relation of described r, determine described θ ₁, θ ₂With described r value.

The received signal intensity of mobile node and deflecting angle θ when wherein, anchor point is operated in first communication beams ₁With relation such as the equation C+G (θ of mobile node to the radial distance r of anchor point ₁)+L (r)=s ₁The received signal intensity of mobile node and deflecting angle θ when anchor point is operated in the second communication wave beam ₂Relation such as equation C+G (θ with described r ₂)+L (r)=s ₁, wherein, θ ₁, θ ₂Relation between the two according to first communication beams identify, second communication wave beam sign and beamwidth decision; s ₁, s ₂Be respectively the received signal intensity of anchor point mobile node when being operated on first communication beams, the second communication wave beam; G (θ ₁) be that first communication beams is based on deflecting angle θ ₁Antenna gain; G (θ ₂) be that the second communication wave beam is based on deflecting angle θ ₂Antenna gain; L (r) is based on the path loss of mobile node to the radial distance r of anchor point, and C is a constant.

Perhaps computing unit 400 comprises: observation vector information is obtained subelement, received signal strength information when being used for utilizing the communication of described smart antenna communication beams according to mobile node obtains average μ and the variance yields σ of the observation vector x corresponding with described smart antenna communication beams ²Obtain subelement with the angle radial distance, be used for according to observation vector x and mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and mobile node to the radially r of anchor point, and average μ and the variance yields σ of observation vector x ², determine θ value and r value.Wherein, observation vector x and mobile node can be as EQUATION x=C+G (θ)+L (r) to the relation of the radially r of anchor point to the line of anchor point and the deflecting angle θ and the mobile node of corresponding smart antenna communication beams reference line, and wherein G (θ) is the antenna gain of smart antenna communication beams based on angle θ; L (r) is based on the path loss apart from r.

Perhaps, determining unit 100 can comprise: wave beam information is obtained subelement, is used to obtain the information of smart antenna communication beams; Obtain subelement with observation vector information, be used for according to the average μ and the variance yields σ of the smart antenna communication beams sign that prestores with observation vector x ²Corresponding relation, obtain average μ and variance yields σ that smart antenna communication beams in the smart antenna communication beams information identifies pairing observation vector x ²Obtain son with the angle radial distance and get the unit, be used for according to observation vector x and mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and mobile node to the radially r of anchor point, and average μ and the variance yields σ of observation vector x ², determine θ value and r value.Wherein, observation vector x and mobile node to the line of anchor point and the deflecting angle θ and the mobile node of corresponding smart antenna communication beams reference line can be as EQUATION x=C+G (θ)+L (r) to the relation of the radially r of anchor point, wherein, G (θ) is the antenna gain of smart antenna communication beams based on angle θ; L (r) is based on the path loss apart from r.

When the information of the smart antenna communication beams of obtaining is the information of a smart antenna communication beams, the angle radial distance obtains subelement, be used to determine make the θ value and the r value of the probability density function maximum of observation vector x, the described θ value and the r value of the probability density function maximum of observation vector x of making is respectively azimuth and the radial distance of described mobile node with respect to anchor point.

The information of the smart antenna communication beams of preferably, obtaining comprises: the information of at least two communication beams of anchor point; The average μ of the observation vector x that obtains and variance yields σ ²Comprise: the observation vector x of each smart antenna communication beams correspondence _iAverage μ _iWith variance yields σ _i ²Described angle radial distance acquiring unit is used to utilize each observation vector x _iAverage μ _iWith variance yields σ _i ², and observation vector x _iWith θ _iRelational expression x with r _i=C+G (θ _i)+L (r) determines to make the θ of the joint probability density function maximum of each observation vector _iValue and r value, determined θ _iValue and r value are respectively azimuth and the radial distance of mobile node with respect to described anchor point.

Preferably, the information of the smart antenna communication beams of obtaining comprises: the information of the smart antenna communication beams of N anchor point, and wherein N is greater than or equal to 2; The average μ of the observation vector x that obtains and variance yields σ ²Comprise: the observation vector x of each smart antenna communication beams correspondence _iAverage μ _iWith variance yields σ _i ²Described angle radial distance acquiring unit is used to utilize each observation vector x _iAverage μ _iWith variance yields σ _i ², and observation vector x _iWith θ _iAnd r _iRelational expression x _i=C+G (θ _i)+L (r _i), determine to make the pairing θ value of each observation vector x and the r value of the joint probability density function maximum of each observation vector; The pairing θ value of observation vector and the r value of the smart antenna communication beams correspondence that described mobile node is described anchor point with respect to the azimuth and the radial distance of an anchor point.

Preferably, described mobile node positioner is positioned on the mobile node, and described acquiring unit 300 comprises: information interaction subelement 3011 is used for from the information of anchor point obtaining communication wave beam; Signal energy is measured subelement 3012, the received signal intensity when being used to measure described anchor point and being operated on the described communication beams.Specifically referring to Figure 10 A.

Perhaps, described mobile node positioner is positioned on the anchor point, and described acquiring unit 300 comprises: beam selection and record subelement 3021 are used to select the wave beam of communicating by letter with mobile node and the information of record communication wave beam; Information interaction subelement 3022 is used for the received signal intensity when mobile node obtains described anchor point and is operated on the described communication beams.Specifically referring to Figure 10 B.

The embodiment of the invention seven is by obtaining azimuth and the radial distance of mobile node with respect to anchor point, determine the position of mobile node in unified coordinate system, do not need the antenna of anchor point to have phase estimation function and time detection device, reduced the cost and the complexity of antenna.

One of ordinary skill in the art will appreciate that all or part of step that realizes in the foregoing description method is to instruct relevant hardware to finish by program, described program can be stored in a kind of computer-readable recording medium, read-only memory for example, disk or CD etc.

More than mobile node localization method, device and network system that the embodiment of the invention provided are described in detail, used specific case herein principle of the present invention and execution mode are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.

Claims (19)

1. a mobile node localization method is characterized in that, comprising:

Determine azimuth and the radial distance of mobile node with respect to anchor point;

According to azimuth and the radial distance of described mobile node with respect to described anchor point, reach the smart antenna reference direction of anchor point and the positional information of anchor point, determine the position of described mobile node.

2. method according to claim 1 is characterized in that, described definite mobile node comprises with respect to the azimuth of anchor point and the step of radial distance:

Obtain the information of smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams;

According to the information of described smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determine azimuth and the radial distance of mobile node with respect to the anchor point at smart antenna place.

3. method according to claim 2 is characterized in that, the information of the smart antenna communication beams of obtaining comprises: first communication beams sign of anchor point, second communication wave beam sign and beamwidth;

According to the information of described smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determine that mobile node comprises with respect to the azimuth of the anchor point at smart antenna place and the step of radial distance:

Utilize the deflecting angle θ of mobile node and the relative first communication beams reference line of line of described anchor point ₁, mobile node and the relative second communication wave beam of the line reference line of described anchor point deflecting angle θ ₂The received signal intensity of mobile node and deflecting angle θ when relation between the two, anchor point are operated in first communication beams ₁With the relation of mobile node to the radial distance r of anchor point, the received signal intensity of mobile node and deflecting angle θ when anchor point is operated in the second communication wave beam ₂With the relation of described r, determine described θ ₁Value, θ ₂Value and described r value, wherein, θ ₁, θ ₂Relation between the two according to first communication beams identify, second communication wave beam sign and beamwidth decision.

4. method according to claim 3 is characterized in that,

Described first communication beams, second communication wave beam are respectively the optimal communication wave beam of anchor point use and any two communication beams in the adjacent communication wave beam, and wherein, the adjacent communication wave beam is and the adjacent communication beams of described optimal communication wave beam.

5. method according to claim 2 is characterized in that,

According to the information of described smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determine that mobile node comprises with respect to the azimuth of the anchor point at smart antenna place and the step of radial distance:

Received signal strength information when utilizing the communication of described smart antenna communication beams according to mobile node obtains average and the variance yields of the observation vector x corresponding with described smart antenna communication beams;

According to observation vector x and mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and mobile node to the radial distance r of anchor point, and utilize the probability density function of the average of observation vector x and the observation vector x that variance yields obtains, determine θ value and r value.

6. method according to claim 1 is characterized in that, described definite mobile node also comprises with respect to the azimuth of anchor point and the step of radial distance:

Obtain the information of smart antenna communication beams;

According to average μ and the variance yields σ of the smart antenna communication beams sign that prestores with observation vector x ²Corresponding relation, obtain average and variance yields that smart antenna communication beams in the smart antenna communication beams information identifies pairing observation vector x;

According to observation vector x and mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and mobile node to the radial distance r of anchor point, and utilize the probability density function of the average of observation vector x and the observation vector x that variance yields obtains, determine θ value and r value.

7. according to claim 5 or 6 described methods, it is characterized in that,

The step of described definite θ value and r value comprises:

Determine to make the θ value and the r value of the probability density function maximum of observation vector x, the described θ value and the r value of the probability density function maximum of observation vector x of making is respectively azimuth and the radial distance of described mobile node with respect to anchor point.

8. according to claim 5 or 6 described methods, it is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of at least two communication beams of anchor point;

Average and the variance yields of the observation vector x that obtains comprise: the observation vector x of each smart antenna communication beams correspondence _iAverage and variance yields;

The step of described definite θ value and r value comprises:

Utilize each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iWith the relation of r, determine to make the θ of the joint probability density function maximum of each observation vector _iValue and r value, determined θ _iValue and r value are respectively azimuth and the radial distance of mobile node with respect to described anchor point.

9. according to claim 5 or 6 described methods, it is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of the smart antenna communication beams of N anchor point, and wherein N is greater than or equal to 2;

The average μ of the observation vector x that obtains and variance yields σ ²Comprise: the observation vector x of each smart antenna communication beams correspondence _iAverage and variance yields;

The step of described definite θ value and r value comprises:

Utilize each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iAnd r _iRelation, determine to make the pairing θ value of each observation vector x and the r value of the joint probability density function maximum of each observation vector; The pairing θ value of observation vector and the r value of the smart antenna communication beams correspondence that described mobile node is described anchor point with respect to the azimuth and the radial distance of an anchor point.

10. a mobile node positioner is characterized in that, comprising:

Determining unit is used for determining azimuth and the radial distance of mobile node with respect to anchor point;

The position converting unit is used for according to azimuth and the radial distance of described mobile node with respect to described anchor point, and the smart antenna reference direction of anchor point and the positional information of anchor point, determines the position of described mobile node.

11. device according to claim 10 is characterized in that,

Described determining unit comprises:

Acquiring unit is used to obtain the information of smart antenna communication beams, and the received signal strength information of mobile node when utilizing described smart antenna communication beams communication;

Computing unit is used for the information according to described smart antenna communication beams, and the received signal strength information of mobile node when utilizing the communication of described smart antenna communication beams, determines azimuth and the radial distance of mobile node with respect to the anchor point at smart antenna place.

12. device according to claim 11 is characterized in that,

The information of the smart antenna communication beams that described acquiring unit obtains comprises: first communication beams sign of anchor point, second communication wave beam sign and beamwidth;

Described computing unit is used to utilize the deflecting angle θ of mobile node and the relative first communication beams reference line of line of described anchor point ₁, mobile node and the relative second communication wave beam of the line reference line of described anchor point deflecting angle θ ₂The received signal intensity of mobile node and deflecting angle θ when relation between the two, anchor point are operated in first communication beams ₁With the relation of mobile node to the radial distance r of anchor point, the received signal intensity of mobile node and deflecting angle θ when anchor point is operated in the second communication wave beam ₂With the relation of described r, determine described θ ₁, θ ₂With described r value;

Wherein, θ ₁, θ ₂Relation between the two according to first communication beams identify, second communication wave beam sign and beamwidth decision.

13. device according to claim 11 is characterized in that,

Described computing unit comprises:

Observation vector information is obtained subelement, and the received signal strength information when being used for utilizing the communication of described smart antenna communication beams according to mobile node obtains average and the variance yields of the observation vector x corresponding with described smart antenna communication beams;

The angle radial distance obtains subelement, be used for according to observation vector x and mobile node relation to the deflecting angle θ of the line of anchor point and corresponding smart antenna communication beams reference line and mobile node to the radial distance r of anchor point, and utilize the probability density function of the average of observation vector x and the observation vector x that variance yields obtains, determine θ value and r value.

14. device according to claim 10 is characterized in that,

Described determining unit comprises:

Wave beam information is obtained subelement, is used to obtain the information of smart antenna communication beams;

Observation vector information is obtained subelement, is used for according to average μ and the variance yields σ of the smart antenna communication beams sign that prestores with observation vector x ²Corresponding relation, obtain average and variance yields that smart antenna communication beams in the smart antenna communication beams information identifies pairing observation vector x;

The angle radial distance obtains subelement, be used for according to observation vector x and mobile node to the line of anchor point with the deflecting angle θ of corresponding smart antenna communication beams reference line with apart from the relation of mobile node to the radially r of anchor point, and utilize the probability density function of the average of observation vector x and the observation vector x that variance yields obtains, determine θ value and r value.

15. according to claim 13 or 14 described devices, it is characterized in that,

Described angle radial distance obtains subelement, be used to determine make the θ value and the r value of the probability density function maximum of observation vector x, the described θ value and the r value of the probability density function maximum of observation vector x of making is respectively azimuth and the radial distance of described mobile node with respect to anchor point.

16. according to claim 13 or 14 described devices, it is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of at least two communication beams of anchor point;

Average and the variance yields of the observation vector x that obtains comprise: the observation vector x of each smart antenna communication beams correspondence _iAverage and variance yields;

Described angle radial distance obtains subelement, is used to utilize each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iWith the relation of r, determine to make the θ of the joint probability density function maximum of each observation vector _iValue and r value, determined θ _iValue and r value are respectively azimuth and the radial distance of mobile node with respect to described anchor point.

17. according to claim 13 or 14 described devices, it is characterized in that,

The information of the smart antenna communication beams of obtaining comprises: the information of the smart antenna communication beams of N anchor point, and wherein N is greater than or equal to 2;

The average μ of the observation vector x that obtains and variance yields σ ²Comprise: the observation vector x of each smart antenna communication beams correspondence _iAverage and variance yields;

Described angle radial distance obtains subelement, is used to utilize each observation vector x _iAverage and variance yields, and observation vector x _iWith θ _iAnd r _iRelation, determine to make the pairing θ value of each observation vector x and the r value of the joint probability density function maximum of each observation vector; The pairing θ value of observation vector and the r value of the smart antenna communication beams correspondence that described mobile node is described anchor point with respect to the azimuth and the radial distance of an anchor point.

18. device according to claim 11 is characterized in that,

Described mobile node positioner is positioned on the mobile node,

Described acquiring unit comprises:

The information interaction subelement is used for from the information of anchor point obtaining communication wave beam;

Signal energy is measured subelement, the received signal intensity of this locality when being used to measure described anchor point and being operated on the described communication beams.

19. device according to claim 11 is characterized in that,

Described mobile node positioner is positioned on the anchor point,

Described acquiring unit comprises:

Beam selection and record subelement are used to select the wave beam of communicating by letter with mobile node and the information of record communication wave beam;

The information interaction subelement is used for the received signal intensity when mobile node obtains described anchor point and is operated on the described communication beams.

Images