CN107450049A - Reach the accurate calculation method of Positioning System time difference - Google Patents
Reach the accurate calculation method of Positioning System time difference Download PDFInfo
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- CN107450049A CN107450049A CN201710554659.5A CN201710554659A CN107450049A CN 107450049 A CN107450049 A CN 107450049A CN 201710554659 A CN201710554659 A CN 201710554659A CN 107450049 A CN107450049 A CN 107450049A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention provides a kind of accurate calculation method for reaching Positioning System time difference, comprises the following steps：Outwards launch the time of location information after alignment system positioning, as the very first time, the location information time is received with receiver, as the second time, according to two temporal informations, outwards launch the time delay that location information receives the location information with receiver, referred to as the first time delay after calculating alignment system positioning；This method uses the calculating up to the time difference in time variance, base station, more accurately calculates positioning reaching time-difference.
Description
Technical field
The present invention relates to wireless location technology field, specially a kind of accurate calculation side for reaching Positioning System time difference
Method.
Background technology
Navigating at present up to universal delay situation be present, so positioning signal is launched, reaching reception system, arrival processing
Between system all can existence time it is poor, calculate these time differences for reduce signal transmission delay have great role, at present
Calculating simply by reception positioning signal the internal system clock calculation time difference, accuracy and generally spend it is all relatively low, so need
Want a method for accurately calculating the time.
The content of the invention
The present invention provides a kind of accurate calculation method for reaching Positioning System time difference, comprises the following steps：
Outside time of transmitting location information after alignment system positioning, as the very first time, and receiver receive it is described
The location information time, as the second time, according to two temporal informations, calculate after alignment system positioning outwards transmitting location information with
Receiver receives the time delay of the location information, referred to as the first time delay；
Receiver receives the time of transmission response signal after the location information, as the 3rd time, and alignment system
The time of the response signal is received, as the 4th time, calculates after receiver receives the location information and sends response
Signal and alignment system receive the time delay between the response signal, referred to as the second time delay；
According to the first time delay and the second time delay calculated, the time of clock in alignment system is calculated with connecing
Receive the time difference between the time of the clock in device.
Further, counted between two clocks of calculating during the time difference in the case of without using wave filter using logical operation
The fixed delay component in the first time delay and second time delay is calculated as time lag.
Further, the minimum value for first time delay for keeping being calculated simultaneously exports first delay kept
During second delay that the minimum value of time, the minimum value for second time delay for keeping being calculated and output are kept
Between minimum value, and described in the minimum value based on first time delay and the minimum value of second time delay calculate
Time difference.
Further, receiving the step that it is poor that evaluation time is fallen into a trap in base station includes：
According to any one base station for receiving location information, positioning signal in the base station is obtained in preset time period
N number of arrival time；
According to each arrival time in N number of arrival time, the error of the arrival time is determined；
According to identified N number of arrival time, an arrival time variance corresponding to N number of arrival time is determined；
Determined according to the coordinate of positioning target, the coordinate of any one base station and arrival time variance, other receive
In the base station of position signal between the variance of arrival time, other base stations for receiving positioning signal and any one described base station
Relation, determine the compensation value matrix of reaching time-difference positioning；
Judge whether the vectorial mould length of the compensation value matrix is not more than the first pre-determined threshold threshold value；
If it is, according to the compensation value matrix, the error co-variance matrix that reaching time-difference positions is determined；
By the mark of the error co-variance matrix, it is defined as reaching time-difference.
Further, for calculating other base stations for receiving positioning signal and any one described base station to the positioning mesh
Target is apart from eikonal equation：
Wherein, i scope is [2, N], (xi,yi,zi) it is that other receive being present in server database positions letter
Number base station coordinate, (x1,y1,z1) for the coordinate of any one base station that is present in server database, (x, y,
Z) it is the coordinate of the positioning target pre-set, tiFor the arrival time of other base stations for receiving positioning signal, t1For described
The arrival time of one base station of meaning, siFor the arrival time error of other base stations for receiving positioning signal, s1To be described any one
The arrival time error of individual base station, it is R to obtain other base stations for receiving positioning signal with described the distance between the target that positionsi
=c* (ti+si), any one described base station is R with described the distance between the target that positions1=c* (t1+s1), c propagates for signal
Speed is the light velocity.
This method uses the calculating up to the time difference in time variance, base station, more accurately calculates positioning arrival time
Difference.
Brief description of the drawings
Fig. 1 is flow chart of the present invention.
Embodiment
A kind of accurate calculation method for reaching Positioning System time difference of the present invention, comprises the following steps：
Outside time of transmitting location information after alignment system positioning, as the very first time, and receiver receive it is described
The location information time, as the second time, according to two temporal informations, calculate after alignment system positioning outwards transmitting location information with
Receiver receives the time delay of the location information, referred to as the first time delay；
Receiver receives the time of transmission response signal after the location information, as the 3rd time, and alignment system
The time of the response signal is received, as the 4th time, calculates after receiver receives the location information and sends response
Signal and alignment system receive the time delay between the response signal, referred to as the second time delay；
According to the first time delay and the second time delay calculated, the time of clock in alignment system is calculated with connecing
Receive the time difference between the time of the clock in device.
When calculating the time difference between two clocks, prolonged in the case of without using wave filter using logical operation to calculate first
Fixed delay component in slow time and second time delay is as time lag.
First time delay that the minimum value for first time delay for keeping being calculated and output are kept
Minimum value, the minimum value for second time delay for keeping being calculated simultaneously export second time delay kept most
Small value, and the minimum value based on first time delay and the minimum value of second time delay calculate the time
Difference.
Receiving the step that it is poor that evaluation time is fallen into a trap in base station includes：
According to any one base station for receiving location information, positioning signal in the base station is obtained in preset time period
N number of arrival time；
According to each arrival time in N number of arrival time, the error of the arrival time is determined；
According to identified N number of arrival time, an arrival time variance corresponding to N number of arrival time is determined；
Determined according to the coordinate of positioning target, the coordinate of any one base station and arrival time variance, other receive
In the base station of position signal between the variance of arrival time, other base stations for receiving positioning signal and any one described base station
Relation, determine the compensation value matrix of reaching time-difference positioning；
Judge whether the vectorial mould length of the compensation value matrix is not more than the first pre-determined threshold threshold value；
If it is, according to the compensation value matrix, the error co-variance matrix that reaching time-difference positions is determined；
By the mark of the error co-variance matrix, it is defined as reaching time-difference.
For calculate other base stations for receiving positioning signal and any one described base station to it is described position target away from
Deviation equation is：
Wherein, i scope is [2, N], (xi,yi,zi) it is that other receive being present in server database positions letter
Number base station coordinate, (x1,y1,z1) for the coordinate of any one base station that is present in server database, (x, y,
Z) it is the coordinate of the positioning target pre-set, tiFor the arrival time of other base stations for receiving positioning signal, t1For described
The arrival time of one base station of meaning, siFor the arrival time error of other base stations for receiving positioning signal, s1To be described any one
The arrival time error of individual base station, it is R to obtain other base stations for receiving positioning signal with described the distance between the target that positionsi
=c* (ti+si), any one described base station is R with described the distance between the target that positions1=c* (t1+s1), c propagates for signal
Speed is the light velocity.
In the case where the vectorial mould length of the compensation value matrix is more than the first pre-determined threshold threshold value, in addition to：Will
The coordinate of presently described positioning target is added with corresponding row vector value in the compensation value matrix, obtains the new positioning mesh
Target coordinate, then proceed to determine the relation of other base stations for receiving positioning signal and any one base station；Judge institute
State whether reaching time-difference positioning precision is more than the second pre-determined threshold threshold value；If not, by when the coordinate arrival of prelocalization target
Time difference is defined as the result of reaching time-difference.
Claims (5)
- A kind of 1. accurate calculation method for reaching Positioning System time difference, it is characterised in that comprise the following steps：Outwards launch the time of location information after alignment system positioning, the positioning is received as the very first time, and receiver Information time, as the second time, according to two temporal informations, outwards launch location information with receiving after calculating alignment system positioning Device receives the time delay of the location information, referred to as the first time delay；Receiver receives the time of transmission response signal after the location information, is received as the 3rd time, and alignment system To the time of the response signal, as the 4th time, calculate after receiver receives the location information and send response signal The time delay between the response signal, referred to as the second time delay are received with alignment system；According to the first time delay and the second time delay calculated, time and the receiver of clock in alignment system are calculated In clock time between time difference.
- 2. method according to claim 1, it is characterised in that：When calculating the time difference between two clocks, without using wave filter In the case of using logical operation come calculate the fixed delay component in the first time delay and second time delay as Time lag.
- 3. method according to claim 1, it is characterised in that：The minimum value for first time delay that holding is calculated is simultaneously The minimum value of first time delay kept is exported, the minimum value for second time delay that holding is calculated is simultaneously defeated Go out the minimum value of second time delay kept, and the minimum value based on first time delay and described second The minimum value of time delay calculates the time difference.
- 4. method according to claim 1, it is characterised in that receiving the step that it is poor that evaluation time is fallen into a trap in base station includes：According to any one base station for receiving location information, the N number of of positioning signal in the base station is obtained in preset time period Arrival time；According to each arrival time in N number of arrival time, the error of the arrival time is determined；According to identified N number of arrival time, an arrival time variance corresponding to N number of arrival time is determined；Letter is positioned according to the coordinate of positioning target, the coordinate of any one base station and arrival time variance, other receive Number base station in pass between the variance of arrival time, other base stations for receiving positioning signal and any one described base station System, determine the compensation value matrix of reaching time-difference positioning；Judge whether the vectorial mould length of the compensation value matrix is not more than the first pre-determined threshold threshold value；If it is, according to the compensation value matrix, the error co-variance matrix that reaching time-difference positions is determined；By the mark of the error co-variance matrix, it is defined as reaching time-difference.
- 5. method according to claim 4, it is characterised in that：For calculate other base stations for receiving positioning signal with it is described Any one base station is apart from eikonal equation to the positioning target：<mfenced open = "" close = ""> <mtable> <mtr> <mtd> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <mi>x</mi> <mo>-</mo> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <mi>y</mi> <mo>-</mo> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <mi>z</mi> <mo>-</mo> <msub> <mi>z</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>-</mo> <msqrt> <mrow> <msup> <mrow> <mo>(</mo> <mi>x</mi> <mo>-</mo> <msub> <mi>x</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <mi>y</mi> <mo>-</mo> <msub> <mi>y</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <mi>z</mi> <mo>-</mo> <msub> <mi>z</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow> </msqrt> <mo>=</mo> <msub> <mi>R</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>R</mi> <mi>i</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mo>=</mo> <mi>c</mi> <mo>*</mo> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>t</mi> <mi>i</mi> </msub> <mo>+</mo> <msub> <mi>s</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>s</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>Wherein, i scope is [2, N], (xi,yi,zi) for other positioning signals that receive for being present in server database The coordinate of base station, (x1,y1,z1) for the coordinate of any one base station that is present in server database, (x, y, z) is The coordinate of the positioning target pre-set, tiFor the arrival time of other base stations for receiving positioning signal, t1To be described any one The arrival time of individual base station, siFor the arrival time error of other base stations for receiving positioning signal, s1For any one described base The arrival time error stood, it is R to obtain other base stations for receiving positioning signal with described the distance between the target that positionsi=c* (ti+si), any one described base station is R with described the distance between the target that positions1=c* (t1+s1), c is signal velocity That is the light velocity.
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| CN201710554659.5A CN107450049A (en) | 2017-07-10 | 2017-07-10 | Reach the accurate calculation method of Positioning System time difference |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110536413A (en) * | 2019-07-31 | 2019-12-03 | 武汉剑通信息技术有限公司 | A kind of method and system of LTE base station GPS positioning |
| CN112073905A (en) * | 2020-09-15 | 2020-12-11 | Oppo广东移动通信有限公司 | Distance difference determining method, data frame transmission method and related product |
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| WO2016011601A1 (en) * | 2014-07-22 | 2016-01-28 | 华为技术有限公司 | Access point, terminal and wireless fidelity (wifi) indoor locating method |
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Patent Citations (5)
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| CN1413057A (en) * | 2001-10-18 | 2003-04-23 | 华为技术有限公司 | Method for estimating position of mobile station and its device |
| 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 |
| CN104981711A (en) * | 2013-03-06 | 2015-10-14 | 英特尔公司 | System and method for channel information exchange for time of flight range determination |
| WO2016011601A1 (en) * | 2014-07-22 | 2016-01-28 | 华为技术有限公司 | Access point, terminal and wireless fidelity (wifi) indoor locating method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110536413A (en) * | 2019-07-31 | 2019-12-03 | 武汉剑通信息技术有限公司 | A kind of method and system of LTE base station GPS positioning |
| CN110536413B (en) * | 2019-07-31 | 2021-04-16 | 武汉剑通信息技术有限公司 | LTE base station GPS positioning method and system |
| CN112073905A (en) * | 2020-09-15 | 2020-12-11 | Oppo广东移动通信有限公司 | Distance difference determining method, data frame transmission method and related product |
| CN112073905B (en) * | 2020-09-15 | 2022-10-28 | Oppo广东移动通信有限公司 | Distance difference determining method, data frame transmission method and related product |
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Application publication date: 20171208 |