CN109782225A - A kind of localization method of base station coordinates - Google Patents
A kind of localization method of base station coordinates Download PDFInfo
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Abstract
The present invention relates to a kind of communication base station positioning fields, specifically disclose a kind of localization method of base station coordinates；Include: to be laid out according to base station location, divides one or more regions to be measured, including the first region to be measured；In the described first region to be measured, setting refers to polyhedron, using a vertex with reference on polyhedron as reference point, generates the first reference frame, and calculate coordinate of each vertex with reference on polyhedron in first reference frame；It measures in the described first region to be measured, base station to be measured calculates the coordinate for generating each base station in first reference frame away from the distance with reference to polyhedral each vertex；Reference BTS is set by one of them base station to be measured in the described first region to be measured, and generates the frame of reference by origin of Reference BTS；The localization method of base station coordinates of the invention, accurate positioning, degree of intelligence is high, can automatically generate the positioning layout of more base stations.
Description
Technical field
The present invention relates to a kind of communication base station positioning fields, and in particular to a kind of localization method of base station coordinates.
Background technique
At present in the construction of actual base station, base station is positioned, mainly measures base station one by one by manpower
X, Y, Z coordinate, this method is less scientific, and difficulty of construction is big, is that the distribution of tested base station is not necessarily and is in rectangle first
On position, it may be possible to be distributed on a series of irregular curved surfaces, at this time, the space coordinate of hand dipping base station may have
How great error, while its workload also can not look down upon, such as point except partition wall or the visual field measure its X, and Y value is more
Number can only use multiple stacking, establish the mode of intermediate point constantly to measure, not only precision is difficult to ensure, but also to constructor
The patience of member and competency profiling are high.This influence to construction quality is very big.
Summary of the invention
The purpose of the present invention is to provide a kind of accurate positioning, degree of intelligence is high, can automatically generate the positioning side of more base stations
Method.
Above-mentioned purpose is achieved by the following technical solution: a kind of localization method of base station coordinates, comprising: according to base
Station location layout divides one or more regions to be measured, including the first region to be measured；In the described first region to be measured, setting
With reference to polyhedron, using a vertex with reference on polyhedron as reference point, the first reference frame is generated, and calculate institute
State the coordinate with reference to each vertex on polyhedron in first reference frame；It measures in the described first region to be measured,
Base station to be measured calculates away from the distance with reference to polyhedral each vertex and generates each base station in first reference coordinate
Coordinate in system；Reference BTS is set by one of them base station to be measured in the described first region to be measured, and with Reference BTS
The frame of reference is generated for origin；It calculates and generates in base station to be measured, coordinate of each base station in first frame of reference.
The localization method of base station coordinates of the invention can be automatically generated by the way that region to be measured is arranged and refers to polyhedron
The coordinate of each base station in the space of base station can also complete perfect of base station and map by coordinate translation and coordinate rotation
Match.It indiscriminate can be laid out when cloth base station, the coordinate information of all base stations is automatically generated after cloth is complete, passes through these
Coordinate information draws base station plan view.
Detailed description of the invention
Fig. 1 shows a kind of flow diagram of the first embodiment of the localization method of base station coordinates of the invention；
Fig. 2 shows a kind of signals of the process of the step 2 of the first embodiment of the localization method of base station coordinates of the invention
Figure；
Fig. 3 shows a kind of process signal of the step 3 of the first embodiment of the localization method of base station coordinates of the invention
Figure；
The structure that Fig. 4 shows a kind of region to be measured of the first embodiment of the localization method of base station coordinates of the invention is shown
It is intended to；
Fig. 5 shows a kind of polyhedral structure of reference of the first embodiment of the localization method of base station coordinates of the invention
Schematic diagram；
Fig. 6 shows a kind of flow diagram of the second embodiment of the localization method of base station coordinates of the invention；
The structure that Fig. 7 shows a kind of region to be measured of the second embodiment of the localization method of base station coordinates of the invention is shown
It is intended to；
Fig. 8 shows a kind of process signal of the step 9 of the second embodiment of the localization method of base station coordinates of the invention
Figure；
Fig. 9 shows a kind of flow diagram of the 3rd embodiment of the localization method of base station coordinates of the invention；
The process that Figure 10 shows a kind of step 10 of the 3rd embodiment of the localization method of base station coordinates of the invention is shown
It is intended to；
Figure 11 shows a kind of flow diagram of the fourth embodiment of the localization method of base station coordinates of the invention；
The process that Figure 12 shows a kind of step 11 of the fourth embodiment of the localization method of base station coordinates of the invention is shown
It is intended to；
Figure 13 shows a kind of structural representation of the reference polyhedron self-correcting of the localization method of base station coordinates of the invention
Figure；
In Figure of description, S represents step, if S1 is step 1.
Specific embodiment
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
First embodiment
As shown in Figure 1, the flow diagram of the first embodiment for a kind of localization method of base station coordinates of the invention；This
In embodiment, including
Step 1: being laid out according to base station location, divide one or more regions to be measured, including the first region to be measured；
Step 2: in the described first region to be measured, setting refers to polyhedron, with a top with reference on polyhedron
Point is reference point, generates the first reference frame, and calculates each vertex with reference on polyhedron in first ginseng
Examine the coordinate in coordinate system；
As shown in Fig. 2, the process for a kind of step 2 of the first embodiment of the localization method of base station coordinates of the invention is shown
It is intended to；As shown in figure 4, the structure for a kind of region to be measured of the first embodiment of the localization method of base station coordinates of the invention is shown
It is intended to；As shown in figure 5, the polyhedral structure of reference of the first embodiment for a kind of localization method of base station coordinates of the invention
Schematic diagram；
In the present embodiment, illustratively, the reference polyhedron is tetrahedron, and the tetrahedron is equilateral tetrahedron, packet
Include tetra- vertex S1, S2, S3 and S4；This step includes:
Step S21: setting S1 is reference point, and a line where the S1 is tightly overlapped with laser designation line；
Step S22: the plane where the side that setting is tightly overlapped with laser designation line is horizontal plane；
Step S23: the coordinate of setting vertex S1 is (0,0,0), generates the first reference frame；According to the equilateral four sides
The coordinate on tri- vertex S2, S3 and S4 is calculated in the side length of body.
The equilateral tetrahedral side length is 1 as a preferred technical solution, and calculating B point coordinate according to algorithm isC point coordinate is (2,0,0), and D point coordinate is
As shown in figure 3, the process for a kind of step 3 of the first embodiment of the localization method of base station coordinates of the invention is shown
It is intended to；In the present embodiment, step 3: in measurement first region to be measured, base station to be measured refers to polyhedral each top away from described
The distance of point, and calculate the coordinate for generating each base station in first reference frame；
This step includes: step 31: distance of the base station away from S1, S2, S3 and S4 point in measurement first region to be measured
It Wei not a, b, c, d；
Step 32: coordinate of the base station in first reference frame is set as (x, y, z), and x is calculated according to equation group,
The value of y, z；
The equation group are as follows:
a2=x2+y2+z2 (1)
c2=(x-2)2+y2+z2 (3)
Arithmetical solution are as follows:
According to position of the base station in first reference frame, it is known that z value is positive number or negative.
Therefore, it by above-mentioned formula, can calculate in the reference frame using S1 as reference point, base station An's to be measured
Coordinate (xn, yn, zn).
Step 4: setting Reference BTS for one of them base station to be measured in the described first region to be measured, and with benchmark base
It stands and generates the frame of reference for origin；Illustratively, in the present embodiment, it is benchmark base station that the base station A1, which is arranged, is generated with A1
Base station is the frame of reference of origin, and in the frame of reference, the coordinate of the base station A1 is (0,0,0)；
Illustratively, measure the base station A1 in first region to be measured distance a1, b1, c1 away from S1, S2, S3 and S4 and
d1；According to formula (1), (2), (3) and (4), the coordinate for calculating the base station A1 is (x1, y1, z1)；
Measure the base station An in the described first region to be measured distance an, bn, cn and dn away from S1, S2, S3 and S4；According to public affairs
Formula (1), (2), (3) and (4), the coordinate for calculating the base station An is (xn, yn, zn).
Step 5: it calculates and generates in base station to be measured, coordinate of each base station in the frame of reference.
In the present invention, in reference frame, the coordinate of A1 is (x1, y1, z1), and in the frame of reference, the seat of A1
It is designated as (0,0,0)；After calculating coordinate (xn, yn, zn) of the base station An to be measured in reference frame, according in first ginseng
The coordinate (x1, y1, z1) of the base station A1 in coordinate system and the coordinate (xn, yn, zn) of the base station An are examined, An base is calculated by the following formula
The coordinate stood in the frame of reference:
An=(xn-x1,yn-y1,zn-z1) (5)。
Second embodiment
A place may include multi-satellite, and a tetrahedron disposably can not all provide all co-ordinates of satellite,
It so just needs to measure the co-ordinates of satellite of different zones respectively, then by coordinate translation, the co-ordinates of satellite in other regions is returned
Under the coordinate system in one to the first region.
As Fig. 6 shows a kind of flow diagram of the second embodiment of the localization method of base station coordinates of the invention；Such as
It is a kind of structural schematic diagram sheet in the region to be measured of the second embodiment of the localization method of base station coordinates of the invention shown in Fig. 7
In embodiment, step 1 to step 5 is identical as the correspondence step of first embodiment；It is described according to base station location cloth in the present embodiment
The step of office, division one or more region to be measured includes: according to the location layout of base station to be measured, in the described first region to be measured
On the basis of, extend the region to be measured of division second, third region to be measured to the region to be measured N；First region to be measured, second to
Survey region, third region to be measured to the region to be measured N is successively disposed adjacent；Preferably, in per two adjacent regions to be measured, until
Less include the base station of two coincidences: first is overlapped base station and the second coincidence base station, and the base station of the coincidence is adjacent simultaneously
In two regions to be measured.
After the step 5, further includes:
Step 6: being moved in translation the reference polyhedron into n-th region to be measured；
In this step, when positive tetrahedron is moved to next measured zone, it must be noted that the problem of be, such as
When tetrahedron is translated along X-axis, the side where S1 must be strictly overlapped with laser designation line, at the same require be mounted on AC arm and
Horizontal ruler on BC arm keeps horizontality.Because practical place is likely to occur curved surface, the irregular place such as broken line, preferably in advance
Auxiliary line is first carried out into the position for preparing to place positive tetrahedron, considers (three mobile, triangle horizontal operation platform of production one
Angle is adjustable, it is ensured that the tetrahedron being placed on platform is in a vertical state), tetrahedron is placed on levelling bench and can greatly speed up
Locating speed and precision.
Step 7: in the region to be measured N, using a vertex with reference on polyhedron as reference point, generating the
N reference frame, and calculate the coordinate of each vertex in the N reference frame with reference on polyhedron；This
Step is identical as the Method And Principle of the step 2 of first embodiment.
Step 8: in the measurement region to be measured N, base station to be measured away from the distance with reference to polyhedral each vertex,
And calculate the coordinate for generating each base station in the N reference frame；The method of the step 3 of this step and first embodiment
Principle is identical.
Step 9: according to it is described with reference to polyhedron from the first region to be measured be moved in translation to the translation in the region to be measured N away from
From calculating generates coordinate of the website to be measured in the frame of reference in the region to be measured N.
As shown in figure 8, the process for a kind of step 9 of the second embodiment of the localization method of base station coordinates of the invention is shown
It is intended to；
This step includes: step 91: being calculated in first region to be measured, polyhedral reference point S1 is in base for the reference
Coordinate (x0, y0, z0) in conventional coordinates；
Step 92: it calculates after being moved in translation the reference polyhedron to the region to be measured N, it is described to refer to polyhedral ginseng
Coordinate (x0 ', y0 ', z0 ') of the examination point S1 in the frame of reference
Step 93: obtain according in step 8, the base station An in the region to be measured N in the region to be measured N the
Coordinate An (xn, yn, zn) in N reference frame；
Step 94: according to the following formula, calculating coordinate of the base station An in the frame of reference in the region to be measured N
(xn’、yn’、zn’):
3rd embodiment
As shown in figure 9, the flow diagram of the 3rd embodiment for a kind of localization method of base station coordinates of the invention；This
In embodiment, step 1 to step 9 is identical as the corresponding Principle Method of step of embodiment two, and in the present embodiment, error analysis is added
And modified function.
Step 10: in previous region to be measured, obtaining described second and be overlapped coordinate of the base station in the frame of reference；Rear
In one region to be measured, the relative position that base station is overlapped base station relative to first is overlapped according to described second and calculates the second coincidence base station
Coordinate in the frame of reference；If the calculated coordinate difference of two ways is greater than default error threshold, correct with reference to more
The position of face body, is recalculated.
It as shown in Figure 10, is a kind of process of the step 10 of the 3rd embodiment of the localization method of base station coordinates of the invention
Schematic diagram；
The step 10 includes:
Step 101: obtaining in previous region to be measured, first, which is overlapped base station and second, is overlapped the seat in the frame of reference
Mark B1；
Step 102: being overlapped the position that base station is overlapped base station relative to first according to second, calculate the second coincidence base station and exist
Coordinate B2 ' in the frame of reference；
Step 103: respectively on three directions of the frame of reference, coordinate B2 and step 103 that obtaining step 102 calculates
Coordinate B2 ' the difference of calculating；
Step 104: being preset if any one or more in the difference on three directions of the frame of reference are greater than
Error threshold, then adjust described with reference to polyhedron, recalculates the coordinate of website to be measured in the region to be measured N.
Illustratively, the first region to be measured of setting includes base station A1, A2, A3, A4, A5, this six base stations A6, with first to
Survey the second adjacent region to be measured of region, including base station A5, A6, A7, A8, A 9, six base stations A10；A1, A2, A3, A4, A5,
The coordinate of this six base stations A6 is all it is known that be A1(x1,y1,z1),, A5(x5,y5,z5), A6(x6,y6,z6)；Wherein on the basis of A1
The frame of reference is established in base station；
In the second region to be measured, after translating referring now to polyhedron, it is moved to the position T ', can be calculated with meter
A5, A6, A7, A8, A9, A 10 is denoted as A' relative to polyhedral coordinate after translation5(x'5,y'5,z'5) and A'6(x'6,y
'6,z'6) ... .., algorithm is as in embodiment two.
Since A5 and A6 is to be overlapped base station, while being in the first region to be measured and the second region to be measured, A5 can be calculated and existed
Coordinate A in the frame of reference5(x5,y5,z5), coordinate A of the A6 in the frame of reference6(x6,y6,z6)。
Enable A5(x5,y5,z5)=A'5(x'5,y'5,z'5), because we put second it is tetrahedral when maintain four
The depth of parallelism of the coordinate system of face body can be converted into A6 on the coordinate in the frame of reference by base station A5:During practice,With A6It may be to have error.Introduce one
A judgement,With A6Between, the error distance in tri- directions X, Y, Z, if it is greater than 15cm, system provides alarm, it is desirable that weight
It surveys, difference can be reduced by adjusting the posture of positive tetrahedron.
Fourth embodiment
Building is not necessarily due south due north direction sometimes, and map is substantially up north and down south left west and right east
Direction, for the continuity of map, it is also necessary to it is primary rotationally-varying, the coordinate system of base station is become into direction identical with map,
After the angle γ of the Y-direction of the due north and our base stations that find map, it can calculate.
It as shown in figure 11, is a kind of flow diagram of the fourth embodiment of the localization method of base station coordinates of the invention；
In the present embodiment, step 1 to step 10 is identical as the Principle Method of correspondence step of 3rd embodiment, as shown in figure 12, for this
A kind of flow diagram of the step 11 of the fourth embodiment of the localization method of base station coordinates of invention；
Step 11: according to the angle of coordinate direction and coordinate direction in map setting in base station coordinates system, by base to be measured
It stands and is converted into the coordinate value in map setting in the coordinate in the frame of reference；
The step 11 includes:
Step 111: obtaining the direct north in map setting, the angle γ between the Y-direction in the frame of reference；
Step 112: according to the following formula, the coordinate in the frame of reference being converted into the coordinate in map setting
Value；
Wherein, (x, y, z) is coordinate value of the base station to be measured in the frame of reference；(x ', y ', z ') is to be converted into
Coordinate value in map setting.
As shown in figure 13, the structure for a kind of reference polyhedron self-correcting of the localization method of base station coordinates of the invention is shown
It is intended to；In the present invention, self-correcting can also be carried out to reference polyhedron, such as place positive tetrahedron in the horizontal plane, positive four sides
Three points of the bottom surface of body have three stringent isometric spokes to intersect at a point, and draw a perpendicular to bottom surface from A point.First AC
Point strictly coincides with laser designation line, then by adjusting the height adjustment levels face of the point of bottom surface 3 of positive tetrahedron, makes vertical
The intersection point of stringent three spokes of face of line.
Or a laser pen is inlayed at the tip of plumb line.The central point of three spokes intersection does a solid cylinder, so
The through-hole of a diameter 1mm (or 2mm) is bored on cylinder afterwards, sets a photoelectric coupling switch below through-hole, when detecting light
When illustrate that positive tetrahedron is vertical, provide the prompt of OK.It is perpendicular to illustrate that positive tetrahedron is not located in if it can't detect light
Histogram to, need to continue adjust levelling bench three angles to ensure that tetrahedron is in a vertical state.
The localization method of base station coordinates of the invention can be automatically generated by the way that region to be measured is arranged and refers to polyhedron
The coordinate of each base station in the space of base station can also complete perfect of base station and map by coordinate translation and coordinate rotation
Match.It indiscriminate can be laid out when cloth base station, the coordinate information of all base stations is automatically generated after cloth is complete, passes through these
Coordinate information draws base station plan view.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, although referring to aforementioned reality
Applying example, invention is explained in detail, for those skilled in the art, still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of localization method of base station coordinates, the localization method include:
Step 1: being laid out according to base station location, divide one or more regions to be measured, including the first region to be measured；
Step 2: in the described first region to be measured, setting refers to polyhedron, is with a vertex with reference on polyhedron
Reference point generates the first reference frame, and calculates each vertex with reference on polyhedron described first with reference to seat
Coordinate in mark system；
Step 3: in measurement first region to be measured, base station to be measured away from the distance with reference to polyhedral each vertex, and
Calculate the coordinate for generating each base station in first reference frame；
Step 4: setting Reference BTS for one of them base station to be measured in the described first region to be measured, and be with Reference BTS
Origin generates the frame of reference；
Step 5: it calculates and generates in base station to be measured, coordinate of each base station in first frame of reference.
2. localization method according to claim 1, which is characterized in that
Described to be laid out according to base station location, the step of dividing one or more regions to be measured, includes:
According to the location layout of base station to be measured, on the described first region base to be measured, extend the region to be measured of division second, third
Region to be measured to the region to be measured N；First region to be measured, the second region to be measured, third region to be measured to the region to be measured N
Successively it is disposed adjacent；
After the step 5, further includes:
Step 6: being moved in translation the reference polyhedron into n-th region to be measured；
Step 7: in the region to be measured N, using a vertex with reference on polyhedron as reference point, generating N ginseng
Coordinate system is examined, and calculates the coordinate of each vertex in the N reference frame with reference on polyhedron；
Step 8: in the measurement region to be measured N, base station to be measured is counted away from the distance with reference to polyhedral each vertex
Calculate the coordinate for generating each base station in the N reference frame；
Step 9: being moved in translation from the first region to be measured to the translation distance in the region to be measured N, meter according to described with reference to polyhedron
Calculate the coordinate for generating the website to be measured in the region to be measured N in the frame of reference.
3. localization method according to claim 2, which is characterized in that in per two adjacent regions to be measured, include at least
The base stations of two coincidences: first is overlapped base station and second is overlapped base station, the base station of the coincidence be in simultaneously adjacent two to
It surveys in region.
4. localization method according to claim 1 or 2, which is characterized in that the polyhedron that refers to is tetrahedron, and described four
Face body is equilateral tetrahedron, including tetra- vertex S1, S2, S3 and S4；
It is described using a vertex with reference on polyhedron as reference point, generate the first reference frame the step of include:
Step S21: setting S1 is reference point, and a line where the S1 is tightly overlapped with laser designation line；
Step S22: the plane where the side that setting is tightly overlapped with laser designation line is horizontal plane；
Step S23: the coordinate of setting vertex S1 is (0,0,0), generates the first reference frame；According to described equilateral tetrahedral
The coordinate on tri- vertex S2, S3 and S4 is calculated in side length.
5. localization method according to claim 4, which is characterized in that the equilateral tetrahedral side length is 1, according to algorithm
Calculating B point coordinate isC point coordinate is (2,0,0), and D point coordinate is
In measurement first region to be measured, base station to be measured is counted away from the distance with reference to polyhedral each vertex
The step of calculating the coordinate for generating each base station in first reference frame include:
Step 31: distance of the base station away from S1, S2, S3 and S4 in measurement first region to be measured is respectively a, b, c, d；
Step 32: setting coordinate of the base station in first reference frame as (x, y, z), x, y, z are calculated according to equation group
Value；
The equation group are as follows:
a2=x2+y2+z2 (1)
c2=(x-2)2+y2+z2 (3)
Arithmetical solution are as follows:
According to position of the base station in first reference frame, it is known that z value is positive number or negative.
6. localization method according to claim 5, which is characterized in that
Measure the base station A1 in the described first region to be measured distance a1, b1, c1 and d1 away from S1, S2, S3 and S4；According to formula
(1), (2), (3) and (4), the coordinate for calculating the base station A1 is (x1, y1, z1)；
Measure the base station An in the described first region to be measured distance an, bn, cn and dn away from S1, S2, S3 and S4；According to formula
(1), (2), (3) and (4), the coordinate for calculating the base station An is (xn, yn, zn)；
Described one of them base station to be measured by the described first region to be measured is set as Reference BTS, and is original with Reference BTS
Putting the step of generating the frame of reference includes:
It is benchmark base station that the base station A1, which is arranged, is generated using the base station A1 as the frame of reference of origin, in the frame of reference, institute
The coordinate for stating the base station A1 is (0,0,0).
7. localization method according to claim 6, which is characterized in that the calculating simultaneously generates in base station to be measured, Mei Geji
Stand the coordinate in the frame of reference the step of include:
According to the coordinate (xn, yn, zn) of the coordinate (x1, y1, z1) of the base station A1 and the base station An in first reference frame,
It is calculated by the following formula coordinate of the base station An in the frame of reference:
An=(xn-x1,yn-y1,zn-z1) (5)。
8. localization method according to claim 7, which is characterized in that
It is described to be moved in translation from the first region to be measured to the translation distance in the region to be measured N according to described with reference to polyhedron, it calculates
The step of generating coordinate of the website to be measured in the region to be measured N in the frame of reference include:
Step 91: calculating in first region to be measured, the seat with reference to polyhedral reference point S1 in the frame of reference
It marks (x0, y0, z0)；
Step 92: it calculates after being moved in translation the reference polyhedron to the region to be measured N, it is described to refer to polyhedral reference point
Coordinate (x0 ', y0 ', z0 ') of the S1 in the frame of reference
Step 93: obtaining according in step 8, join in N of the base station An in the region to be measured N in the region to be measured N
Examine the coordinate An (xn, yn, zn) in coordinate system；
Step 94: according to the following formula, calculate base station An in the region to be measured N in the frame of reference coordinate (xn ',
yn’、zn’):
9. localization method according to claim 7, which is characterized in that described first, which is overlapped base station and described second, is overlapped base
It stands while in two regions to be measured, previous region to be measured and latter region to be measured, the localization method further include:
Step 10: in previous region to be measured, obtaining described second and be overlapped coordinate of the base station in the frame of reference；It is latter to
It surveys in region, is overlapped the relative position that base station is overlapped base station relative to first according to described second and calculates the second coincidence base station in base
Coordinate in conventional coordinates；If the calculated coordinate difference of two ways is greater than default error threshold, correct with reference to polyhedron
Position, recalculate；
The step 10 includes:
Step 101: obtaining in previous region to be measured, first, which is overlapped base station and second, is overlapped the coordinate in the frame of reference
B1；
Step 102: being overlapped the position that base station is overlapped base station relative to first according to second, calculate the second coincidence base station in benchmark
Coordinate B2 ' in coordinate system；
Step 103: respectively on three directions of the frame of reference, the coordinate B2 and step 103 that obtaining step 102 calculates are calculated
Coordinate B2 ' difference；
Step 104: if any one or more in the difference on three directions of the frame of reference are greater than default error
Threshold value, then adjust described with reference to polyhedron, recalculates the coordinate of website to be measured in the region to be measured N.
10. localization method according to claim 5, which is characterized in that the localization method further include:
Step 11: according to the angle of coordinate direction and coordinate direction in map setting in base station coordinates system, base station to be measured being existed
Coordinate in the frame of reference is converted into the coordinate value in map setting；
The step 11 includes:
Step 111: obtaining the direct north in map setting, the angle γ between the Y-direction in the frame of reference；
Step 112: according to the following formula, the coordinate in the frame of reference being converted into the coordinate value in map setting；
Wherein, (x, y, z) is coordinate value of the base station to be measured in the frame of reference；(x ', y ', z ') is to be converted into map
Coordinate value in setting.
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