CN1979211A - Positioning system and positioning method - Google Patents
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- CN1979211A CN1979211A CNA2005101277633A CN200510127763A CN1979211A CN 1979211 A CN1979211 A CN 1979211A CN A2005101277633 A CNA2005101277633 A CN A2005101277633A CN 200510127763 A CN200510127763 A CN 200510127763A CN 1979211 A CN1979211 A CN 1979211A
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Abstract
The invention relates to an orientation system and orientation method to solve the problem of low accuracy and severe request for environment condition existing in wireless orientation technology. The system includes orientation and plural locating unit, wireless signal emitting module is set in locating unit to send wireless signal, which carries location unit identification information. The orientation terminal has wireless signal receiving module to receive wireless signal and determine the location of terminal. The invention also supplies an orientation method. It has the advantages of low request for environment condition and the orientation accuracy is controllable.
Description
Technical field
The present invention relates to the communications field, refer more particularly to positioning system and localization method in the wireless location technology.
Background technology
Existing space location positioning technology mainly contains by being distributed in GPS (GPS) technology that the overhead position location satellite in the whole world is realized, the sub-district in the mobile cellular net (Cell) location technology with realizing by the base station of mobile communications network (as CDMA) is called location-based service (LBS) again.
The GPS technology is the widest technology of using in the position application of locus in the world at present, its advantage is that orientation range is wide, all corners, the whole world are as long as can realize that with the position location satellite more than the some place of communicating by letter can utilize the GPS on gps satellite and ground to receive the latitude and longitude coordinates data that processing terminal obtains the terminal position simultaneously.Another advantage of GPS location technology is that bearing accuracy is higher, and the bearing accuracy of this technology can reach several centimetres.Yet the main defective of GPS location technology is: in the place that can't receive gps satellite signal, such as indoor, or other are under the stronger environment of gps satellite signal shielding, and this location technology just can't effectively have been used.
Another kind of space orientation technique is LBS.Three kinds of different process for positioning spatial position of the concrete existence of this technology:
1, the sub-district indicates (CELL ID) location technology: according to the cellular cell notion, obtain the cell information at the current place of user by network side, according to the parameters such as self cell id of living in of reporting of user, obtain user's current location then.The general method that adopts is that the center position with user sub-district of living in is estimated as user's current location.Bearing accuracy is " sub-district ".
2, applying GPS (AGPS) location technology: obtain gps satellite signal as the location algorithm calculating parameter, determine the location technology of customer location.The user as the geographic position known point, calculates self geographical position to the GPS pseudorange that obtains as the distance that known point arrives unknown point with gps satellite.This method is exactly in fact the application of aforesaid GPS location technology in portable terminal.
3, AFLT location technology: the base station signal that uses the user to receive is used as the location technology of calculation of parameter customer location.In the cdma network, a plurality of base station pilot signals are arranged in user's the pilot set, as long as the user can receive the base station signal more than 3 or 3, just can be these base stations as the geographic position known point, the signal propagation distance of being calculated time of arrival by base station signal as the distance of known point to unknown point, is determined customer location according to three limit location algorithms.
In the such scheme:
The shortcoming of CELL ID location technology is that the sub-district with cellular network is a bearing accuracy, so bearing accuracy is relatively poor, can only be applicable to the application not high to bearing accuracy.Its another defective is, if can not directly receive the place of cell base station signal at basement etc., can't use this technology.
In fact the AGPS location technology is exactly the application of foregoing GPS technology in transfer table (mobile phone); Its shortcoming is with the GPS technology.
The AFLT location technology need receive accurately compute location of 3 above base station signals simultaneously, and this signal receiving position to the transfer table that uses this technology requires more taller than CELL ID technology, so its effective usable range is restricted.
In addition, the bearing accuracy that adopts CELL ID and AFLT technology is at 200-1000 rice, higher application is inapplicable to positioning accuracy request for this, particularly in finite space scope, the stronger spatial interval of extraneous wireless signal shielding, the higher relatively application of positioning accuracy request is inapplicable especially.
Summary of the invention
The invention provides a kind of positioning system and localization method, in order to solve exist in the existing wireless location technology higher, the problem that bearing accuracy is relatively poor to positioning signal reception environment conditional request.
System of the present invention is:
A kind of positioning system comprises locating terminal and a plurality of position units;
Described position units is provided with wireless signal transmitting module, is used to launch wireless signal, and described wireless signal carries the position units identification information;
Described locating terminal is provided with the wireless signal receiver module, is used to receive the wireless signal that described position units sends, and according to described position units identification information, determines the locating terminal position.
The wireless signal transmitting module of described a plurality of position units can have identical transmission frequency.
Described a plurality of position units, the rule or be deployed in disorderly the location space appointment the geometric position on.
Described position units also comprises:
The position units sign is provided with module, is used for the identification code of desired location unit;
Position units identification data frame generation module is provided with position units sign that module links to each other and wireless signal transmitting module links to each other, and is used for according to position units information generation position units Frame, and by wireless signal transmitting module described Frame is launched.
Described position units also comprises module takes place interval time at random, links to each other with wireless signal transmitting module, is used to produce the time control signal of emission at interval.
The inventive method is:
A kind of localization method uses described positioning system, comprising:
A, position units emission wireless signal, described wireless signal carries the position units identification information;
B, locating terminal receive described wireless signal, and according to described position units information, obtain current position information.
In the described steps A, described position units identification information, for described position units in described positioning system the geometric space positional information or the relative position information between each position units.
Among the described step B, obtaining current position, is to obtain current position information according to the geometric space information calculations of described position units.
Described current position information is the positional information of the transmitting site unit of the wireless signal that receives of locating terminal.
Among the described step B, if terminal can't receive the wireless signal that the position units in the current region sends, then terminal uses the last wireless signal that receives to calculate, and obtains current position information.
Beneficial effect of the present invention is as follows:
The present invention provides a kind of new positioning system and localization method, it is adjustable to have bearing accuracy, low to the requirement of wireless signal reception environment, when mobile object of some application need carries out the location, locus of degree of precision in a limited spatial dimension, can adopt the method.
Compare with the LBS location technology with GPS, the technology used in the present invention need not utilized gps satellite and mobile network's the positional parameter information that the base station provided, do not need to receive their any signal, therefore localizing environment is not required above-mentioned wireless signal condition of acceptance.
Description of drawings
Fig. 1 is the structural representation of positioning system of the present invention;
Fig. 2 is the structural representation of position units of the present invention;
The position units data frame structure synoptic diagram that Fig. 3 sets for the present invention;
Fig. 4 is the structural representation of locating terminal of the present invention;
Fig. 5 is the synoptic diagram that is provided with of position units of the present invention;
Fig. 6 is expansion scheme synoptic diagram in the positioning system of the present invention
Fig. 7 is the schematic flow sheet of localization method of the present invention.
Embodiment
Below in conjunction with the specific embodiment of the present invention is described.
As shown in Figure 1, be the structural representation of positioning system of the present invention, as seen from the figure, positioning system of the present invention generally is applied to mainly comprise following ingredient in the zone of the finite space:
According to regularly arranged a plurality of position units, these positions can be according to the geometric arrangements of rule, such as with the central point of position units according to honeycomb arrangement, linear arrangement, square arrangement, circular arrangement etc., any arrangement mode, can determine its definite position in positioning system according to the mutual position relation of position units.Like this, can in the zone that this positioning system is used, distribute a sign,, just can be mapped to the definite position of this position units according to described sign for each position units.For the purpose of clear and definite, be that the related notion that relates to is done brief description in the above-mentioned positioning system region here:
(Positioning Area-PA) finite space orientation range for adopting location positioning technology of the present invention to be covered between positioning area is such as nearly all ground and underground environments such as in one or more heavy construction groups or various indoor or open-air place, place, venues;
Position units (Location Unit-LU) be between positioning area in the decision bearing accuracy the minimum metric unit.In between a positioning area, each position units all has oneself unique Digital ID sign indicating number-position units identification code (LU_ID).Known location in the position units fixed part is deployed between positioning area, so the position units identification code can be corresponding one by one with the relative geometric coordinate of interior this assigned address between positioning area, both have mapping relations.That is: mobile object has obtained the position units identification code, has just equaled to obtain its relative tertiary location information between positioning area.
Position units radius (Location Unit Radius-LUR) is effective covering radius of position units wireless signal; Such as several meters or tens meters even bigger, adjust according to the actual location accuracy requirement.Be that bearing accuracy is controlled.
Position units stake (Location Unit Stub-LUS) is the position center of gravity of position units; The relative geometry position of position units between positioning area can be represented by the concrete geometric position in the position units stake is between positioning area; But in the application also in the assigned address unit any other any position can determine according to convenience of calculation or other factors as the representative of this position units relative tertiary location in PA; The Digital ID coded signal of position units is an initial point space theaomni-directional transmission towards periphery by the position units stake;
Position units border (Location Unit Boundary-LUB) is the maximum effectively identification border that position units provides for locating terminal; Locating terminal can't effectively receive the radiofrequency signal of this position units outside the elementary boundary of position.Locating terminal is any position in the position units border of single position units, effectively the positioning signal of receiving position unit; Therefore, decide with the effective coverage range of position units wireless signal on the position units border.If there is effective radiofrequency signal barrier, then the position units border may be non-regular shape in the position units;
Position units overlay region (Location Unit Overlap-LUO) is the common interval that covers of the wireless signal of two above position units.In the overlay region, because the mutual co-channel interference that may exist, may cause receiving terminal can't effectively receive the signal of any one position units between at a time in the section;
Blind area (Blind Area-BA) be between positioning area in, outside the position units border, arrive and make locating terminal can't receive the interval of any active position cell signal because the position units radiofrequency signal is more weak;
Locating terminal (Positining Terminal-PT) is to be used for the device of its unit, current position of Real time identification; The signal of locating terminal receiving position unit, and identification and obtain the position units identification code of this position units.
As shown in Figure 2, be the structural representation of position units of the present invention, as seen from the figure, the present invention is provided with on above-mentioned position units:
Wireless signal transmitting module is used to launch wireless signal, and described wireless signal carries the position units identification information.
The wireless signal transmitting module that all position units between this positioning area are provided with can transmission frequency be set to identically, also can be set to difference.
The position units sign is provided with module, is used for setting the unique identification sign indicating number of this position units in the interval range of whole location.As shown in Figure 2, it can be a simple toggle switch that the position units identification code is provided with module, or other any any coded system and the methods to set up that can fix differentiation diverse location unit, as long as this sign result can be discerned by the Frame generation module and use.
The Frame generation module, be provided with position units sign that module links to each other and wireless signal transmitting module is continuous, after being used for other attributes or state parameter digitizing with position units identification code and/or position units, form the Frame of specified format, and described Frame is launched by wireless signal transmitting module.Frame can include but not limited to frame head, position units identification code territory, position units attribute or state parameter territory and optional frame check territory etc., as shown in Figure 3, is the data frame structure synoptic diagram that the present invention uses.The data frame format of the contained lid of the present invention is not limited to the described form of this example.Any other can send the position units identification code, and the data frame format that the terminal that can be positioned effectively receives can be the form of the contained lid of the present invention.
The Frame that position units Frame generation module is generated adopts any carrier modulation mode by wireless signal transmitting module, is modulated on the radio-frequency carrier, and externally launches through antenna.The present invention to modulation system that radio-frequency (RF) transmitter adopted without limits.All can realize the position units identification code is sent, and the modulation system that the terminal that can be positioned effectively receives all is the modulator approach of the contained lid of the present invention.
Module taking place interval time at random, link to each other with wireless signal transmitting module, be used to produce time interval signal, produces transmission interval time at random in the largest interval time range of unified regulation.In the interval time of twice transmission, wireless signal transmitting module does not externally have useful power output.
Radio-frequency transmissions antenna among the present invention program can adopt any antenna form, as long as it can cooperate with wireless signal transmitting module, emissive power is controlled at the appointed positions cell radius gets final product.The present invention contains to be covered all and can cooperate radiofrequency emitting module, emissive power is controlled at the implementation method of the antenna of assigned address cell radius.
By above-mentioned setting to position units, make position units can launch the wireless signal that has self identification information, this wireless signal can be used for the recipient and carry out location positioning.
As shown in Figure 4, it is the structural representation of locating terminal of the present invention, corresponding with the transmitter module that position units is provided with, the present invention is on locating terminal, be provided with the wireless signal receiver module, be used to receive the wireless signal that described position units sends, and, determine the locating terminal position according to described position units identification information.
The locating terminal that the present invention adopts, the implementation method of its wireless signal receiver module must match with the wireless signal transmitting module of position units, and promptly its wireless signal receive frequency is corresponding with transmitting terminal transmission frequency and modulation system with demodulation mode.The wireless signal receiver module be responsible for to wireless signal receive, amplification and demodulation, obtain the Frame data.The present invention requires the wireless signal receiver module of locating terminal and the formed signal receiving sensitivity of supporting antenna thereof can reach the correct wireless signal Frame ability that receives in single position units.The embodiment of locating terminal of the present invention contains lid and satisfies all the wireless signal receiver modules of above-mentioned requirements and the implementation method of supporting antenna.
The locating terminal that the present invention adopts also is provided with the Frame decoder module, be used for the position units Frame after the demodulation of wireless signal receiver module is decoded according to the designated frame form, to obtain position units identification code and/or other attributes of position units or state parameter.The embodiment of position units Frame decoder module of the present invention contains and covers the implementation method that all can realize the Frame decoder module of above-mentioned functions.
In the process of using this positioning system, position units can be launched wireless signal at intervals repeatedly by wireless signal transmitting module, be positioned at the locating terminal of the wireless signal coverage of position units emission, the wireless signal of receiving position unit emission correspondingly just, like this, when certain mobile object need position, described locating terminal is arranged on the object that needs the location, according to the position units sign of carrying in the wireless signal that receives, just this mobile object can be positioned to launch the position units of described wireless signal, relevant knowledge according to error can be learnt, effective covering radius of the wireless signal that this error range is launched for this position units.Effective covering radius of wireless signal can be adjusted according to the factors such as emissive power of transmitter module, so this error range can be controlled by the emissive power of adjusting transmitter module according to actual needs.
In this scheme, the deployment of each position units is the content of outbalance.The deployment of position units comprises that the geometric space position of position units is distributed and the distribution of position units signal covering radius.Typical deployment mode can but be not limited to adopt as shown in Figure 5 regular hexagon pattern, ideally, this pattern has the highest deployment efficient and minimum position units overlay region area.Position units deployment embodiment can be but be not limited to pattern shown in the figure.Position units of the present invention is disposed embodiment and is contained and cover all orderly and unordered dispositions methods.Dispose quantity for reducing position units, reduce lower deployment cost, improve and dispose efficient, the deployment of position units will reduce the area of position units overlay region and blind area as far as possible in principle, serves as that distance is provided with at interval with the wireless signal transmission radius.The area size of position units overlay region is to not directly influence of bearing accuracy of the present invention.The reducing of blind area area helps improving the effective orientation range between whole positioning area.
In specific implementation, can be to receive and send two way simplex or dual-mode with the unidirectional emission mode expansion of position units further,, realize directly concentrated control in real time position units by independent centralized control module interior between positioning area; Also can position units be controlled indirectly, as shown in Figure 6 by having the locating terminal of two-way communications capabilities with centralized control module.Range of control can comprise: adjust the emissive power of position units, the largest interval time of desired location unit circulation emission, perhaps the concrete x time of direct each position units of centralized control makes their regularly emissions in turn.For another example, locating terminal also can expand to bi-directional communication modules, realize and the bidirectional data exchange of centralized control module independently, the position units identification information that self is obtained sends centralized control module to and carries out unified Analysis processing and supervision, can receive simultaneously centralized control module to self or to the indirect control command of position units, realize between whole positioning area in the Centralized Monitoring etc. of positioning system.These all are based on the various expansions of ultimate principle of the present invention, and this is not exhaustive.
Localization method of the present invention uses above-mentioned positioning system, as shown in Figure 7, may further comprise the steps:
S1, position units emission wireless signal, described wireless signal carries the position units identification information.
The emission of each position units wireless signal is repeatedly intermittently carried out.The length of quiescent interval is to produce at random at interval in maximum time of a unified regulation, the probability that the radiofrequency signal between the diverse location unit is collided mutually in the cells overlap district that can significantly dip like this improves portable terminal receives effective wireless signal in position cells overlap district probability.The probability that wireless signal takes place effectively to receive in position cells overlap district locating terminal depends on the transmitting time and the maximum ratio that allows interval time of each wireless signal, and the position units quantity that covers this position units overlay region.Maximum interval time and the maximum translational speed of locating terminal in locating area of allowing is inversely proportional to, and needs to determine according to different specifically should being used for.
S2, locating terminal receive described wireless signal, and extract described position units identification information.
The wireless signal Frame that the periodically uninterrupted receiving position unit of locating terminal sends, and through Frame decoding obtains position units identification code (and/or other attributes or status information of position units), thereby know the position units at own current place.
S3, according to described position units identification information, obtain current position information.
By the fixedly mapping relations of position units with its relative geometric space position in locating area, locating terminal is known own current relative geometry position in locating area.
In the step S2 of this method, if terminal can't receive the wireless signal that the position units in the current region sends, then terminal uses the last wireless signal that receives to calculate, and obtains current position information.
In this scheme, when locating terminal is being in the position units overlay region when interval, if carve at a time, the co-channel interference that the unit, adjacent position takes place under the small probability situation appears, cause locating terminal can't effectively obtain the wireless signal that any position units sends in this moment, then locating terminal will continue to use its position units identification code that receives for the last time, and its bearing accuracy is unaffected.
The position terminal is when being in interval, position units overlay region, if effectively receive the wireless signal that two above position units send, then its position location information draws by the pairing geometric space of the position units identification code position combined calculation of these position units.Calculating can adopt multiple simple or complicated geometrical calculation method to realize;
When locating terminal was in not the blind area that is covered by any position units, locating terminal can continue to use the one or more active position unit marks yardages that receive for the last time to calculate positional informations, but does not guarantee to reach effective bearing accuracy.
Present invention can be implemented in the relative geometry position location in the designated space scope; Because various environmental restraint can't normally be used in the time of maybe can't reaching the bearing accuracy that needs, adopt the method for the invention that the solution of location, locus can be provided in GPS technology and LBS technology; Typical case's PA areal extent can be from hundreds of square metre to several ten thousand square metres, but are not limited to this scope, and area is irrelevant between the present invention's know-why and positioning area.
Location technology of the present invention, its effective bearing accuracy equals the position units radius; And the position units radius is determined by emissive power.Can adjust the size of position units radius by adjusting emissive power, adjust bearing accuracy then.The adjustment of emissive power has a lot of methods, such as the length of adjusting antenna etc.
The present invention is very simple for the deployment request of position units, under the principle that as far as possible reduces the blind area area, almost can arbitrarily dispose; In principle, to reduce the area of position units overlay region during deployment as far as possible.The area that reduces the position units overlay region mainly is the deployment quantity that reduces position units, and to reducing lower deployment cost, improving covering efficient has certain influence, but to not influence of bearing accuracy.
Among the present invention, the RF spot that position units is used can adopt any legal frequency of the world, domestic radio control rules and regulations to realize, as long as note dodging other with frequency.Because transmitting range is near desired bearing accuracy, therefore distance is very short, and the following frequency of 2.4GHz all has certain diffracting power, so the selection of frequency is very little to effective enforcement influence of the present invention.
The present invention allows all position units to carry out work at same frequency, and does not influence bearing accuracy, can effectively reduce the realization cost of emitter, and the deployment difficulty of the unit that significantly dips is saved frequency resource greatly.
The present invention is very simple to the matching requirements of position units; At first, because the distance of position units radius (equaling bearing accuracy) is very short, therefore the gain to radio-frequency emission power requires very low; Simultaneously owing to be the One-to-All Broadcast that only emission does not receive, so radio-frequency (RF) transmitter can do very simple and with low cost.
Among the present invention, position units repeats the transmission of position unit marks sign indicating number, during sending, the position units identification code is definite and fixing, therefore in position units, the Frame generation module of position units identification code can be very simple implementation, and cost can be very cheap;
In a word, the present invention be a kind of realize simple, with low cost, precision is controlled, deployment is flexible, easy to use, can be in specified scope carry out the process for positioning spatial position that effectively substitutes to other location technologies.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1, a kind of positioning system is characterized in that, comprises locating terminal and a plurality of position units;
Described position units is provided with wireless signal transmitting module, is used to launch wireless signal, and described wireless signal carries the position units identification information;
Described locating terminal is provided with the wireless signal receiver module, is used to receive the wireless signal that described position units sends, and according to described position units identification information, determines the locating terminal position.
2, the system as claimed in claim 1 is characterized in that, the wireless signal transmitting module of described a plurality of position units has identical transmission frequency.
3, the system as claimed in claim 1 is characterized in that, described a plurality of position units, the rule or be deployed in disorderly the location space appointment the geometric position on.
4, the system as claimed in claim 1 is characterized in that, described position units also comprises:
The position units sign is provided with module, is used for the identification code of desired location unit;
Position units identification data frame generation module is provided with position units sign that module links to each other and wireless signal transmitting module links to each other, and is used for according to position units information generation position units Frame, and by wireless signal transmitting module described Frame is launched.
5, system as claimed in claim 4 is characterized in that, described position units also comprises module takes place interval time at random, links to each other with wireless signal transmitting module, is used to produce the time control signal of emission at interval.
6, a kind of localization method uses the described positioning system of claim 1, comprising:
A, position units emission wireless signal, described wireless signal carries the position units identification information;
B, locating terminal receive described wireless signal, and according to described position units information, obtain current position information.
7, method as claimed in claim 6 is characterized in that, in the described steps A, described position units identification information, for described position units in described positioning system the geometric space positional information or the relative position information between each position units.
8, method as claimed in claim 7 is characterized in that, among the described step B, obtains current position, is to obtain current position information according to the geometric space information calculations of described position units.
9, method as claimed in claim 8 is characterized in that, described current position information is the positional information of the transmitting site unit of the wireless signal that receives of locating terminal.
10, method as claimed in claim 9, it is characterized in that, among the described step B, if terminal can't receive the wireless signal that the position units in the current region sends, then terminal uses the last wireless signal that receives to calculate, and obtains current position information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2005101277633A CN1979211B (en) | 2005-12-06 | 2005-12-06 | Positioning system and positioning method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2005101277633A CN1979211B (en) | 2005-12-06 | 2005-12-06 | Positioning system and positioning method |
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| CN1979211A true CN1979211A (en) | 2007-06-13 |
| CN1979211B CN1979211B (en) | 2011-09-14 |
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| CN2005101277633A Expired - Fee Related CN1979211B (en) | 2005-12-06 | 2005-12-06 | Positioning system and positioning method |
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| WO2013097671A1 (en) * | 2011-12-30 | 2013-07-04 | 国民技术股份有限公司 | Communication method and communication system |
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| US6512478B1 (en) * | 1999-12-22 | 2003-01-28 | Rockwell Technologies, Llc | Location position system for relay assisted tracking |
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| WO2017143779A1 (en) * | 2016-02-22 | 2017-08-31 | 华为技术有限公司 | Base station and communication method |
| CN107843872A (en) * | 2017-09-15 | 2018-03-27 | 南京轩世琪源软件科技有限公司 | A kind of real-time automatic station-keeping system of indoor radio frequency formula |
| CN107976196A (en) * | 2017-11-30 | 2018-05-01 | 惠州Tcl家电集团有限公司 | Mobile robot, method for positioning mobile robot and system |
| CN107976196B (en) * | 2017-11-30 | 2021-04-16 | 深圳Tcl新技术有限公司 | Mobile robot, mobile robot positioning method and system |
| CN110995345A (en) * | 2019-11-20 | 2020-04-10 | 安徽中骄智能科技有限公司 | Data transmission equipment based on LED visible light full duplex communication |
| CN110995345B (en) * | 2019-11-20 | 2020-12-25 | 安徽中骄智能科技有限公司 | Data transmission equipment based on LED visible light full duplex communication |
| CN111175797A (en) * | 2020-02-02 | 2020-05-19 | 上海交通大学 | Multi-GNSS receiver collaborative navigation method based on virtual centroid |
| CN111175797B (en) * | 2020-02-02 | 2023-11-03 | 上海交通大学 | Virtual centroid-based multi-GNSS receiver collaborative navigation method |
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