CN103033793A - Positioning method and positioning system - Google Patents
Positioning method and positioning system Download PDFInfo
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- CN103033793A CN103033793A CN2011103027962A CN201110302796A CN103033793A CN 103033793 A CN103033793 A CN 103033793A CN 2011103027962 A CN2011103027962 A CN 2011103027962A CN 201110302796 A CN201110302796 A CN 201110302796A CN 103033793 A CN103033793 A CN 103033793A
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- time difference
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- point
- time
- hyperbolic curve
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Abstract
The invention discloses a positioning method and a positioning system. The positioning method comprises firstly acquiring the time differences between every two time values of the time that the transmitted signals of a monitored point respectively reach three monitoring points, building three time difference hyperbolic curves in an identical coordinate system according to the time differences of every two time values, and confirming the position of the monitored point according to the intersection of the time difference hyperbolic curves. Therefore, the time difference hyperbolic curves are built by utilizing high-precision time differences and accordingly the position of the monitored point is confirmed, the positioning precision of the monitored point is greatly improved, a monitored point with illegal frequency can be effectively banned in time, and the order of radio management is maintained. In addition, the monitoring points with low cost replace expensive direction-finding stations, and therefore the cost of monitoring the monitored point with the illegal frequency is reduced, and the positioning method and the positioning system are beneficial for the popularization and application of positioning technology.
Description
Technical field
The present invention relates to the communications field, relate in particular to a kind of localization method and positioning system.
Background technology
In radio communication field, in order effectively to carry out the frequency distribution and to complete the maintenance of radio order, the frequency that generally need to use application is registered to allow its legal use in specialized range, and unregistered illegal frequency can cause the confusion of radio control order.And prior art is to unregistered illegal frequency measured point, a plurality of surveys of general employing are monitored at station mutually, its principle of work is roughly: by the survey that the is deployed in diverse location first independent rectilinear direction of finding itself and measured point of standing mutually, the intersection point of standing mutually with the rectilinear direction of measured point according at least two surveys again, determine the particular location of measured point.
Carry out the monitoring of illegal frequency measured point in station mutually because prior art adopts survey, its precision is not high, thereby causes accurately locating measured point, thereby can't to it, be banned in time, and causes the disorder consequence of radio control; In addition, the technical requirement that survey is stood mutually at present is high, more expensive, therefore, can increase the cost of illegal frequency measured point monitoring, is unfavorable for applying.
Summary of the invention
Embodiment of the present invention technical matters to be solved is, a kind of localization method and positioning system are provided, with high precision, high-level efficiency and illegal frequency measured point, low-cost location.
In order to solve the problems of the technologies described above, the embodiment of the present invention has proposed a kind of localization method, comprising:
Obtain measured point
Transmit and arrive respectively three monitoring points
,
And
Mistiming between any two
,
And
According to the described mistiming
,
And
And described monitoring point
,
And
Distance between any two
,
And
, in the same coordinate system,
With two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the first time difference hyperbolic curve:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle,
With two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the second time difference hyperbolic curve:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle,
With two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the 3rd time difference hyperbolic curve:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle;
With described the first time difference hyperbolic curve, the second time difference hyperbolic curve and the 3rd hyp common factor of the time difference, determine
Position.
Further, described method also comprises:
Obtain measured point
Transmit and arrive respectively three monitoring points
,
And
Mistiming between any two
,
And
Be specially:
From
To
,
And
What send transmits, and according to described time tag, extracts respectively
,
And
.
Further, described transmitting as the continuous signal of wireless communication.
Correspondingly, the embodiment of the present invention also provides a kind of positioning system, comprising:
Data processing server, for obtaining measured point
Transmit and arrive respectively three monitoring points
,
And
Time difference between any two
,
And
According to the described time difference
,
And
And described monitoring point
,
And
Distance between any two
,
And
, in the same coordinate system, with two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the first time difference hyperbola:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle, with two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the second time difference hyperbola:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle, with two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the 3rd time difference hyperbola:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle; With described the first time difference hyperbola, the second time difference hyperbola and the 3rd hyp common factor of the time difference, determine
Position.
Further, described data processing server specifically comprises:
The mistiming determining unit, for from
,
And
Transmit with in the transmitting of time tag, poor according to described time tag extraction time respectively
,
And
The location Calculation unit, for building described the first time difference hyperbolic curve, the second time difference hyperbolic curve and the 3rd time difference hyperbolic curve, and determine with described the first time difference hyperbolic curve, the second time difference hyperbolic curve and the 3rd hyp common factor of the time difference
Position.
Further, described signal is the continuous signal of wireless communication.
The embodiment of the present invention is by providing a kind of localization method and positioning system, it first obtains transmitting of measured point and arrives respectively three monitoring point mistimings between any two, then build three time difference hyperbolic curves according to mistiming and monitoring point distance between any two between any two in the same coordinate system, and determine the position of measured point with hyp common factor of the time difference, like this, utilization has high-precision mistiming structure time difference hyperbolic curve, and determine thus the position of measured point, the positioning precision of measured point is promoted greatly, can to illegal frequency measured point, be banned effectively in time, safeguarded the radio control order, in addition, monitoring point with low cost has replaced more expensive survey to stand mutually, thereby has reduced the cost of illegal frequency measured point monitoring, is conducive to applying of this location technology.
The accompanying drawing explanation
Fig. 1 is the process flow diagram of the localization method of the embodiment of the present invention.
Fig. 2 is the first hyp schematic diagram of the time difference of the embodiment of the present invention.
Fig. 3 is the structural drawing of the positioning system of the embodiment of the present invention.
Fig. 4 is the structural drawing of the data processing server of the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the embodiment of the present invention is elaborated.
With reference to Fig. 1, the localization method of the embodiment of the present invention mainly comprises:
101, obtain measured point
Transmit and arrive respectively three monitoring points
,
And
Mistiming between any two
,
And
102, according to the mistiming
,
And
And monitoring point
,
And
Distance between any two
,
And
, in the same coordinate system, build three hyperbolic curves, its respectively:
With two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the first time difference hyperbolic curve:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle,
With two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the second time difference hyperbolic curve:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle,
With two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the 3rd time difference hyperbolic curve:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle;
Above the first time difference hyperbolic curve can be as shown in Figure 2, and the second time difference hyperbolic curve and the 3rd time difference hyperbolic curve can be similar with it;
103, with the first time difference hyperbolic curve, the second time difference hyperbolic curve and the 3rd hyp common factor of the time difference, determine
Position.
Particularly, before step 101, can also comprise:
,
And
The middle time tag of loading synchronous respectively that transmits sent,
From
To
,
And
What send transmits, and according to described time tag, extracts respectively
,
And
.
Due to time tag can indicate respectively from
To
,
And
The transmitting time transmitted sent, therefore, can be by the mistiming according to computing
,
And
Determine.
With reference to Fig. 3, the positioning system of the embodiment of the present invention mainly comprises:
Data processing server, for obtaining measured point
Transmit and arrive respectively three monitoring points
,
And
Time difference between any two
,
And
According to the described time difference
,
And
And described monitoring point
,
And
Distance between any two
,
And
, in the same coordinate system, with two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the first time difference hyperbola:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle, with two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the second time difference hyperbola:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle, with two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the 3rd time difference hyperbola:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle; With described the first time difference hyperbola, the second time difference hyperbola and the 3rd hyp common factor of the time difference, determine
Position.
Further, data processing server can specifically comprise structure as shown in Figure 4:
Mistiming determining unit 401, for from
,
And
Transmit with in the transmitting of time tag, poor according to described time tag extraction time respectively
,
And
As a kind of embodiment, above-mentioned transmitting as continuous signal, and different from pulse signal.
In addition, one of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment method, to come the hardware that instruction is relevant to complete by program, described program can be stored in a computer read/write memory medium, this program, when carrying out, can comprise the flow process as the embodiment of above-mentioned each side method.Wherein, described storage medium can be magnetic disc, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Radom Access Memory, RAM) etc.
The above is the specific embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also are considered as protection scope of the present invention.
Claims (6)
1. a localization method, is characterized in that, comprising:
Obtain measured point
Transmit and arrive respectively three monitoring points
,
And
Mistiming between any two
,
And
According to the described mistiming
,
And
And described monitoring point
,
And
Distance between any two
,
And
, in the same coordinate system,
With two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the first time difference hyperbolic curve:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle,
With two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the second time difference hyperbolic curve:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle,
With two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the 3rd time difference hyperbolic curve:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle;
2. localization method as claimed in claim 1, is characterized in that, described method also comprises:
Obtain measured point
Transmit and arrive respectively three monitoring points
,
And
Mistiming between any two
,
And
Be specially:
3. localization method as claimed in claim 1 or 2, is characterized in that, described transmitting as the continuous signal of wireless communication.
4. a positioning system, is characterized in that, comprising:
Data processing server, for obtaining measured point
Transmit and arrive respectively three monitoring points
,
And
Time difference between any two
,
And
According to the described time difference
,
And
And described monitoring point
,
And
Distance between any two
,
And
, in the same coordinate system, with two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the first time difference hyperbola:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle, with two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the second time difference hyperbola:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle, with two monitoring points
And
For focus, two monitoring points
And
Between mid point
For initial point builds the 3rd time difference hyperbola:
, wherein,
For the light velocity,
For
Arrive
Distance,
,
For
Upper normal with
Between angle; With described the first time difference hyperbola, the second time difference hyperbola and the 3rd hyp common factor of the time difference, determine
Position.
5. positioning system as claimed in claim 4, is characterized in that, described data processing server specifically comprises:
The mistiming determining unit, for from
,
And
Transmit with in the transmitting of time tag, poor according to described time tag extraction time respectively
,
And
The location Calculation unit, for building described the first time difference hyperbolic curve, the second time difference hyperbolic curve and the 3rd time difference hyperbolic curve, and determine with described the first time difference hyperbolic curve, the second time difference hyperbolic curve and the 3rd hyp common factor of the time difference
Position.
6. positioning system as described as claim 4 or 5, is characterized in that, described signal is the continuous signal of wireless communication.
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CN2011103027962A CN103033793A (en) | 2011-10-09 | 2011-10-09 | Positioning method and positioning system |
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CN2011103027962A CN103033793A (en) | 2011-10-09 | 2011-10-09 | Positioning method and positioning system |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103987117A (en) * | 2014-04-28 | 2014-08-13 | 北京邮电大学 | Signal transmitting station locating method based on mobile terminal monitoring |
CN104502893A (en) * | 2014-12-10 | 2015-04-08 | 北京智谷睿拓技术服务有限公司 | Positioning method, positioning device and user equipment |
CN105785318A (en) * | 2016-03-07 | 2016-07-20 | 南京光锥信息科技有限公司 | Indoor positioning system based on flight time distributed optical pulse detection and method thereof |
CN106093861A (en) * | 2016-07-31 | 2016-11-09 | 中国海洋大学 | A kind of phase place localizer beacon method and system |
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CN1756421A (en) * | 2004-09-30 | 2006-04-05 | 华为技术有限公司 | Hyperbola positioning method |
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Patent Citations (5)
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CN1189745A (en) * | 1996-10-22 | 1998-08-05 | 索尼公司 | Transmitting apparatus and method, receiving apparatus and method |
CN1281553A (en) * | 1997-12-10 | 2001-01-24 | 艾利森公司 | Method and system for determining position of mobile transmitter |
CN1756421A (en) * | 2004-09-30 | 2006-04-05 | 华为技术有限公司 | Hyperbola positioning method |
WO2008124316A1 (en) * | 2007-04-05 | 2008-10-16 | Skyhook Wireless, Inc. | Time difference of arrival based estimation of speed and direction of travel in a wlan positioning system |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103987117A (en) * | 2014-04-28 | 2014-08-13 | 北京邮电大学 | Signal transmitting station locating method based on mobile terminal monitoring |
CN104502893A (en) * | 2014-12-10 | 2015-04-08 | 北京智谷睿拓技术服务有限公司 | Positioning method, positioning device and user equipment |
CN104502893B (en) * | 2014-12-10 | 2017-05-10 | 北京智谷睿拓技术服务有限公司 | positioning method, positioning device and user equipment |
CN105785318A (en) * | 2016-03-07 | 2016-07-20 | 南京光锥信息科技有限公司 | Indoor positioning system based on flight time distributed optical pulse detection and method thereof |
CN105785318B (en) * | 2016-03-07 | 2018-03-16 | 南京光锥信息科技有限公司 | Indoor locating system and method based on flight time distribution light pulse detection |
CN106093861A (en) * | 2016-07-31 | 2016-11-09 | 中国海洋大学 | A kind of phase place localizer beacon method and system |
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Application publication date: 20130410 |