CN103033793A - Positioning method and positioning system - Google Patents

Positioning method and positioning system Download PDF

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Publication number
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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China
Prior art keywords
time difference
monitoring points
point
time
hyperbolic curve
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Chinese (zh)
Inventor
何诗银
廖耀汉
潘通
郑建福
代健楠
刘大伟
柳少波
夏峰
蓝珂生
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SHENZHEN RONGXING COMMUNICATION TECHNOLOGY Co Ltd
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SHENZHEN RONGXING COMMUNICATION TECHNOLOGY Co Ltd
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Publication of CN103033793A publication Critical patent/CN103033793A/en
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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

A kind of localization method and positioning system
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
Figure 2011103027962100002DEST_PATH_IMAGE002
Transmit and arrive respectively three monitoring points
Figure 2011103027962100002DEST_PATH_IMAGE004
,
Figure 2011103027962100002DEST_PATH_IMAGE006
And
Figure 2011103027962100002DEST_PATH_IMAGE008
Mistiming between any two
Figure 2011103027962100002DEST_PATH_IMAGE010
, And
Figure 2011103027962100002DEST_PATH_IMAGE014
According to the described mistiming
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,
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And
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And described monitoring point
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,
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And
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Distance between any two
Figure 2011103027962100002DEST_PATH_IMAGE016
, And
Figure 2011103027962100002DEST_PATH_IMAGE020
, in the same coordinate system,
With two monitoring points
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And
Figure 376279DEST_PATH_IMAGE006
For focus, two monitoring points
Figure 207707DEST_PATH_IMAGE004
And Between mid point For initial point builds the first time difference hyperbolic curve: , wherein,
Figure 2011103027962100002DEST_PATH_IMAGE026
For the light velocity,
Figure 2011103027962100002DEST_PATH_IMAGE028
For
Figure 298338DEST_PATH_IMAGE002
Arrive
Figure 876956DEST_PATH_IMAGE022
Distance,
Figure 2011103027962100002DEST_PATH_IMAGE030
,
Figure 2011103027962100002DEST_PATH_IMAGE032
For
Figure 623326DEST_PATH_IMAGE022
Upper normal with
Figure 728423DEST_PATH_IMAGE028
Between angle,
With two monitoring points
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And
Figure 351482DEST_PATH_IMAGE008
For focus, two monitoring points
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And
Figure 251360DEST_PATH_IMAGE008
Between mid point
Figure 2011103027962100002DEST_PATH_IMAGE034
For initial point builds the second time difference hyperbolic curve: , wherein,
Figure 228674DEST_PATH_IMAGE026
For the light velocity,
Figure 2011103027962100002DEST_PATH_IMAGE038
For Arrive
Figure 328446DEST_PATH_IMAGE034
Distance,
Figure 2011103027962100002DEST_PATH_IMAGE040
,
Figure 2011103027962100002DEST_PATH_IMAGE042
For
Figure 17923DEST_PATH_IMAGE034
Upper normal with
Figure 494034DEST_PATH_IMAGE038
Between angle,
With two monitoring points
Figure 393595DEST_PATH_IMAGE006
And
Figure 675672DEST_PATH_IMAGE008
For focus, two monitoring points
Figure 111332DEST_PATH_IMAGE006
And
Figure 555083DEST_PATH_IMAGE008
Between mid point
Figure 2011103027962100002DEST_PATH_IMAGE044
For initial point builds the 3rd time difference hyperbolic curve: , wherein,
Figure 82885DEST_PATH_IMAGE026
For the light velocity,
Figure 2011103027962100002DEST_PATH_IMAGE048
For
Figure 333433DEST_PATH_IMAGE002
Arrive
Figure 623600DEST_PATH_IMAGE044
Distance,
Figure 2011103027962100002DEST_PATH_IMAGE050
,
Figure 2011103027962100002DEST_PATH_IMAGE052
For
Figure 48371DEST_PATH_IMAGE044
Upper normal with
Figure 361672DEST_PATH_IMAGE048
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
Figure 427629DEST_PATH_IMAGE002
Position.
Further, described method also comprises:
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,
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And
Figure 922567DEST_PATH_IMAGE008
The middle time tag of loading synchronous respectively that transmits sent,
Obtain measured point Transmit and arrive respectively three monitoring points
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,
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And
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Mistiming between any two ,
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And
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Be specially:
From
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To
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, And
Figure 401323DEST_PATH_IMAGE008
What send transmits, and according to described time tag, extracts respectively ,
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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:
At least three monitoring points
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,
Figure 641681DEST_PATH_IMAGE006
And
Figure 985812DEST_PATH_IMAGE008
Measured point
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, for transmission, transmit and arrive three monitoring points ,
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And
Figure 21453DEST_PATH_IMAGE008
Data processing server, for obtaining measured point Transmit and arrive respectively three monitoring points
Figure 166444DEST_PATH_IMAGE004
,
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And Time difference between any two
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,
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And
Figure 915744DEST_PATH_IMAGE014
According to the described time difference ,
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And
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And described monitoring point
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, And
Figure 767037DEST_PATH_IMAGE008
Distance between any two ,
Figure 572236DEST_PATH_IMAGE018
And
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, in the same coordinate system, with two monitoring points
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And
Figure 915865DEST_PATH_IMAGE006
For focus, two monitoring points And Between mid point
Figure 863726DEST_PATH_IMAGE022
For initial point builds the first time difference hyperbola: , wherein,
Figure 985321DEST_PATH_IMAGE026
For the light velocity,
Figure 925595DEST_PATH_IMAGE028
For
Figure 386663DEST_PATH_IMAGE002
Arrive
Figure 993006DEST_PATH_IMAGE022
Distance,
Figure 172315DEST_PATH_IMAGE030
,
Figure 650701DEST_PATH_IMAGE032
For
Figure 966275DEST_PATH_IMAGE022
Upper normal with Between angle, with two monitoring points And
Figure 686342DEST_PATH_IMAGE008
For focus, two monitoring points And
Figure 64288DEST_PATH_IMAGE008
Between mid point For initial point builds the second time difference hyperbola:
Figure 772798DEST_PATH_IMAGE036
, wherein,
Figure 62965DEST_PATH_IMAGE026
For the light velocity,
Figure 441732DEST_PATH_IMAGE038
For
Figure 817349DEST_PATH_IMAGE002
Arrive
Figure 441229DEST_PATH_IMAGE034
Distance,
Figure 585902DEST_PATH_IMAGE040
,
Figure 713451DEST_PATH_IMAGE042
For
Figure 576365DEST_PATH_IMAGE034
Upper normal with
Figure 738356DEST_PATH_IMAGE038
Between angle, with two monitoring points
Figure 445193DEST_PATH_IMAGE006
And
Figure 401647DEST_PATH_IMAGE008
For focus, two monitoring points
Figure 751857DEST_PATH_IMAGE006
And
Figure 717539DEST_PATH_IMAGE008
Between mid point
Figure 273023DEST_PATH_IMAGE044
For initial point builds the 3rd time difference hyperbola:
Figure 728275DEST_PATH_IMAGE046
, wherein,
Figure 300202DEST_PATH_IMAGE026
For the light velocity, For
Figure 541882DEST_PATH_IMAGE002
Arrive
Figure 105719DEST_PATH_IMAGE044
Distance,
Figure 164942DEST_PATH_IMAGE050
,
Figure 472426DEST_PATH_IMAGE052
For
Figure 64819DEST_PATH_IMAGE044
Upper normal with
Figure 799557DEST_PATH_IMAGE048
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
Figure 191672DEST_PATH_IMAGE004
,
Figure 632713DEST_PATH_IMAGE006
And
Figure 538352DEST_PATH_IMAGE008
Transmit with in the transmitting of time tag, poor according to described time tag extraction time respectively
Figure 572167DEST_PATH_IMAGE010
,
Figure 221454DEST_PATH_IMAGE012
And
Figure 522860DEST_PATH_IMAGE014
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
Figure 599400DEST_PATH_IMAGE002
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
Figure 120512DEST_PATH_IMAGE002
Transmit and arrive respectively three monitoring points
Figure 573490DEST_PATH_IMAGE004
,
Figure 729402DEST_PATH_IMAGE006
And
Figure 976844DEST_PATH_IMAGE008
Mistiming between any two
Figure 985251DEST_PATH_IMAGE010
,
Figure 976341DEST_PATH_IMAGE012
And
Figure 252339DEST_PATH_IMAGE014
102, according to the mistiming
Figure 670682DEST_PATH_IMAGE010
,
Figure 166386DEST_PATH_IMAGE012
And
Figure 695587DEST_PATH_IMAGE014
And monitoring point
Figure 831951DEST_PATH_IMAGE004
,
Figure 686775DEST_PATH_IMAGE006
And
Figure 404195DEST_PATH_IMAGE008
Distance between any two
Figure 737087DEST_PATH_IMAGE016
,
Figure 987678DEST_PATH_IMAGE018
And , in the same coordinate system, build three hyperbolic curves, its respectively:
With two monitoring points
Figure 952540DEST_PATH_IMAGE004
And
Figure 89123DEST_PATH_IMAGE006
For focus, two monitoring points
Figure 194220DEST_PATH_IMAGE004
And
Figure 125267DEST_PATH_IMAGE006
Between mid point
Figure 817280DEST_PATH_IMAGE022
For initial point builds the first time difference hyperbolic curve:
Figure 491975DEST_PATH_IMAGE024
, wherein, For the light velocity,
Figure 819106DEST_PATH_IMAGE028
For
Figure 998414DEST_PATH_IMAGE002
Arrive
Figure 211221DEST_PATH_IMAGE022
Distance,
Figure 308488DEST_PATH_IMAGE030
,
Figure 519021DEST_PATH_IMAGE032
For
Figure 185625DEST_PATH_IMAGE022
Upper normal with
Figure 264440DEST_PATH_IMAGE028
Between angle,
With two monitoring points And
Figure 845649DEST_PATH_IMAGE008
For focus, two monitoring points
Figure 796287DEST_PATH_IMAGE004
And Between mid point
Figure 405178DEST_PATH_IMAGE034
For initial point builds the second time difference hyperbolic curve:
Figure 285409DEST_PATH_IMAGE036
, wherein,
Figure 661027DEST_PATH_IMAGE026
For the light velocity,
Figure 19327DEST_PATH_IMAGE038
For
Figure 928115DEST_PATH_IMAGE002
Arrive
Figure 979247DEST_PATH_IMAGE034
Distance,
Figure 842161DEST_PATH_IMAGE040
,
Figure 4152DEST_PATH_IMAGE042
For
Figure 507727DEST_PATH_IMAGE034
Upper normal with
Figure 729761DEST_PATH_IMAGE038
Between angle,
With two monitoring points
Figure 79971DEST_PATH_IMAGE006
And
Figure 45653DEST_PATH_IMAGE008
For focus, two monitoring points
Figure 663454DEST_PATH_IMAGE006
And
Figure 790810DEST_PATH_IMAGE008
Between mid point
Figure 628316DEST_PATH_IMAGE044
For initial point builds the 3rd time difference hyperbolic curve:
Figure 132109DEST_PATH_IMAGE046
, wherein,
Figure 869996DEST_PATH_IMAGE026
For the light velocity,
Figure 168253DEST_PATH_IMAGE048
For
Figure 493055DEST_PATH_IMAGE002
Arrive
Figure 800540DEST_PATH_IMAGE044
Distance,
Figure 127354DEST_PATH_IMAGE050
,
Figure 862091DEST_PATH_IMAGE052
For
Figure 408610DEST_PATH_IMAGE044
Upper normal with
Figure 519786DEST_PATH_IMAGE048
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
Figure 960826DEST_PATH_IMAGE002
Position.
Particularly, before step 101, can also comprise: ,
Figure 900280DEST_PATH_IMAGE006
And
Figure 549567DEST_PATH_IMAGE008
The middle time tag of loading synchronous respectively that transmits sent,
Step 101 can be specially:
From
Figure 850974DEST_PATH_IMAGE002
To
Figure 927514DEST_PATH_IMAGE004
,
Figure 448625DEST_PATH_IMAGE006
And What send transmits, and according to described time tag, extracts respectively
Figure 57516DEST_PATH_IMAGE010
,
Figure 304958DEST_PATH_IMAGE012
And
Figure 313365DEST_PATH_IMAGE014
.
Due to time tag can indicate respectively from
Figure 304455DEST_PATH_IMAGE002
To
Figure 580453DEST_PATH_IMAGE004
,
Figure 998796DEST_PATH_IMAGE006
And The transmitting time transmitted sent, therefore, can be by the mistiming according to computing
Figure 23701DEST_PATH_IMAGE010
,
Figure 160065DEST_PATH_IMAGE012
And
Figure 749309DEST_PATH_IMAGE014
Determine.
With reference to Fig. 3, the positioning system of the embodiment of the present invention mainly comprises:
At least three monitoring points
Figure 732309DEST_PATH_IMAGE004
,
Figure 65201DEST_PATH_IMAGE006
And
Figure 50212DEST_PATH_IMAGE008
Measured point , for transmission, transmit and arrive three monitoring points
Figure 280654DEST_PATH_IMAGE004
,
Figure 417237DEST_PATH_IMAGE006
And
Figure 256755DEST_PATH_IMAGE008
Data processing server, for obtaining measured point Transmit and arrive respectively three monitoring points
Figure 145393DEST_PATH_IMAGE004
,
Figure 820088DEST_PATH_IMAGE006
And
Figure 779692DEST_PATH_IMAGE008
Time difference between any two
Figure 147219DEST_PATH_IMAGE010
, And
Figure 539334DEST_PATH_IMAGE014
According to the described time difference
Figure 636602DEST_PATH_IMAGE010
,
Figure 909451DEST_PATH_IMAGE012
And
Figure 576056DEST_PATH_IMAGE014
And described monitoring point
Figure 592553DEST_PATH_IMAGE004
,
Figure 526749DEST_PATH_IMAGE006
And
Figure 908183DEST_PATH_IMAGE008
Distance between any two
Figure 62084DEST_PATH_IMAGE016
,
Figure 380807DEST_PATH_IMAGE018
And
Figure 733291DEST_PATH_IMAGE020
, in the same coordinate system, with two monitoring points
Figure 613523DEST_PATH_IMAGE004
And
Figure 989140DEST_PATH_IMAGE006
For focus, two monitoring points
Figure 783659DEST_PATH_IMAGE004
And
Figure 193911DEST_PATH_IMAGE006
Between mid point
Figure 979465DEST_PATH_IMAGE022
For initial point builds the first time difference hyperbola:
Figure 842379DEST_PATH_IMAGE024
, wherein, For the light velocity,
Figure 773524DEST_PATH_IMAGE028
For
Figure 995557DEST_PATH_IMAGE002
Arrive
Figure 345767DEST_PATH_IMAGE022
Distance,
Figure 482088DEST_PATH_IMAGE030
,
Figure 601354DEST_PATH_IMAGE032
For
Figure 994289DEST_PATH_IMAGE022
Upper normal with
Figure 330330DEST_PATH_IMAGE028
Between angle, with two monitoring points
Figure 834124DEST_PATH_IMAGE004
And
Figure 807896DEST_PATH_IMAGE008
For focus, two monitoring points
Figure 371733DEST_PATH_IMAGE004
And
Figure 195070DEST_PATH_IMAGE008
Between mid point
Figure 236975DEST_PATH_IMAGE034
For initial point builds the second time difference hyperbola:
Figure 330833DEST_PATH_IMAGE036
, wherein,
Figure 65571DEST_PATH_IMAGE026
For the light velocity,
Figure 104766DEST_PATH_IMAGE038
For Arrive Distance,
Figure 69945DEST_PATH_IMAGE040
,
Figure 602295DEST_PATH_IMAGE042
For
Figure 986003DEST_PATH_IMAGE034
Upper normal with
Figure 54453DEST_PATH_IMAGE038
Between angle, with two monitoring points
Figure 130994DEST_PATH_IMAGE006
And
Figure 150640DEST_PATH_IMAGE008
For focus, two monitoring points
Figure 338039DEST_PATH_IMAGE006
And Between mid point
Figure 508437DEST_PATH_IMAGE044
For initial point builds the 3rd time difference hyperbola:
Figure 15380DEST_PATH_IMAGE046
, wherein,
Figure 6469DEST_PATH_IMAGE026
For the light velocity,
Figure 783933DEST_PATH_IMAGE048
For
Figure 202276DEST_PATH_IMAGE002
Arrive Distance, ,
Figure 363545DEST_PATH_IMAGE052
For Upper normal with
Figure 434324DEST_PATH_IMAGE048
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
Figure 767216DEST_PATH_IMAGE002
Position.
Further, data processing server can specifically comprise structure as shown in Figure 4:
Mistiming determining unit 401, for from ,
Figure 279417DEST_PATH_IMAGE006
And
Figure 982668DEST_PATH_IMAGE008
Transmit with in the transmitting of time tag, poor according to described time tag extraction time respectively
Figure 853673DEST_PATH_IMAGE010
,
Figure 460234DEST_PATH_IMAGE012
And
Figure 656860DEST_PATH_IMAGE014
Figure 581829DEST_PATH_IMAGE014
Location Calculation unit 402, for building above-mentioned the first time difference hyperbolic curve, the second time difference hyperbolic curve and the 3rd time difference hyperbolic curve, and determine with the first time difference hyperbolic curve, the second time difference hyperbolic curve and the 3rd hyp common factor of the time difference
Figure 522103DEST_PATH_IMAGE002
Position.
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
Figure DEST_PATH_IMAGE002
Transmit and arrive respectively three monitoring points
Figure DEST_PATH_IMAGE004
,
Figure DEST_PATH_IMAGE006
And
Figure DEST_PATH_IMAGE008
Mistiming between any two
Figure DEST_PATH_IMAGE010
,
Figure DEST_PATH_IMAGE012
And
Figure DEST_PATH_IMAGE014
According to the described mistiming ,
Figure 216789DEST_PATH_IMAGE012
And And described monitoring point
Figure 765637DEST_PATH_IMAGE004
,
Figure 642326DEST_PATH_IMAGE006
And
Figure 277838DEST_PATH_IMAGE008
Distance between any two
Figure DEST_PATH_IMAGE016
,
Figure DEST_PATH_IMAGE018
And
Figure DEST_PATH_IMAGE020
, in the same coordinate system,
With two monitoring points
Figure 811717DEST_PATH_IMAGE004
And For focus, two monitoring points
Figure 53397DEST_PATH_IMAGE004
And
Figure 109078DEST_PATH_IMAGE006
Between mid point
Figure DEST_PATH_IMAGE022
For initial point builds the first time difference hyperbolic curve:
Figure DEST_PATH_IMAGE024
, wherein, For the light velocity,
Figure DEST_PATH_IMAGE028
For
Figure 925724DEST_PATH_IMAGE002
Arrive
Figure 725053DEST_PATH_IMAGE022
Distance,
Figure DEST_PATH_IMAGE030
,
Figure DEST_PATH_IMAGE032
For Upper normal with Between angle,
With two monitoring points
Figure 486619DEST_PATH_IMAGE004
And
Figure 824059DEST_PATH_IMAGE008
For focus, two monitoring points
Figure 280580DEST_PATH_IMAGE004
And
Figure 678063DEST_PATH_IMAGE008
Between mid point
Figure DEST_PATH_IMAGE034
For initial point builds the second time difference hyperbolic curve:
Figure DEST_PATH_IMAGE036
, wherein,
Figure 593935DEST_PATH_IMAGE026
For the light velocity,
Figure DEST_PATH_IMAGE038
For
Figure 46651DEST_PATH_IMAGE002
Arrive Distance,
Figure DEST_PATH_IMAGE040
,
Figure DEST_PATH_IMAGE042
For
Figure 565543DEST_PATH_IMAGE034
Upper normal with
Figure 578498DEST_PATH_IMAGE038
Between angle,
With two monitoring points
Figure 274053DEST_PATH_IMAGE006
And
Figure 688854DEST_PATH_IMAGE008
For focus, two monitoring points
Figure 937127DEST_PATH_IMAGE006
And
Figure 437379DEST_PATH_IMAGE008
Between mid point
Figure DEST_PATH_IMAGE044
For initial point builds the 3rd time difference hyperbolic curve:
Figure DEST_PATH_IMAGE046
, wherein,
Figure 44946DEST_PATH_IMAGE026
For the light velocity,
Figure DEST_PATH_IMAGE048
For
Figure 392882DEST_PATH_IMAGE002
Arrive
Figure 568649DEST_PATH_IMAGE044
Distance,
Figure DEST_PATH_IMAGE050
,
Figure DEST_PATH_IMAGE052
For
Figure 680830DEST_PATH_IMAGE044
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
Figure 340536DEST_PATH_IMAGE002
Position.
2. localization method as claimed in claim 1, is characterized in that, described method also comprises:
Figure 687204DEST_PATH_IMAGE004
,
Figure 912780DEST_PATH_IMAGE006
And
Figure 3096DEST_PATH_IMAGE008
The middle time tag of loading synchronous respectively that transmits sent,
Obtain measured point
Figure 502122DEST_PATH_IMAGE002
Transmit and arrive respectively three monitoring points
Figure 754112DEST_PATH_IMAGE004
,
Figure 466984DEST_PATH_IMAGE006
And Mistiming between any two
Figure 708665DEST_PATH_IMAGE010
,
Figure 131556DEST_PATH_IMAGE012
And
Figure 331724DEST_PATH_IMAGE014
Be specially:
From
Figure 763842DEST_PATH_IMAGE002
To
Figure 966022DEST_PATH_IMAGE004
, And
Figure 247279DEST_PATH_IMAGE008
What send transmits, and according to described time tag, extracts respectively ,
Figure 805354DEST_PATH_IMAGE012
And
Figure 835627DEST_PATH_IMAGE014
.
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:
At least three monitoring points
Figure 744808DEST_PATH_IMAGE004
,
Figure 518729DEST_PATH_IMAGE006
And
Figure 713080DEST_PATH_IMAGE008
Measured point
Figure 914254DEST_PATH_IMAGE002
, for transmission, transmit and arrive three monitoring points
Figure 310731DEST_PATH_IMAGE004
, And
Figure 919622DEST_PATH_IMAGE008
Data processing server, for obtaining measured point
Figure 291698DEST_PATH_IMAGE002
Transmit and arrive respectively three monitoring points
Figure 175471DEST_PATH_IMAGE004
,
Figure 291195DEST_PATH_IMAGE006
And
Figure 442559DEST_PATH_IMAGE008
Time difference between any two
Figure 985536DEST_PATH_IMAGE010
,
Figure 91026DEST_PATH_IMAGE012
And
Figure 10441DEST_PATH_IMAGE014
According to the described time difference
Figure 16312DEST_PATH_IMAGE010
,
Figure 730190DEST_PATH_IMAGE012
And
Figure 588556DEST_PATH_IMAGE014
And described monitoring point
Figure 46082DEST_PATH_IMAGE004
,
Figure 912319DEST_PATH_IMAGE006
And
Figure 62677DEST_PATH_IMAGE008
Distance between any two
Figure 142760DEST_PATH_IMAGE016
,
Figure 403977DEST_PATH_IMAGE018
And
Figure 118861DEST_PATH_IMAGE020
, in the same coordinate system, with two monitoring points
Figure 440121DEST_PATH_IMAGE004
And
Figure 7500DEST_PATH_IMAGE006
For focus, two monitoring points
Figure 806828DEST_PATH_IMAGE004
And
Figure 641798DEST_PATH_IMAGE006
Between mid point
Figure 133959DEST_PATH_IMAGE022
For initial point builds the first time difference hyperbola:
Figure 923055DEST_PATH_IMAGE024
, wherein,
Figure 526074DEST_PATH_IMAGE026
For the light velocity,
Figure 481130DEST_PATH_IMAGE028
For
Figure 691662DEST_PATH_IMAGE002
Arrive
Figure 482901DEST_PATH_IMAGE022
Distance,
Figure 867440DEST_PATH_IMAGE030
,
Figure 427735DEST_PATH_IMAGE032
For Upper normal with
Figure 25386DEST_PATH_IMAGE028
Between angle, with two monitoring points And
Figure 634277DEST_PATH_IMAGE008
For focus, two monitoring points
Figure 389875DEST_PATH_IMAGE004
And
Figure 890126DEST_PATH_IMAGE008
Between mid point For initial point builds the second time difference hyperbola:
Figure 157214DEST_PATH_IMAGE036
, wherein, For the light velocity,
Figure 805681DEST_PATH_IMAGE038
For Arrive
Figure 730967DEST_PATH_IMAGE034
Distance,
Figure 828367DEST_PATH_IMAGE040
,
Figure 303211DEST_PATH_IMAGE042
For
Figure 383074DEST_PATH_IMAGE034
Upper normal with Between angle, with two monitoring points And For focus, two monitoring points
Figure 735110DEST_PATH_IMAGE006
And
Figure 833516DEST_PATH_IMAGE008
Between mid point
Figure 335035DEST_PATH_IMAGE044
For initial point builds the 3rd time difference hyperbola:
Figure 33739DEST_PATH_IMAGE046
, wherein,
Figure 200278DEST_PATH_IMAGE026
For the light velocity,
Figure 169502DEST_PATH_IMAGE048
For
Figure 28874DEST_PATH_IMAGE002
Arrive
Figure 949294DEST_PATH_IMAGE044
Distance,
Figure 185103DEST_PATH_IMAGE050
, For
Figure 39107DEST_PATH_IMAGE044
Upper normal with
Figure 464402DEST_PATH_IMAGE048
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
Figure 972743DEST_PATH_IMAGE002
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
Figure 916560DEST_PATH_IMAGE004
,
Figure 117734DEST_PATH_IMAGE006
And
Figure 12746DEST_PATH_IMAGE008
Transmit with in the transmitting of time tag, poor according to described time tag extraction time respectively
Figure 324779DEST_PATH_IMAGE010
,
Figure 123102DEST_PATH_IMAGE012
And
Figure 495177DEST_PATH_IMAGE014
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
Figure 877486DEST_PATH_IMAGE002
Position.
6. positioning system as described as claim 4 or 5, is characterized in that, described signal is the continuous signal of wireless communication.
CN2011103027962A 2011-10-09 2011-10-09 Positioning method and positioning system Pending CN103033793A (en)

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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
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