CN100394210C - Positioning system and mtehod for determining object position - Google Patents

Abstract

The present invention relates to a positioning system used for determining the positions of objects, which comprises an emitting station, a receiving station, a data management unit and a positioning computer, wherein the emitting station transmits a first ID signal comprising a first identifier of the emitting station; the receiving station receives the first ID signal, measures the intensity of the first ID signal and extracts the first identifier; the data management unit stores and manages the intensity relevant to the first identifier, and the intensity and the identifier are provided by the receiving station; the positioning computer is based on data stored in the data management unit, uses a first correction formula of the relationship defined between intensity and distance and estimates the position of the emitting station.

Description

Be used for determining the positioning system and the method for object space

Technical field

The present invention relates generally to a kind of positioning system that is used to determine to be attached to the position of a cell site on article or the people, relate in particular to a kind of be used for effectively determining a plurality of indoor, such as the positioning system of the position of the cell site in shop, warehouse and office, it has pinpoint accuracy and can not be subjected to too much influence from environmental factor.

Description of Related Art

Wireless identification tag (perhaps cell site) uses in every field.For example, in fact one moved in many shops at tag system illustrated in fig. 1.System as shown in Figure 1 comprises a door 121 and the wireless identification tag 123 that is attached on article or the commodity.Pass door 121 and do not locate paying a cashier if having article 122a and the 122b of label 123a and 123b respectively, then this system can produce warning.This system is a so-called passive tag systems of using door, and wherein passive label is used as the cell site.This passive label receives the radiowave that produces from door 121, modulates this radiowave, and signal is turned back to door 121.When door 121 had received from return signal that label 123 sends, it produced warning.The passive tag systems that should combine with a door is being superior aspect safeguarding, this is because label (perhaps cell site) 123 does not need a power supply.But communication range is limited in tens centimetres, so it is not suitable for the tag system of a long distance.

On the other hand, at Fig. 2 a so-called active label system has been described, it is considered to the tag system of a long distance.In this active label system, a power supply is provided for each 127a-127f of cell site so that the expanding communication scope.Usually, the active label system uses and distributes to a specific lower powered frequency band, and can communicate from several meters to tens meters scope.Yet this active radio electricity tag system only has respectively existence or the non-existent function of determining the 127a-127f of cell site (label 1 is to label 6) in the communication zone 125a of 124a of receiving station and 124b and 125b.If traditional active label system (that is, a combination of active cell site 127 and receiving station 124) is used to estimate the position of each cell site, then this position estimation accuracy has surpassed communication range (that is, having surpassed the communication zone size).In order to improve this bearing accuracy, must reduce the emissive power of cell site, perhaps must reduce the sensitivity of receiving station, increase the number of receiving station simultaneously, to dwindle the zone that covers by each receiving station.

In order to overcome the problems referred to above of this active label system, provide in a positioning system illustrated in fig. 3, it is open in JPA (Japanese Patent Laid-Open Publication) 9-161177.The system that shows in Fig. 3 comprises a cell site 131, three or more base station 132a-132c and a central station 133 of communicating by letter with this base station 132.Cell site 131 uses radiowave, sends an identification code and the signal of current time (that is transmitting time) that comprises this cell site itself with a predetermined time interval.Whenever base station 132 from the cell site 131 when receiving signal, they each all by radiowave the signal that is received, send to central station 133 together with time of reception and their identification code.Central station 133 calculates the distance between cell site 131 and each base station 132 based on 132 information that receive from the base station, and estimates the position of cell site 131.Or rather, central station 133 is determined signal propagation time from transmitting time and time of reception, and calculates distance between cell site 131 and each base station 132 by being multiply by velocity of radio wave this travel-time.Then, central station 133 is based on the position of estimating cell site 131 with respect to the position relation of base station 132.

Disclosed system can estimate the position of cell site by Measuring Time exactly in JPA9-161177.Yet this signal at 131 places sends and is set to long at interval usually so that the long battery life of maintenance in the cell site.This cause one when in fact needing such positional information, can not obtain the problem of accurate positional information.In addition, must fixing at least three base stations 132 so that estimate the position of cell site, and if this cell site shift out the communication zone of this fixed base stations, then can not estimate the position of cell site.Also having another problem is the information that does not have relevant this cell site's environment.

Fig. 4 has illustrated the positioning system that another is known, and it is open in JAP9-159746.System as shown in Figure 4 comprises: a cell site 131 that sends radio signal; Three or more base stations 132, it 131 receives radio signals and measures the intensity of received signal from the cell site; And a central station 133, position of cell site 131 is provided based on the intensity of the received signal that provides from each base station 132 for it.In this system, cell site 131 produces and sends radio signal during positioning action.Each base station 132 is provided to central station 133 to the measurement result of signal intensity.Central station 133 calculates distance between cell site 131 and each base station 132 from this intensity, and estimates the position of cell site 131 based on the relation of the position between cell site 131 and each base station 132.

One is listed in the form that concerns between received signal intensity and the respective distance and is kept in advance in the central station 133.Central station 133 is determined distance by receiving intensity being applied to this form.This system can estimate the position of cell site 131 by creating the accurate form of indication relation between intensity and distance.Yet, in order to specify this position, must fixing at least three base stations.If the communication zone of base station has left in cell site 131, then the position of cell site 131 just no longer can have been estimated.

Therefore, traditional " passive tag systems " is not suitable for the wireless lebal system of a long distance, is because its communication range has only tens centimetres so short.

Traditional " active label system " needs to increase the number of receiving station so that improve bearing accuracy.

Traditional positioning system has been described in Fig. 3, and it is based on the transmission time estimated distance, and need be set to long so that keep long cell site's battery life by the signal transmission intercal.Therefore, when in fact needing precise position information, this system is difficult to obtain this information.In addition, must fixing at least three base stations so that the estimated position, and if this cell site shift out communication zone, then no longer can estimate the position of cell site.This system can not determine this cell site just operates under what environment.

In conventional alignment systems illustrated in fig. 4, its intensity based on received signal is determined distance, and needs at least three base stations to be fixed.If the cell site in the outside in base station communication zone, then just no longer can estimate its position.

Though one is utilized the locating device of a GPS may be effectively out of doors, because reflection wave, it is not suitable in indoor use.Being invalid as among the GPS, using an absolute time difference under the influence of reflection wave, because error becomes too big.Even use amplitude information to estimate a position, the relation between distance and received signal intensity does not satisfy the Frii formula under many circumstances.

As everyone knows, the Frii equation expression is:

$L=20\×{\log }_{10}\left(\frac{4\mathrm{\πd}}{\mathrm{\λ}}\right)---\left(0\right)$

Wherein L represents transmission loss (TL), and d represents distance, and λ represents wavelength.

Why can not to be used for the reason of indoor propagation be that receiving station is positioned at mew or because the reflection wave influence in the intensity of received signal localised waving takes place to the Frii formula.

Summary of the invention

The present invention conceives in view of the problems referred to above in the prior art, and an object of the present invention is to overcome limited communication range, and it is the problem in the traditional passive tag system; And avoid undesirable increase of receiving station's number when estimating a position exactly, it is in traditional active label intersystem problem

Another object of the present invention is by the environment around considering in this cell site, even estimates the position of a cell site on indoor pinpoint accuracy ground.

The present invention also has another purpose to be: when the actual needs precise position information, allow a user to obtain such positional information.

The present invention also has another purpose to be: when estimating the position of a cell site, eliminate necessity of fixing three or more base stations (perhaps receiving station).

The present invention also has another purpose to be: even the communication zone of a fixed base stations leaves in cell site, also can sequentially estimate the position of this cell site.

These purposes realize in a foundation positioning system provided by the invention and method.A system and method so is not only applicable to the object of monitor hazardous or stops theft, and is applicable to control stock and managing assets in warehouse or office in an efficient way.

To achieve these goals, in one aspect of the invention, a system that is used for the position of a definite object comprises (a) cell site, be configured to send an ID signal that comprises one first identifier with a kind of periodic manner, (b) receiving station, be configured to receive an ID signal, measure the intensity of an ID signal, and read first identifier, (c) data administrative unit, be configured to store and manage this intensity explicitly with first identifier that provides from this receiving station, and (d) position computer, be configured to use the position of being estimated this cell site by the data of this Data Management Unit management, this position computer is determined first updating formula that the intensity of received signal " e " is defined as a function of distance ' ' d ' '.This position computer uses first updating formula and known (perhaps available) positional information to estimate the position of cell site then.

If the position of i cell site be (xi, yi) and also the position of j receiving station be (uj, vj), between i cell site and j receiving station apart from d _IjFor:

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}.---\left(1\right)$

First updating formula can be expressed as:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂ (2)’

Or

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂) (24)’

E wherein _IjBe the intensity of the ID signal that sends, receive in j receiving station by the i cell site, and S1 and S2 are correction coefficient.

Preferably, first formula further comprises at least one among the environmental coefficient Krj of environmental coefficient Kti of cell site or receiving station.This scheme allows the consideration surrounding environment to come estimated position more accurately.

Receiving station can have an excitation signal generator, and it produces one and is used to cause the cell site to send the pumping signal of another ID signal.In this case, receiving station sends to the cell site to this pumping signal, and when receiving this pumping signal, the cell site sends the 2nd an ID signal that comprises one second identifier.

The cell site has a sensor that is used for sensing by the caused variation of extraneous factor.When detecting any variation, the cell site sends to this receiving station to the 3rd an ID signal that comprises one the 3rd identifier.Such variation comprises vibration or the acceleration that causes owing to applied external force, the variation in incident light, temperature, humidity and other parameters.

By using pumping signal and/or sensor, when in fact needing necessary positional information (for example, when the cell site is sought by receiving station or when the cell site has physically moved to a different position), can obtain such positional information, and consider environmental change.In addition, because the transmission interval of unnecessary shortening periodic signal, so prolonged the life-span of battery.

Receiving station also has a time calculating unit, and it is measured one and obtains the required transmission time of the 2nd ID signal in response to this pumping signal.In this case, position computer determines that one is defined in by the signal propagation time of air and second updating formula of the relation between the distance.This position computer uses second updating formula and known (perhaps available) positional information to estimate the position of a unknown cell site then.

Second updating formula can be expressed as:

$p_{\mathrm{ij}}=f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=t_{\mathrm{ij}}-B-\mathrm{gexp}(-h\×e_{\mathrm{ij}})=K{d}_{\mathrm{ij}}=K\sqrt{{(u_i-u_j)}^2+{(v_i-v_j)}^2}{---\left(9\right)}^{,}$

P wherein _IjBe that (ui, i cell site vi) propagate into and be positioned at (uj, needed travel-time of j receiving station vj), e the ID signal from being positioned at by air _IjBe intensity at the ID signal of j receiving station place's reception, t _IjBe that j receiving station obtains needed transmission time of this ID signal, d in response to pumping signal _IjBe the distance between i cell site and j receiving station, B, g and h are correction coefficient, and K is a proportionality constant.

Utilize second updating formula, based on actual measured value (e _IjAnd t _Ij), use an approximate function to determine propagation rate by a signal of electromagnetic wave or ultrasound wave carrying.Therefore, need not additionally to measure temperature and air humidity is used for this correction.In addition, because proofreaied and correct relation between travel-time and distance based on actual measured value, so even owing to can not carry out high speed operation in order to realize low-power consumption, but improved estimated accuracy.

This positioning system can comprise single fixed position receiving station (that is one first receiving station) and single mobile receiving station (that is one second receiving station) so that reduce number as the fixed position receiving station of base station.This scheme also allows this system correctly to estimate the position of the cell site of a communication zone that has left this fixed position receiving station.In this case, this position computer uses the positional information of fixing the relevant known cell site that (first) receiving station provides from this, determines at least one in first and second updating formulas.Then, (A) this position computer uses updating formula, and the signal message that sends in the cell site of or estimated position known and receive in mobile receiving station from one, with the positional information of the cell site of relevant this known or estimated position, estimate that this moves the position of (perhaps second) receiving station.In addition, (B) this position computer uses the signal message that sends and receive in this fixed position receiving station or the mobile receiving station an estimated position from a unknown cell site, and the positional information of the estimated position of relevant this fixed position receiving station or this mobile receiving station, estimate the position of cell site's (hereinafter, being called " unknown cell site " simply) of this position the unknown.When mobile receiving station moved, position computer was repeatedly handled (A) and (B) sequentially to obtain the positional information of unknown cell site.

Another resulting structure that is used to reduce receiving station's number is to use single mobile station, and does not use a fixed position receiving station.In this case, position computer is provided by the positional information of the cell site of relevant those location awares that provide from the mobile receiving station of position the unknown, determines at least one in first and second updating formulas.Then, (A) this position computer uses the signal message that is sent to receiving station from the cell site of known or estimated position, the positional information of the cell site of relevant this known or estimated position, and the updating formula of determining (one or more) are estimated the current location of this receiving station.Then, (B) this position computer uses the signal message that is provided to the receiving station that is positioned at current location from a unknown cell site, and the positional information of relevant this receiving station's current location, estimates the position of this unknown cell site.When mobile receiving station moved, position computer was repeatedly handled (A) and (B) sequentially to obtain the positional information of unknown cell site.

By only using a mobile receiving station or being used in combination a mobile receiving station, can in a broad regions, determine and control the existence and the position of a plurality of cell sites exactly with a fixed position receiving station

Can use to comprise radiowave and ultrared electromagnetic wave, perhaps comprise ultrasound wave and the sound wave that can listen ripple, as a carrier wave of the signal that between cell site and receiving station, transmits.In instructions and claim, term " sound wave " comprises ultrasound wave and can listen ripple.Being used for the carrier wave of pumping signal and ID signal can be mutually the same or differ from one another.

In a second aspect of the present invention, provide a kind of localization method that is used for the position of a definite object.The method comprising the steps of: receive an ID signal that comprises first identifier of a cell site a receiving station; Measure the intensity of an ID signal; Determine first updating formula of relation that is defined between intensity and the distance, described distance is the distance between a cell site and the receiving station; And use first updating formula to estimate a position of a unknown cell site.

From be positioned at (xi, the i cell site that yi) locates to be positioned at (uj, the j receiving station that vj) locates apart from d _IjFor:

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2},---\left(1\right)$

And first updating formula can be expressed as:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂ (2)’

E wherein _IjBe the intensity of measuring, and S1 and S2 are correction coefficient.

Preferably, first updating formula comprises at least one of an environmental coefficient Krj who is used for receiving station and an environmental coefficient Kti who is used for the cell site.If used the environmental coefficient Krj that is used for receiving station, first updating formula can be expressed as:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂-K _rj. (2)”

In this case, determine unknown parameter S1, S2 and Krj, and use the determined value of these coefficients to estimate the position of i cell site based on known positional information.

If used the environmental coefficient Kti that is used for the cell site, first updating formula can be expressed as:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂-K _ti. (2)”’

In this case, determine unknown parameter S1, S2 and Kti, and use the determined value of these coefficients to estimate the position of i cell site based on known positional information.

Can use first updating formula of a modification.First updating formula of this modification can be expressed as:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂). (24)’

Preferably, first updating formula of modification also comprises at least one of an environmental coefficient Krj who is used for receiving station and an environmental coefficient Kti who is used for the cell site except correction coefficient S1 and S2.If use Kri, then first updating formula of Xiu Gaiing can be expressed as:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)-K _rj. (24)

If use Kti, then first updating formula of Xiu Gaiing can be expressed as:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)-K _ti. (24)”

This localization method further comprises step: from receiving station a pumping signal is sent to the cell site; Receiving station receive send in response to this pumping signal, the 2nd an ID signal that comprises one second identifier; And measure one and obtain in response to the required transmission time " t " of the 2nd ID signal of this pumping signal.In this case, use one to be defined in travel-time " p " and second updating formula of relation distance between the position of estimating a unknown cell site of signal by air.

Second updating formula can be expressed as:

$p_{\mathrm{ij}}=f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K{d}_{\mathrm{ij}}=K\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}---{\left(9\right)}^{,,}$

D wherein _IjBe that (xi, i cell site yi) is to being positioned at (uj, the distance of j receiving station vj), p from being positioned at _IjBe signal propagation time by air, t _IjBe to obtain the required transmission time of the 2nd ID signal, and K is a proportionality constant.

Description of drawings

By reading following detailed description and in conjunction with the accompanying drawings, other purpose of the present invention, feature and advantage will become more obvious, wherein accompanying drawing is:

Fig. 1 has illustrated the passive tag systems of a door of a traditional use;

Fig. 2 has illustrated a traditional active label system;

Fig. 3 illustrated one traditional, service time information positioning system;

Fig. 4 has illustrated a positioning system traditional, that use received signal intensity;

Fig. 5 has illustrated a positioning system according to first embodiment of the invention;

Fig. 6 has illustrated the cell site that uses and the structure of receiving station in the positioning system of first embodiment;

Fig. 7 has illustrated an example of the motion sensor that uses in the cell site that Fig. 6 shows;

Fig. 8 has illustrated the operating process according to the positioning system of first embodiment;

When Fig. 9 has illustrated the positioning system of using foundation first embodiment, the measurement result of position, cell site;

Figure 10 has illustrated a positioning system according to second embodiment of the invention;

Figure 11 has illustrated the cell site that uses and the structure of receiving station in the positioning system of second embodiment;

Figure 12 has illustrated the operating process according to the cell site of second embodiment;

Figure 13 has illustrated the operating process according to the receiving station of second embodiment;

Figure 14 has illustrated the operating process according to the position computer of second embodiment;

Figure 15 has illustrated first improvement of the positioning system of second embodiment;

Figure 16 has illustrated the cell site of use in first improvement that Figure 15 shows and the structure of receiving station;

Figure 17 has illustrated second improvement of the positioning system of second embodiment;

Figure 18 has illustrated the cell site of use in second improvement that Figure 17 shows and the structure of receiving station;

Figure 19 has illustrated the operating process of the position computer that uses in second improves;

Figure 20 has illustrated the 3rd improvement of the positioning system of second embodiment;

Figure 21 has illustrated the cell site of use in the 3rd improvement that Figure 20 shows and the structure of receiving station;

Figure 22 has illustrated a positioning system according to third embodiment of the invention;

Figure 23 has illustrated the cell site that uses and the structure of receiving station in the positioning system of the 3rd embodiment;

Figure 24 has illustrated the operating process of the receiving station that uses in the 3rd embodiment;

Figure 25 has illustrated the operating process of the position computer that uses in the 3rd embodiment;

Figure 26 has illustrated a positioning system according to fourth embodiment of the invention;

Figure 27 has illustrated the cell site that uses and the structure of receiving station in the positioning system of the 4th embodiment;

Figure 28 has illustrated the operating process of the receiving station that uses in the 4th embodiment;

Figure 29 has illustrated the operating process of the position computer that uses in the 4th embodiment;

Figure 30 has illustrated a positioning system according to fifth embodiment of the invention;

Figure 31 has illustrated the cell site that uses and the structure of receiving station in the positioning system of the 5th embodiment;

Figure 32 has illustrated the operating process of the position computer that uses in the 5th embodiment;

When Figure 33 has illustrated first updating formula of using according to the modification of sixth embodiment of the invention, the measurement result of position, a cell site; And

When Figure 34 has illustrated first updating formula of using according to the modification of sixth embodiment of the invention, another measurement result of the position of different cell sites.

Embodiment

Describe the present invention referring now to accompanying drawing.

[first embodiment]

Fig. 5 has schematically illustrated an example according to the positioning system 1 of first embodiment of the invention, and Fig. 6 has illustrated cell site 21 and the receiving station 31 that uses in positioning system 1.Positioning system 1 comprises cell site 21 (T1-T8), receiving station 31 (R1-R4), a server 12 and a position computer 11 that is connected to server 12 that is connected to receiving station 31 and is used as a data administrative unit.Positioning system 1 also comprises the user terminal 3a-3c that is connected to position computer 11.These assemblies are connected with each other via LAN 2.

In the example that Fig. 5 shows, receiving station 31 (R1-R4) is fixed, and their position is known.The T1-T4 of cell site is attached to respectively on the R1-R4 of receiving station, and therefore, it is identical with those of the R1-R4 of receiving station that the position of the T1-T4 of cell site can be considered to.The position of the T5-T8 of cell site is unknown.The position of in advance known j receiving station be (uj, vj), and the unknown position of i cell site can be expressed as (xi, yi).Each cell site 21 all transmits a unique signal, and receiving station 31 21 receives these signals from the cell site.The intensity of the signal that is sent and received at j receiving station place by the i cell site can be expressed as e _IjDistance between i cell site and j receiving station can be expressed as d _IjFor example, (x5, the T5 of cell site y5) is d51 to the distance of the R1 of receiving station, and is sent and be e51 in the intensity of the signal of R1 place reception by T5 from being positioned at.

Cell site 21 has a microcontroller 22, transmitter 23, an ID signal generator 25 and a motion sensor 13.ID signal generator 25 regularly produces an ID signal that comprises a unique identifier (ID) of that cell site 21.When motion sensor 13 sensed cell site any mobile, the ID signal generator also produced an ID signal that comprises this identifier.

An example of motion sensor 13 has been described in Fig. 7.In this example, motion sensor 13 comprises that one is used one to put 14 acceleration transducer, and a holding circuit 15 that is connected to this motion sensor 13.Holding circuit 15 is also connected to the oscillator 16 of cell site 21, and has only when the electrode 14a of motion sensor 13 and 14b contact with each other (perhaps as selecting, when they are separated from each other) this holding circuit that the battery 17 of oscillator 16 is connected times a few minutes.

Holding circuit 15 has the function that be set a long oscillation period, and no matter the ON/OFF of motion sensor (acceleration transducer) 13 operation.This function is effective for the position of controlling cell site 21 consistently.Must not be fully constant oscillation period.Change several cycle number percents oscillation period by making randomly, can avoid signal to send from different stations simultaneously.Motion sensor 13 allows cell sites 21 that be set long oscillation period, be because when cell site 21 when being static regular ID signal needn't be sent continually.This scheme can reduce energy consumption and extending battery life.In addition, can make journal file become less.

All T1-T8 of cell site can use and identical structure shown in Figure 6, perhaps as selecting, can use two kinds of dissimilar cell sites.In the situation of back, for the T5-T8 of cell site of position the unknown provides motion sensor 13, the Gu Ding T1-T4 of cell site only has a short period oscillation functions and does not have motion sensor 13 simultaneously.

Turn back to Fig. 6, receiving station 31 has a microcontroller 32, a receiver 33 and an anti-collision determining unit 36.Receiver 33 received signals, and the intensity of measurement received signal.Receiver 33 is provided to anti-collision determining unit 36 to the signal that receives then, and the latter reads (perhaps extracting) identifier from the signal that receives.Receiving station 31 is provided to server 12 to the intensity of received signal and corresponding identifier together with markers.Server 12 writes down and stores each intensity explicitly with corresponding identifier and markers.When server 12 during, can create markers by server 12 from receiving station's 31 received signal information.

Position computer 11 uses and is kept at the position (in the example depicted in fig. 5) of estimating this cell site in the server 12, about the information of the T5 of cell site.Estimated result also is stored in the server 12.The user can obtain the position of the T5 of this cell site by import the identifier of the T5 of cell site that will retrieve in server 12 via user terminal 3.

Position computer 11 is determined first updating formula that is defined in the relation between intensity and the distance, so that estimate the position of cell site or receiving station exactly under indoor environment.Such as described above, the intensity e of a received signal _IjIn fact locate, under the indoor propagation condition, measure a receiving station.Position computer 11 uses actual measured value, determines at intensity e _IjWith from the cell site 21 to receiving station 31 apart from d _IjBetween relation.First updating formula is that a use comprises the Frii formula that the correction coefficient of environmental coefficient is proofreaied and correct.Because estimate this distance (therefore also having estimated the position coordinates of a cell site) based on actual measured value and consideration correction factor, so even in the indoor bearing accuracy that also improved.

The algorithm of the Frii formula (first updating formula in other words) that has used a correction will be described in detail below.For simplicity, will use two-dimensional coordinate to describe below; Yet in actual use, position computer 11 uses three-dimensional (space) coordinate estimated position.

The algorithm of the Frii formula of＜correction 〉

If the known location of j receiving station be (uj, if vj) and the position of i cell site be (xi, yi), then between i cell site and j receiving station the distance represent with following equation (1).

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}---\left(1\right)$

Then, definition is used for the environmental coefficient Krj of j receiving station.Environmental coefficient Krj is an index, and the sensitivity of indication receiving station is how to depart from perfect condition to change.Similarly, definition is used for the environmental coefficient Kti of i cell site.

At first, be to be under the supposition of logarithmic relationship in distance and intensity, use correction coefficient S1, S2 and an environmental coefficient Krj to proofread and correct the Frii formula to be defined in the relation between distance ' ' d ' ' and the intensity " e ".The formula of having proofreaied and correct can be expressed as:

e _ij＝S ₁×log ₁₀(d _ij)+S ₂-K _rj. (2)

This updating formula is called as one first updating formula.

Use known information to determine coefficient S 1, S2 and Krj.In the example depicted in fig. 5, use the measured intensity e of the signal of the T1-T4 of cell site (because they are attached on the R1-R4 of fixed position receiving station) reception from known location _IjDetermine these coefficients (that is unknown parameter).Accordingly apart from d _IjAlso be known.The separating of error minimize that make of these unknown parameters can obtain by minimizing the estimation function " q " that is provided by following equation (3).

Wherein rn is illustrated in the number of the receiving station of known position, and tn is illustrated in the number of the cell site of known position.In the example of Fig. 5, rn and tn are four (4), therefore have the individual simultaneous equations in 16 (16=4 * 4).Therefore, six unknown numbers (S1, S2, Kr1-Kr4) are all solved.In order to illustrate this explanation, an arc that is used in equation (3) above the symbol comes the mark unknown number.

There are many methods to can be used for solving equation (3).Though can not be elaborated to these methods, for example, function q to be asked partial differential for each variable, and can pass through, Newton method for example obtains to allow the corresponding partial differential be 0 numerical solution.As selection, can use simplicial method, method of steepest descent (perhaps saddle point method), use neural network method.Use any one of these methods, can determine correction coefficient S1 and S2 and environmental coefficient Krj.

If in the cell site of known position or the number deficiency of receiving station and do not have enough simultaneous equations, then only in first updating formula, use correction coefficient S1 and S2 and non-environment for use COEFFICIENT K rj.Even without environmental coefficient, also can realize the calibration result of a satisfaction.

Next, the environmental coefficient Kti that introducing is used for the target cell site (being called " unknown cell site " simply) of a unknown position.Though the transmission intensity at the place, cell site is constant, environmental coefficient depends on the position and changes, and therefore the intensity of received signal also can change.Therefore introduce an environmental coefficient that is used for the cell site.For example, except correction coefficient S1 and S2 and environmental coefficient Kr1, environment for use COEFFICIENT K t5 represents from a unknown cell site (for example, T5), in a known receiving station (for example, the intensity of a signal that R1) receives.Be used for the environmental coefficient Kti of a cell site by introducing, one that derives from the intensity of measuring apart from md _IjCan be expressed as equation (4).

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{rj}}+K_{\mathrm{ti}})/S_1}---\left(4\right)$

Now, can determine the position and the environmental coefficient Kti of target (the unknown) cell site (i) by minimizing estimation function hi, wherein estimation function hi is expressed as equation (5).

The arc that unknown number in equation (5) is used in above the symbol carries out mark to be used for explanation.Use said method,, also can estimate the position of a unknown cell site exactly even the number of fixed position receiving station is not too many.

The estimated position of cell site is stored in the server 12.Such as already explained, in order to check the position of a target cell site, this user (perhaps manager) is simply by via the identifier of user terminal 3 input target cell sites, inquire about to server 12 via LAN 2.

Next, will consider that a kind of one of them cell site is positioned at the situation of a position that is masked.Even viewpoint from a free space losss, cell site is positioned at an of receiving station and can passes within the zone, but when this cell site during with respect to the crested of that receiving station, the signal that sends over from that cell site may not can receive in receiving station.In this case, can find that this receiving station does not have the information of relevant that cell site.

Yet, not receiving a signal and do not mean from a particular transmission station, the cell site that this particular transmission station and those signals have been received compares, and it is positioned at disadvantageous (perhaps far away) position.Therefore, can not the received fact be what to be worth as the information that is used for location estimation from the signal at a particular transmission station.Therefore, use such mask information as a restrictive condition according to positioning system of the present invention.

For example, be received at the R1 of receiving station, R2 and R3 place from the signal of the T2 of cell site, but be not received at the R4 place.In this case, restrictive condition

d21＜d24

d22＜d24

d23＜d24

Be added.Therefore, or even unknown message is not dropped yet, and replaces, and it has been used in location estimation effectively.

Position computer 11 uses lastest imformation repeatedly to estimate and upgrade the position of cell site.Such as described above, each cell site 21 all has a motion sensor 13, sends an ID signal when it is physically mobile.Utilize this scheme,, also can estimate the current location of a cell site and it is kept in the server 12 even periodic signal is longer at interval.

Fig. 8 has illustrated an example according to the operating process of the positioning system of first embodiment of the invention.Each T1-T4 of cell site that is fixed on receiving station R1-R4 place sends a regular ID signal (S101 and S102) with a predetermined time interval.On the other hand, among each unfixed T5-T8 of cell site, microcontroller 22 monitoring moving sensors 13 are to determine whether acceleration has been applied to (S103) in this cell site.If acceleration has been used (in S103 be) and passed through a schedule time (in S101 be), then the cell site sends ID signal that comprises a unique identifier.

Receiving station 31 receives the ID signal and measures the intensity (S111) of the ID signal that receives from corresponding cell site.Then, this receiving station 31 is provided to server 12 (S112) to intensity of measuring and corresponding markers.The cell site's identifier that reads from the ID signal and the identifier of receiving station itself also are provided for server 12.When from receiving station's 31 reception information, can create markers at server 12 places.

Position computer 11 is checked the markers in the data that are kept at server 12 and current data and past data is compared (S131) whether upgraded (S132) with definite current data.If have data from previous data, to upgrade (in S132 be), then from all data updated, extract data (S133) prior known location, cell site, fixed position (T1-T4 in the example depicted in fig. 5).Then, determine coefficient S 1, S2 and environmental coefficient Krj so that minimize equation (3) and determine that first proofreaies and correct (propagation) formula (S134).Then, estimate the position of these cell sites, and estimated result is kept at (S135) in the server 12 together with the environmental coefficient Kti of cell site with respect to all relevant not data solving equations (5) of fixed transmission station (T5-T8).The position of estimating is compared with previous result, changed a predetermined value or more cell site (in S136 be) and those signals are not located received cell site (in S137 be) in any receiving station with selected those positions.The data of selected cell site are recorded in (S138) in the server 12, and a warning message is provided for relevant user terminal (S139).

In form 1, shown an example that the data structure of the signal message that provides from receiving station at server 12 record is provided, and suffered at form 2 and to show an example that the data structure of the estimated result that provides from position computer 11 at server 12 records is provided.In form, " RS ID " represents receiving station's identifier, and " TS ID " represents cell site's identifier.

The data structure of the signal message that table 1 provides from receiving station

The data structure of the estimated result that table 2 provides from position computer

The surrounding environment of a cell site of environmental coefficient Kti reflection, and it provides Useful Information when in fact attempting to determine the position, cell site.If environmental coefficient is big, it indicates this cell site to be positioned at a position that is masked with respect to receiving station.If this environmental coefficient is little, then this cell site is positioned at an open space or a unsheltered position.Adding such environmental information allows the user to search this target cell site practically to the position of this estimation.

User terminal 3 has the function of the warning message that a reception provides from position computer 11, and the function of the position of a target cell site of a retrieval.The user is input to (S121) in the user terminal to the identifier of target cell site (ID).User terminal is via LAN 2 (in the example depicted in fig. 5), perhaps as selecting via radiowave access server 12 (S122).The track record of relevant this target cell site of retrieval in server 12, and on user terminal, show the corresponding markers in this cell site, positional information, environmental coefficient (S123).The user can obtain describe by this markers one the time place, this cell site the position, and can estimate from the value of environmental coefficient Kti whether this cell site is positioned at an open space.In addition, by check this record on a certain period, the user can determine when and use acceleration (it means when this cell site has moved).

Such as described above, use first updating formula according to the positioning system of first embodiment, and use the signal intensity of practical measurement and known positional information simultaneously, estimate the position of a plurality of cell sites exactly.

Fig. 9 has illustrated the location estimation result of the positioning system 1 of using first embodiment.Receiving station is fixed on P1-P6 place, position.The information that use provides from these receiving stations is estimated the position of cell site (1 to 16).The physical location of cell site * mark, and estimated position white rectangle mark.Connect physical location and represent the signal spread state to the line of corresponding estimated position.Good state of dotted line indication, and bad state of thick line indication.Square in this figure is a unit area on this place, and its limit is 1.35m.

From this estimated result, least error only is 13.5cm, and the about 4.5m of maximum error.Root-mean-square error is 2.3m, and be used to be positioned at one under the good relatively spread state cell site 1,2 and 12 error in 1m.By carrying out as shown in Figure 8, use the operating process of the position computer 11 of first updating formula, consider Effect of Environmental, can estimate to pin-point accuracy the position of a plurality of cell sites.

Though this explanation has used a cell site or label to be illustrated as an example of the object (perhaps target) of location estimation, target is not limited to a cell site.For example, have both the equipment of sending function and receiving function,, can be used as this target such as cell phone or portable terminal.In this case, the position of using the sending function of such equipment to specify a people who holds this equipment.

[second embodiment]

Figure 10 has illustrated a synoptic diagram according to the positioning system of second embodiment of the invention, and Figure 11 has illustrated cell site 21 and the receiving station 31 that uses among second embodiment.In a second embodiment, receiving station regularly sends a pumping signal to the cell site.When having received this pumping signal, the cell site sends an ID signal that is different from the ID signal of spontaneous generation.Therefore, the cell site produces three kinds of dissimilar ID signals, promptly (1) one by, for example the periodic signal of the spontaneous generation of a built-in oscillator (promptly, the one ID signal), (2) signals (that is the 2nd ID signal) in response to this pumping signal generation, and the signal of (3) generations when detecting variation that produces owing to extraneous factor (, the 3rd ID signal).

In the example depicted in fig. 10, pumping signal and ID signal all send via electromagnetic wave.The configuration of this system, wherein the R1-R4 of receiving station, server 12, position computer 11 and user terminal 3a-3c are connected to each other via LAN 2, and the operation of user terminal is all identical with in first embodiment those, and omission is used for their explanation.

Cell site 21 has a microcontroller 22, transmitter 23, an ID signal generator 25 and a sensor 26.ID signal generator 25 regularly produces an ID signal that comprises a unique identifier (ID) of that cell site 21.The operation of microcontroller 22 control cell sites 21, and have built-in storer, such as ROM and RAM.Receiver 24 receives the pumping signal that sends over from receiving station, and this pumping signal is provided to ID signal generator 25.Variation 27 caused by extraneous factor, in each parameter that sensor 26 detects, and testing result is provided to ID signal generator 25.ID signal generator 25 (1) with a long relatively interval with periodic manner, (2) when receiving this pumping signal from receiving station and (3) when detecting one when changing, produce above-mentioned three types ID signal.In this, can play the work of a pumping signal in order to cause identifier of ID signal generator generation by sensor 26 detected variations; Yet it must be different from the pumping signal that is produced and sent by receiving station.

Sensor 26 is sense acceleration (the perhaps variation in motion) not only, and testing environment changes, such as incident light, temperature, humidity, and other factors in a variation.For example, when a cell site (perhaps being attached to a label on the article) when (such as stack room) move to bright a placement from a dark place, sensor 26 is operated and is caused the cell site to send an ID signal.Receive this ID signal at the receiving station place, and the intensity of measuring at corresponding receiving station place is provided for server 12.Therefore, position computer 11 estimates to have moved on to the reposition of cell site of bright position to upgrade this positional information.Another example is when a cell site moves to a position that does not have an air-conditioning from an air-conditioned position, and sensor 26 detects in temperature and humidity one to be changed and cause this cell site and send an ID signal.Sensor 26 by an optical sensor, temperature sensor, humidity sensor, motion sensor, and a combination of the sensor of other types realize.

Preferably, cell site 21 has a function that be set a long oscillation period, and the not ON/OFF of tube sensor 26 operation, so that control the position of cell site 21 effectively.Needn't be fully constant oscillation period.By change randomly oscillation period one should the cycle the width of several percentages, can avoid signal to send over from different stations simultaneously.

Receiving station 31 has a microcontroller 32, receiver 33, transmitter 34, an excitation signal generator 35 and an anti-collision determining unit 36.The operation of microcontroller 32 control receiving stations 21, and have built-in storer, such as ROM and RAM.Excitation signal generator 35 produces a pumping signal with a kind of periodic manner.Receiver 33 receives first to the 3rd ID signal, and measures the intensity of corresponding signal.Anti-collision determining unit 36 reads identifier (first, second and the 3rd identifier) from the ID signal of respective type.Receiving station 31 the intensity of received signal and corresponding identifier, is provided to server 12 together with markers then.Server 12 writes down and stores each intensity explicitly with respective identifier and markers.When server 12 during, can create markers by server 12 from receiving station's 31 received signal information.

Figure 12 has illustrated the operating process according to the cell site 21 of second embodiment of the invention.Cell site 21 produces and sends the dissimilar ID signals with different identification symbol according to situation.

(A) when when receiving station receives a pumping signal (among S201 be), it confirms whether this pumping signal is the regulation pumping signal (S201) of an expectation.If it is the pumping signal (in S201 be) of expectation, then ID signal generator 25 produces an ID signal that comprises the type a of a type a identifier, and it is sent to receiving station (S203).

(B) cell site also sends the ID signal (S204 and S205) of a type b with the every predetermined time interval of a kind of periodic manner ground.

(C) in addition, when sensor 26 detects because extraneous factor cause when changing (in S206 be), its confirm time of a predetermined quantity whether over and done with (S207).If over and done with one period schedule time (in S207 be), then the cell site sends the ID signal of another kind of type according to the variation that has detected what type.In the example depicted in fig. 12, when sense one at the volley variation or when sensing acceleration, send the ID signal of a type c, and when sensor 26 detects in incident light one and changes, the ID signal of a type d of transmission.Similarly, when the variation that detects in temperature and humidity, the ID signal of transmission types e and type f respectively.In this example, the 3rd ID signal that is produced by sensor output comprises the dissimilar identifiers corresponding to environmental factor.

By causing the cell site to send an ID signal, when in fact needing the position of that target cell site, can estimate it, and not consume the battery supply of cell site in response to pumping signal.By causing the cell site to produce dissimilar ID signals, can know the variation in this cell site's surrounding environment, and therefore improve estimated accuracy and efficient according to detected variation.

Figure 13 has illustrated the operating process according to the receiving station 31 of second embodiment of the invention.When needs send a pumping signal (in S211 be), receiving station 31 sends a pumping signal to cell site (S212).When this receiving station received an ID signal in response to pumping signal, it determined whether the signal that receives is the signal (S213) of a type a.If received the ID signal (in S213 be) of a type a, then measure the intensity (S214) of the ID signal of the type a in response to pumping signal.Receiving station also receives the ID signal of other types from the cell site and does not consider this pumping signal.Therefore, it determines whether that the ID signal of other types has been received (S215).If received other types ID signal (in S215 be), measured the intensity (S216) of these ID signals, and from these ID signals, read identifier.The intensity of measuring in step S214 and S216 is provided for server 12 together with the identifier of markers, the identifier that reads and receiving station itself from the ID signal.When receiving this signal message, can create this markers by server 12 by server 12.

Figure 14 has illustrated the operating process according to the position computer 11 of second embodiment of the invention.Position computer 11 inspection is kept at the markers of the data in the server 12, and determine time of one section predetermined quantity whether over and done with (S231).Position computer also compares (S232) to current data and previous data to determine whether current data has been updated (S233).If have data cell from previous data cell, to upgrade (in S233 be), then from all data updated, extract data (S234) prior known location, cell site, fixed position (T1-T4 in the example depicted in fig. 14).

Use the data of this cell site, fixed position, determined first updating formula

e _ij＝S ₁×log ₁₀(d _ij)+S ₂-K _rj (2)

Defined at intensity e _Ij(the perhaps propagation characteristic of electromagnetic field) and apart from d _IjBetween a relation.Or rather, determine correction coefficient S1, S2 and environmental coefficient Krj so that minimize equation (3) (S235).

Then, be the relation of other (the unknown) T5-T8 of cell site supposition, and use the formula of determining, for the data solving equation (5) of fixed transmission station (T5-T8) not, with the position (S236) of estimating these cell sites by equation (4) definition.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{rj}}+K_{\mathrm{ti}})/S_1}---\left(4\right)$

The position of estimating is stored in the server 12.The position of estimating is compared with previous result, changed a predetermined value or more cell site (in S237 be) and those signals with selected those positions and do not located received cell site (in S238 be) in any receiving station.The data of selected cell site are recorded in (S239) in the server 12, and a warning message is provided for relevant user terminal (S240).

Data structure example in the server 12 of second embodiment is presented in form 3 and 4.Form 3 shown the data structure of the signal message that a storage provides from receiving station, and form 4 has shown the data structure of the estimated result that a storage provides from position computer 11.

The data structure of the signal message that table 3 provides from receiving station

The data structure of the estimated result that table 4 provides from position computer

The surrounding environment of a cell site of environmental coefficient Kti reflection, and it provides Useful Information when in fact attempting to determine the position, cell site.If environmental coefficient is big, it indicates this cell site to be positioned at a position that is masked with respect to this receiving station.If this environmental coefficient is little, then this cell site is positioned at an open space or a unsheltered position.Add the position of such environmental information, allow the user to locate this target cell site practically to this estimation.

Because in a second embodiment, the factor according to causing producing the ID signal has given dissimilar identifiers on the ID signal, and the estimated accuracy that is used for unknown cell site of comparing with first embodiment has been further improved.In addition, in response to the ID signal of a type a of pumping signal generation, this pumping signal provides from receiving station in this embodiment.Therefore, can be used in the time interval that sends a regular ID signal (that is the ID signal of type b) becomes more longer.This scheme can reduce the power consumption of cell site.

As illustrating among first embodiment, the information that receives a signal from a certain cell site can be used as a restrictive condition effectively.For example, be received at the R1 of receiving station, R2 and R3 place from the signal of the T2 of cell site, but be not received at the R4 place.In this case, restrictive condition

d21＜d24

d22＜d24

d23＜d24

Be added.Therefore, or even unknown message is not dropped yet, and replaces, and it has been used in location estimation effectively.The cell site is not limited to a label, can use a wireless device, such as the sending function of cell phone and portable terminal.

＜improve 1 〉

Figure 15 and 16 has illustrated first improvement (improving 1) of the positioning system among second embodiment.Improving in 1, receiving station 31 sends pumping signal via ultrasound wave, and when cell site 21 received this pumping signal, this cell site 21 produced and send the ID signal of a type a via electromagnetic wave (for example, radiowave) simultaneously.Other structure of cell site 21 is identical.Therefore, any during by the caused variation of extraneous factor when sensing, cell site 21 produces the ID signal that comprises corresponding to the dissimilar identifiers of detected variation kind.

When from the cell site 21 when receiving an ID signal, receiving station 31 measures the intensity of ID signals and reads identifier.The intensity of measuring and the identifier of cell site and receiving station itself together with markers, are provided for server 12.(markers can be created by server 12.)

Position computer 11 uses about a correcting algorithm in the propagation characteristic (that is intensity that receives the ID signal) and the relation between the distance of electromagnetic field.The operating process of position computer 11 identical with as shown in figure 14.

＜improve 2 〉

Figure 17 and 18 has illustrated second kind of improvement (improving 2) of second embodiment.Improving in 2, receiving station 32 sends pumping signal via ultrasound wave, and simultaneously in response to this pumping signal, this cell site 22 produces and send the ID signal of a type a via ultrasound wave.

The intensity by the ID signal of ultrasound wave carrying is measured by receiving station 31, reads identifier and intensity and the identifier measured are provided to server 12.Position computer 11 is determined first updating formula of a relation between ultrasonic propagation characteristic (that is, intensity) and distance of a definition, and uses the formula of determining according to the algorithm that shows in Figure 14, estimates the position of a unknown cell site.The algorithm that shows in Figure 14 is equally applicable to the signal by electromagnetic wave and ultrasound wave carrying.

Therefore, send from an i cell site via ultrasound wave and in that (uj when the j receiving station that vj) locates receives, measures the intensity e of ultrasonic signal at this j receiving station place when a signal at (xi yi) _IjDistance between i cell site and j receiving station can be expressed as equation (1).

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}---\left(1\right)$

Then, use the intensity of actual measurement and known positional information, determine first updating formula that is defined in the relation between ultrasonic signal intensity and the distance.Because because diffraction and the energy loss that absorbed by medium (that is, air) and the spherical diffusion loss that produces, the intensity by an airborne ultrasonic signal is along with the increase of distance decays.Therefore, the intensity of a ultrasonic signal has a logarithmic relationship with distance, and has defined equation (2).

e _ij＝S ₁×log ₁₀(d _ij)+S ₂-K _rj (2)

Wherein S1, S2 are correction coefficient and Krj is an environmental coefficient that is used for this receiving station.Environmental coefficient Krj is an index, and the sensitivity of indication receiving station is how to depart from perfect condition to change.

At this stage, intensity e _IjBe the intensity of the ultrasonic signal that from the in advance known T1-T4 of cell site in each position, sends and measure in a receiving station " j ".By minimizing an estimation function q by equation (3) expression, can obtain to make error minimize, separating of being used for unknown parameter (S1, S2 and Krj), wherein equation (3) is:

Wherein rn is the number of known receiving station, and tn is the number of known cell site.In order to find the solution all unknown numbers, must satisfy rn * tn rn+2.In example shown in Figure 17, rn is four, and tn is four.Therefore, all unknown numbers can both be found the solution.

Then, introduce an environmental coefficient Kti who is used for the cell site, and use the determined value of S1, S2 and Krj, be the relation of other (the unknown) T5-T8 of cell site supposition by equation (4) definition.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{rj}}+K_{\mathrm{ti}})/S_1}---\left(4\right)$

Wherein mdij is a distance that derives from the measured intensity of ultrasonic signal.As in using electromagnetic situation,, determine the position and the environmental coefficient Kti of a unknown cell site " i " by minimizing an estimation function hi by equation (5) expression.

The position of estimating is stored in the server 12.A relevant ultrasonic signal is not used as a restrictive condition at the received unknown message of a certain receiving station.

Figure 19 has illustrated in second improves the operating process of 11 position computer 11.Represent with identical Numerical Index with the step that electromagnetic those steps of use are identical in Figure 14.Position computer 11 inspection is kept at the markers of the data in the server 12, and determine time of one section predetermined quantity whether over and done with (S231).Because the discontinuous operation in cell site, and because the ID signal may be left in the basket so that prevent so carry out this step because signal overlaps and is not received.If one period schedule time over and done with (in S231 be), then position computer 11 is the identifier relatively current data and the past data (S232) of each type on the markers basis.If have data cell from previous data cell, to upgrade (in S233 be), then from all data updated, extract data (S234) prior known location, cell site, fixed position (T1-T4 in example shown in Figure 19).

Then, obtain to make the minimized Krj of equation (3), S1 and S2 to determine first updating formula (S241) about the relation between ultrasonic propagation characteristic and distance.Use the formula of determining of relevant ultrasonic propagation characteristic,, estimate the position (S243) of unknown cell site by data solving equation (5) with respect to other cell site (T5-T8).The position of estimating is stored in the server 12.

The position of estimating is compared with previous result, changed a predetermined value or more cell site (in S237 be) and those signals with selected those positions and do not located received cell site (in S238 be) in any receiving station.The data of selected cell site are recorded in (S239) in the server 12, and a warning message is provided for relevant user terminal (S240).

Be used for server 12 record from the data structure of the signal message of receiving station and the estimated result that provides from position computer 11 and form 3 and 4, show those are identical.Describe among the structure of user terminal 3 and operation and first embodiment those are identical.

＜improve 3 〉

Figure 20 and 21 has illustrated the third improvement (improving 3) of second embodiment.Improving in 3, receiving station sends a pumping signal via ultrasound wave, and in response to this pumping signal, this cell site 21 produces and send the ID signal of a type a via ultrasound wave.

The intensity of this ultrasonic signal is measured by receiving station 31, and measurement result is provided to server 12 together with the identifier that comprises in the ultrasonic signal that receives.The operating process of position computer 11 with in that to improve in 2 that identical, and omission is used for its explanation.

In a second embodiment, provide pumping signal so that cause each cell site 21 to send an ID signal from receiving station 31.When in fact needing necessary positional information, this scheme allows this system to obtain this necessary positional information, prolongs the life-span of power supply simultaneously.In addition, because any variation that environment or extraneous factor cause, when changing such as one in vibration (accelerations), incident light, temperature and humidity, cell site 21 produces and the ID signal of transmission other types when detecting.This allows this system's consideration environment on every side to estimate the position of a cell site more accurately.

[the 3rd embodiment]

Figure 22 is a synoptic diagram according to the positioning system of third embodiment of the invention, and Figure 23 has illustrated cell site 21 and the receiving station 31 that uses in the 3rd embodiment.In the 3rd embodiment, receiving station 31 has a device, is used in response to this pumping signal, measures needed one period transmission time of ID signal of obtaining a type a.Therefore, as illustrated in fig. 22, except intensity e51, the R1 of receiving station measures and obtains the needed one section transmission time t51 of ID signal from the T5 of cell site.The R2-R4 of receiving station of other fixed position is measured intensity and ID signal transmission time also.

In the 3rd embodiment, used one to be defined in by the signal propagation time of air and second updating formula of the relation between the distance.By using second updating formula, can estimate the position of a cell site more accurately.In the 3rd embodiment, the ID signal is transmitted by electromagnetic wave.

Intensity data and the transmission time that provides from receiving station 31 stored and managed to server 12 explicitly with the identifier of the cell site 21 that reads from the ID signal.Position computer 11 uses correction coefficient based on the transmission time of measuring, the travel-time of determine between cell site 21 and receiving station 31, passing through the electromagnetic signal of air.Then, position computer 11 is estimated the position of a cell site from a regulation proportionality constant and the ratio in this travel-time.Because in the 3rd embodiment, the propagation rate of this signal uses an approximate function to proofread and correct from the transmission time of actual measurement, so unnecessary measurement air themperature or humidity are used for proofreading and correct.

The cell site 21 of the 3rd embodiment has and in a second embodiment that identical structure.Cell site 21 has a microcontroller 22, transmitter 23, an ID signal generator 25 and a sensor 26.ID signal generator 25 regularly produces an ID signal that comprises a unique identifier (ID) of that cell site 21.The operation of microcontroller 22 control cell sites 21, and have built-in storer, such as ROM and RAM.Receiver 24 receives the pumping signal that sends over from receiving station, and this pumping signal is provided to ID signal generator 25.Variation 27 caused by extraneous factor, in each parameter that sensor 26 detects, and testing result is provided to ID signal generator 25.

Cell site 21 is provided with a long oscillation period, and the not ON/OFF of tube sensor 26 operation.Needn't be fully constant oscillation period.Changing several cycle number percents oscillation period, can avoid the signal conflict that sends over from the difference station by randomly.

According to causing cell site 21 to produce the factor of ID signal, ID signal generator 25 produces dissimilar ID signals.When receiving a pumping signal from a receiving station 31, ID signal generator 25 produces the ID signal of a type a.Also produce the ID signal of a type b based on periodic oscillation.When by sensor 26 sense at the volley a kind of variation or during acceleration, produce the ID signal of a type c.When the variation that senses in incident light, temperature and humidity, produce the ID signal of type d, a type e and type f respectively.

Receiving station 31 has a microcontroller 32, receiver 33, transmitter 34, excitation signal generator 35, an anti-collision determining unit 36 and a time calculating unit 37.The operation of microcontroller 32 control receiving stations 21, and have built-in storer, such as ROM and RAM.Excitation signal generator 35 produces a pumping signal with a kind of periodic manner.Receiver 33 receives first to the 3rd ID signal, and measures the intensity of corresponding signal.Anti-collision determining unit 36 reads identifier (first, second and the 3rd identifier) from the ID signal of respective type.Time calculating unit 37 is measured and is obtained the needed transmission time of ID signal in response to this pumping signal.In this embodiment, the transmission time is from producing this pumping signal to read the used time of identifier from the ID signal that receives.Time calculating unit 37 can be disposed between transmitter 34 and the receiver 33.In this case, the transmission time is from transmitting this pumping signal to receiving the used time of this ID signal.

＜be used to proofread and correct the algorithm in transmission time 〉

Such as described above, position computer 11 uses correction coefficient, based on the transmission time of being measured by receiving station 31, determines that one is defined in by the signal propagation time of air and second updating formula of the relation between the distance.

In the example that Figure 22 shows, the T1-T4 of cell site is attached on the R1-R4 of receiving station, and their position is in advance known.It is identical with the position of the R1-R4 of receiving station that the position of the T1-T4 of cell site is considered to.The T5-T8 of cell site is unfixed, and their position is unknown.

If the known location of j receiving station be (uj, if vj) and the position of i cell site be (xi, yi), then between i cell site and j receiving station the distance represent with following equation (1).

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}---\left(1\right)$

At first, use the known position information correction of fixed position receiving station to obtain the required transmission time t of ID signal from a cell site _IjTransmission time t _IjBe the travel-time p that signal passes through air (being electromagnetic wave in this embodiment) _Ij, signal propagation time A in receiving station and a signal propagation time b in the cell site summation.

t _ij＝p _ij+A+b (6)

In the middle of the item of right-hand side, it is constant that the travel-time A in receiving station 31 can be considered in the middle of receiving station, because use enough power supply to realize that receives an operation at a high speed.On the contrary, travel-time b in cell site 21 and intensity e _IjHas strong correlativity, because the reversibility of propagating depends on the configuration of the pumping signal testing circuit (not having to show) of each cell site.This correlativity depends on and is used to detect the technology of pumping signal and changes, and can use an approximate formula of using a polynomial expression or an exponential function.For example, the reception of pumping signal is by a diode sensing, and to a capacitor charging.Then, when voltage arrives a predetermined level, can think that this pumping signal has been detected.In this case, use an exponential function by an approximate formula supposition of equation (7) definition, it has been described in the cell site at intensity e _IjAnd the correlativity between the travel-time b.

b＝f+gexp(-h×e _ij) (7)

In equation (7), f, g and h are correction coefficient.Equation (7) is inserted in the equation (6) to obtain equation (8).

t _ij＝p _ij+A+f+gexp(-h×e _ij) (8)

Because between cell site 21 and receiving station 31 apart from d _IjWith signal propagation time p by air _IjProportional, so equation (8) is modified to equation (9).

p _ij＝t _ij-A-f-gexp(-h×e _ij)＝Kd _ij (9)

Equation (9) is second updating formula, and wherein K is a proportionality constant.

At this stage, e _IjBe the intensity of the ID signal that from the in advance known T1-T4 of cell site (being called " known cell site ") in each position, sends over.Unknown parameter is five, i.e. A, F, g, h and K.If A and f be considered to single B parameter (=A+f), then the number of unknown number becomes four.Be used for these unknown parameters, make error minimize separate and can obtain by minimizing the estimation function " qq " that provides by following equation (10).

Wherein rn is the location aware receiving station number of (being called " known receiving station "), and tn is the number of known cell site.In order to find the solution all unknown numbers, must satisfy rn * tn 4.In example shown in Figure 22, rn be four and tn be four.Therefore, all unknown numbers can both be found the solution.For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.

There are many known methods to can be used for solving equation (10).For example, function qq is asked partial differential for each variable, and use, Newton method for example obtains to allow the corresponding partial differential be 0 numerical solution.As selection, can use simplicial method, method of steepest descent (perhaps saddle point method), use neural network method.Use any one of these methods, determine correction coefficient B, g and h, and be used for signal propagation time p _IjWith distance d _IjProportionality constant K.

The signal propagation time p that use is determined by equation (10) _Ij, can derive from unknown cell site to a known receiving station apart from nd _IjAt nd _IjAnd p _IjBetween relation can be by the expression of the equation (11) of usage ratio constant K.

nd _ij＝p _ij/K＝{t _ij-B-gexp(-h×e _ij)}/K (11)

Nd wherein _IjIt is a distance that from the transmission time of actual measurement, derives.By minimizing estimation function hhi, can determine the position of the unknown cell site of i by equation (12) expression.

For the purpose of illustrating, an arc that is used in equation (12) above the symbol comes the mark unknown number.Utilize method recited above; Can from the transmission time of measuring, estimate the unknown cell site of i the position (xi, yi)

Use the estimated position of unknown cell site, also can improve the estimated accuracy of the environmental coefficient Kti that is used for this cell site.

At first, as in a second embodiment, definition is used for the environmental coefficient Krj of the j of receiving station.Environmental coefficient Krj is an index, and the sensitivity of indication receiving station is how to depart from perfect condition.Similarly, definition is used for the environmental coefficient Kti of the i of cell site.

Use utilizes the Frii formula (i.e. first updating formula) of the correction of known receiving station positional information to proofread and correct in the intensity of a received signal and the relation between the distance.The actual measured value of use between known T1-T4 of cell site and the known R1-R4 of receiving station determines that is defined in an intensity e _IjWith distance d _IjBetween first updating formula of relation.Suppose that intensity and distance have a logarithmic relationship, have supposed equation (2) then.

e _ij＝S ₁×log ₁₀(d _ij)+S ₂-K _rj (2)

Wherein S1 and S2 are correction coefficient.At this stage, intensity e _IjBe the intensity that each sends and each locates an ID signal of measurement in the known R1-R4 of receiving station among the known T1-T4 of cell site.By minimizing an estimation function q by equation (3) expression, can obtain to make error minimize, be used for the separating of the unknown number of equation (2), wherein equation (3) is:

Wherein rn is the number of known receiving station, and tn is the number of known cell site.In order to find the solution all unknown numbers, must satisfy rn * tn 4.In example shown in Figure 22, rn be four and tn be four.Therefore, all unknown numbers can both be found the solution.For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.

Can pass through, for example function q be asked partial differential for each variable, and use Newton method to obtain to allow the corresponding partial differential be 0 numerical solution, obtain to be used for separating of equation (3).As selection, can use simplicial method, method of steepest descent (perhaps saddle point method), use neural network method, as in a second embodiment.Use any one of these methods, can determine correction coefficient S1 and S2.

Next, introduce the environmental coefficient Kti that is used for unknown cell site.Though the transmission intensity at place, a cell site is constant, environmental coefficient changes according to the position, and therefore the intensity of received signal also can change.Therefore, a relation between intensity and distance is assumed that equation (4), and it is except the correction coefficient S1, the S2 that are determined by equation (3) and be used for the environmental coefficient Krj of receiving station, also introduces the environmental coefficient Kti that is used for the cell site.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{rj}}+K_{\mathrm{ti}})/S_1}---\left(4\right)$

Md wherein _IjIt is a distance that from the intensity of measuring, derives.Can obtain environmental coefficient Kti by the estimation function hhhi that minimizes by equation (13) expression.

For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.(xi yi), has used by use to be used for the value that the equation (12) of the correcting algorithm in transmission time is estimated for the position of cell site.By this way, improved the estimated accuracy of the environmental coefficient Kti that is used for the i of cell site.

As among first and second embodiment, a relevant ID signal is not used as a restrictive condition in the information that a certain receiving station place is received.Therefore, in location estimation, used unknown message effectively

Figure 24 has illustrated the operating process according to the receiving station 31 of the 3rd embodiment.At a time place that is used for sending a pumping signal (at S311 be), receiving station 31 sends to cell site 21 (S312) to a pumping signal.Then, when receiving an ID signal from the cell site, confirm whether the signal that receives is the signal (S313) of a type a in response to this pumping signal.If received the ID signal (in S313 be) of a type a, then measure and obtain the needed transmission time of ID signal (for example, from the generation of pumping signal up to reading the needed time of this identifier) (S314).Also measured the intensity (S315) of the ID signal that receives.Transmission time and the intensity measured are provided for server 12 (S316) together with the identifier of cell site, the identifier and the markers of receiving station itself.Markers can be created by server 12.

The cell site not only sends the ID signal when having received a pumping signal, and also sends the ID signal when detecting the variation that causes owing to extraneous factor.Therefore, this receiving station determines whether that the ID signal of other types has been received (S317).If ID signal that is different from the ID signal of type a has been received (in S317 be), then from the ID signal, reads identifier, and measure the intensity (S318) of this ID signal.The intensity of measuring, is provided for server 12 (S319) together with markers at the identifier of the identifier of cell site and receiving station itself.

Figure 25 has illustrated the operating process according to the position computer 11 of the 3rd embodiment.Position computer 11 inspection is kept at the markers of the data in the server 12, and determine time of one section predetermined quantity whether over and done with (S331).Because the discontinuous operation in cell site, and because the ID signal may be left in the basket so that prevent so carry out this step because signal overlaps and is not received.Then, based on markers, for each identifier is compared (S332) to current data and past data to determine whether current data has been updated (S333).If have data cell from previous data cell, to upgrade (in S333 be), then from all data updated, extract data (S334) prior known location, cell site, fixed position (T1-T4 in example shown in Figure 22).

Use the data of this cell site, fixed position, determine to make the minimized correction coefficient B of equation (10), g, h and be used for p _Ij(signal by air is propagated) and d _IjThe proportionality constant K (S335) of the ratio of (distance).In addition, determine to make the minimized correction coefficient S1 of equation (3), S2 and the propagation formula (S336) of environmental coefficient Krj to provide one to be used for this electromagnetic field.

Then, use the position of the cell site that suitable algorithm data estimator upgraded, wherein this algorithm depends on following situation:

1) identifier that reads from the ID signal is type a (the ID signal that sends in response to pumping signal in other words); Perhaps

2) identifier that reads from the ID signal is one of signal of type b-f (in other words, by periodic oscillation or detect change and the ID signal of spontaneous transmission).

Therefore, whether the ID signal of the cell site that has determined from Data Update is the signal (S337) of type a.If the ID signal that this ID signal is type a (in S337 be), then solving equation (12) is to estimate the position (S338) of this cell site from the transmission time of measuring.Estimated result is stored in the server 12.Then, solving equation (13) is to be identified for the environmental coefficient Kti (S339) of this cell site from the intensity of the position estimated and measurement.The environmental coefficient Kti that determines also is stored in the server 12.

On the other hand, if from Data Update the ID signal of cell site be one of ID signal of type b-f (in S337 not), then come position and the environmental coefficient (S340) of solving equation (13) as a unknown parameter to estimate this cell site with the position of this cell site.Estimated result is stored in the server 12.

If any other more new data (in S341 be) is arranged, repeating step S337 estimates the position and the environmental coefficient of cell site for this data updated to S340.If there is not the cell site that more data upgraded (in the S341 not), then results estimated is compared with previous result, changed a predetermined value or more cell site (in S342 be) and those signals with selected those positions and do not located received cell site (in S343 be) in any receiving station.The data of selected cell site are recorded in (S344) in the server 12, and a warning message is offered relevant user terminal (S345).

Form 5 shown in server 12 example of record from a data structure of the data of receiving station, and form 6 has shown an example of a data structure of the estimated result that record provides from position computer 11.

The data structure of the signal message that table 5 provides from receiving station

The data structure of the estimated result that table 6 provides from position computer

The surrounding environment of a cell site of environmental coefficient Kti reflection, and when actual it provides Useful Information when attempting to determine the position, cell site.If environmental coefficient is big, it indicates this cell site to be positioned at a position that is masked with respect to this receiving station.If this environmental coefficient is little, then this cell site is positioned at an open space or a unsheltered position.Add the position of such environmental information, allow the user to locate this target cell site practically to this estimation.

User terminal 3 has two kinds of functions, as among first and second embodiment, that is, receives a warning message that provides from position computer 11, and the position of retrieving a target cell site.The user is input to the identifier of target cell site (ID) in the user terminal.User terminal access server 12 is with the track record of that identifier of retrieval in server 12, such as markers, positional information, environmental coefficient, etc.Result for retrieval is presented on the user terminal.

The user can determine whether this target cell site is positioned at an open space from the positional information of being described by markers and corresponding environmental coefficient.In addition, the user can determine when from this track record and receive a pumping signal in the cell site or when detected external change.

In the 3rd embodiment, used and obtained a needed transmission time of ID signal, together with the intensity of the ID signal that receives, estimate the position of a cell site.Estimated result is compared more accurate with the situation of working strength only.

Because when definition during one second updating formula, use an approximate function to come from actual measured value, to have proofreaied and correct signal propagation time by air, be used for correction so there is no need to measure aerial temperature and humidity.

Also use an approximate function to come from the actual measured value lieutenant colonel just in intensity and the relation between the time.Therefore, receive operation at a high speed, still improved estimated accuracy even a receiving station can not carry out in order to reduce power consumption.

[the 4th embodiment]

Figure 26 has illustrated a positioning system according to fourth embodiment of the invention, and Figure 27 has illustrated the cell site 21 that uses and the structure of receiving station 31 in system shown in Figure 26.In the 4th embodiment, the R1 of receiving station is fixed on a known position (being called " fixed position receiving station " hereinafter), and the R2 of another receiving station freely moves (being called " mobile receiving station " hereinafter), and these two receiving stations are used for estimating the position of a plurality of cell sites.

As shown in figure 26, positioning system comprises the 51a of a fixed position receiving station (perhaps one first R1 of receiving station), the 51b of a mobile receiving station (perhaps one second R2 of receiving station), cell site 21 (T1-T8), position computer 11 and user terminal 3.Position computer 11, server 12 and user terminal 3 are connected to each other via LAN 2.Owing in the 4th embodiment, used a mobile R2 of receiving station, so receiving station 51 is connected to server 12 via a wireless network.For this reason, server 12 has a wireless LAN base station 41.Among 51a of receiving station and the 51b each also all has a WLAN cellular station 40.

Each has a microcontroller 32, receiver 33, transmitter 34, excitation signal generator 35, an anti-collision determining unit 36 and a time calculating unit 37 51a of receiving station and 51b.The operation of microcontroller 32 control receiving stations 51, and have built-in storer, such as ROM and RAM.Excitation signal generator 35 produces a pumping signal, and transmitter 34 sends to the cell site to this pumping signal.Receiver 33 receives an ID signal and measures the intensity of the ID signal that receives from each cell site.Anti-collision determining unit 36 reads or extracts identifier from this ID signal.Time calculating unit 37 is measured and is obtained needed one period transmission time of this ID signal.In the 4th embodiment, the transmission time is that the generation from pumping signal begins up to reading the needed time of this identifier.Yet time calculating unit 37 can be connected between transmitter 34 and the receiver 33.In this case, the transmission time be from transmit this pumping signal, up to receiving the required time of this ID signal.

Cell site 21 with second with the 3rd embodiment in the cell site of explanation have identical structure.That is, cell site 21 has a microcontroller 22, transmitter 23, an ID signal generator 25 and a sensor 26.ID signal generator 25 regularly produces an ID signal that comprises a unique identifier (ID) of that cell site 21.The operation of microcontroller 22 control cell sites 21, and have built-in storer, such as ROM and RAM.Receiver 24 receives the pumping signal that sends over from receiving station, and this pumping signal is provided to ID signal generator 25.Variation 27 caused by extraneous factor, in each parameter that sensor 26 detects, and testing result is provided to ID signal generator 25.ID signal generator 25 also when when receiving station has received pumping signal and when detecting a variation, produces various types of ID signals except producing a long relatively periodic signal at interval.Utilize this scheme, when needing an ID signal practically, just send this signal, and can reduce the energy consumption of battery.Can also reduce the size of journal file.Sensor 26 by one use an acceleration transducer that falls pendulum, optical sensor, temperature sensor, humidity sensor, and a combination of the sensor of other types realize.

Position computer 11 uses first and second updating formulas based on the data that are kept in the server 12, according to algorithm as described below, estimates the position of a cell site.

＜be used to proofread and correct the algorithm in transmission time 〉

In example shown in Figure 26, the position of the T1-T4 of cell site is known (and these cell sites is called as " known cell site ").The R1 of fixed position receiving station is set at the position identical with the T1 of cell site, and its position be (u1, v1).The mobile R2 of receiving station moves along with its position change, as by the dotted arrow indication.For convenience of explanation and estimate that R3 and R4 represent the reposition of mobile receiving station.The j position of the mobile R2 of receiving station be (uj, vj).The position of the T5-T8 of cell site is unknown (and these cell sites is called as " unknown cell site "), and the position of i cell site be (xi, yi).An ID signal sends to R1 of receiving station and R2 via electromagnetic wave from a cell site, and the intensity of the ID signal that the receiving station's (for convenience's sake, being called j receiving station) in the j position receives is e _IjDistance between i cell site and j receiving station is d _Ij, it can be expressed as equation (1).

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}---\left(1\right)$

At first, use the known position information correction of fixed position receiving station to obtain the ID signal and read the required transmission time t of this identifier _IjTransmission time t _IjBe the travel-time p that signal passes through air (being electromagnetic wave in this embodiment) _Ij, signal propagation time A in receiving station and a signal propagation time b in the cell site summation.

t _ij＝p _ij+A+b (6)

In the middle of the item of right-hand side, it is constant that the travel-time A in receiving station 51 can be considered in the middle of a plurality of receiving stations, because use enough power supply to realize that receives an operation at a high speed.On the contrary, travel-time b in cell site 21 and intensity e _IjHas strong correlativity, because the reversibility of propagating depends on the configuration of the pumping signal testing circuit (not having to show) of each cell site.This correlativity changes according to being used to detect the technology of pumping signal, and can use an approximate formula of using a polynomial expression or an exponential function.For example, the reception of pumping signal is by a diode sensing, and to a capacitor charging.Then, when voltage arrives a predetermined level, can think that this pumping signal has been detected.In this case, use an exponential function by an approximate formula supposition of equation (7) definition, it has been described in the cell site at intensity e _IjAnd the correlativity between the travel-time b.

b＝f+gexp(-h×e _ij) (7)

In equation (7), f, g and h are correction coefficient.Equation (7) is inserted in the equation (6) to obtain equation (8).

t _ij＝p _ij+A+f+gexp(-h×e _ij) (8)

Because between cell site 21 and receiving station 31 apart from d _IjWith signal propagation time p by air _IjProportional, so equation (8) is modified to equation (9).

p _ij＝t _ij-A-f-gexp(-h×e _ij)＝Kd _ij (9)

Equation (9) is second updating formula, and wherein K is a proportionality constant.

At this stage, e _IjBe the intensity of the ID signal that from the in advance known T1-T4 of cell site (being called " known cell site ") in each position, sends over.Unknown parameter is five, i.e. A, F, g, h and K.If A and f be considered to single B parameter (=A+f), then the number of unknown number becomes four.Be used for these unknown parameters, make error minimize separate and can obtain by minimizing the estimation function " qqq " that provides by following equation (14).

Wherein rn is the number of known location receiving station, and tn is the number of known cell site.In order to find the solution all unknown numbers, must satisfy rn * tn 4.In example shown in Figure 26, rn be one and tn be four.Therefore, all unknown numbers can be found the solution.For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.

There are many known methods to can be used for solving equation (14).For example, function qqq is asked partial differential for each variable, and can use for example Newton method, obtain to allow the corresponding partial differential be 0 numerical solution.As selection, can use simplicial method, method of steepest descent (perhaps saddle point method), use neural network method.Use any one in these methods, determined correction coefficient B, g and h, and be used for signal propagation time p _IjWith distance d _IjProportionality constant K.

The signal propagation time p that use is determined by equation (14) _Ij, can derive from unknown cell site to a known receiving station apart from nd _IjAt nd _IjAnd p _IjBetween relation can be by the expression of the equation (15) of usage ratio constant K.

nnd _ij＝p _ij/K＝{t _ij-B-gexp(-h×e _ij)}/K (15)

Nnd wherein _IjIt is a distance that from the transmission time of measuring, derives.Then, solving equation (3) is to determine correction coefficient S1, S2 and to be used for the environmental coefficient Krj of this receiving station.

The algorithm of＜use when mobile receiving station moves 〉

When the mobile R2 of receiving station moves to R3 and arrives R4, by minimizing estimation function hhhhj by equation (16) expression, use the positional information of at least three known cell sites in the middle of T1-T4, can estimate that this moves the reposition (uj of receiving station, vj), wherein equation (16) is:

${\mathrm{hhhh}}_j=\underset{i=1}{\overset{\mathrm{ttn}}{\mathrm{\&Sigma;}}}{\left(\right\{t_{\mathrm{ij}}-B-\mathrm{gexp}(-h\&times;e_{\mathrm{ij}})\}/K-\sqrt{{(x_i-{\stackrel{)}{u}}_j)}^2+{(y_i-{\stackrel{)}{v}}_j)}^2})}^2---\left(16\right)$

Wherein ttn is the number of its positional information known cell site that can be used.For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.

Then, a pumping signal is sent to the cell site an of the unknown from the movement station that is positioned at the estimated position.The position of this unknown cell site can use the information of at least three positions of relevant receiving station (to comprise the positional information of the R1 of fixed position receiving station and the estimated position R2 of mobile receiving station, R3...) estimate.By minimizing estimation function hhhhhi by equation (17) expression, estimate unknown cell site the position (xi, yi).

Wherein rrn is the number of the available position of the receiving station that is used to estimate.In order to illustrate, an arc that is used in above the symbol comes the mark unknown number.

The algorithm of＜use when known cell site is outside the zone 〉

Along with moving of the mobile 51b of receiving station, be fixed on known location the T1-T4 of cell site can be in the communication zone outside of the 51b of this receiving station.Therefore, the position of the T5-T8 of cell site that has estimated in the above described manner is used to estimate that this moves the reposition of the 51b of receiving station.

Use utilizes the time adjustment algorithm of second updating formula and is used for the algorithm of mobile receiving station, sequentially estimates the position of the unknown T5-T8 of cell site.By utilizing the positional information of estimating, can improve the estimated accuracy of the environmental coefficient Kti that is used for this cell site.

Defined the environmental coefficient Krj that is used for receiving station " j ".Environmental coefficient Krj is an index, and the sensitivity of indication receiving station is how to depart from perfect condition to change.Similarly, also defined the environmental coefficient Kti that is used for a target cell site.

At first, use correction coefficient S1, S2 and an environmental coefficient Krj to proofread and correct the Frii formula,, be defined in a relation between distance ' ' d ' ' and the intensity " e " so that be used in the actual measured value between cell site 21 and the receiving station 51.Based on distance and intensity is the supposition of logarithmic relationship, has defined equation (2).

e _ij＝S ₁×log ₁₀(d _ij)+S ₂-K _rj (2)

Wherein S1 and S2 are correction coefficient.At this stage, e _IjBe the intensity of the ID signal that sends over from the known cell site that a position has been estimated.Be used for these unknown parameters, make error minimize separate and can obtain by minimizing the estimation function q that provides by equation (3).This estimation function q is:

Wherein rn is the number of known location receiving station, and tn is the number of known cell site.In order to find the solution all unknown numbers, must satisfy un * tn rn+2.In example shown in Figure 26, rn be one and tn be four.Therefore, all unknown numbers can be found the solution.For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.

There are many methods to be used for solving equation (3),, and use Newton method to obtain to allow the corresponding partial differential be 0 numerical solution for example by function q is carried out partial differential to each variable.As selection, can use simplicial method, method of steepest descent (perhaps saddle point method), use neural network method.Use any one in these methods, can determine correction coefficient S1, S2 and environmental coefficient Krj.

Next, introduce the environmental coefficient Kti that is used for a unknown cell site.Though the transmission intensity at place, a cell site is constant, environmental coefficient depends on the position and changes that therefore a relation between intensity and distance is assumed that equation (4), and its introducing is used for the environmental coefficient Kti of cell site.Equation (4) comprises coefficient S 1, the S2 that is determined by equation (3) and is used for the environmental coefficient Krj of receiving station.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{rj}}+K_{\mathrm{ti}})/S_1}---\left(4\right)$

Md wherein _IjIt is a distance that from the intensity of measuring, derives.Kti can determine by the estimation function hhhhhhi that minimizes by equation (18) expression.

For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.In equation (18), (xi, yi), wherein this estimated value is to use equation (17) from the intensity measured with determine the transmission time to obtain to use estimated value to describe the position.

In the 4th embodiment, position computer 11 is carried out the following step:

(1) intensity and the transmission time of use actual measurement, and known positional information is determined the unknown number in first and second updating formulas;

(2) use the determined value and the known position information of unknown number to estimate that this moves a reposition (algorithm A) of receiving station; And

(3) use this to move the position (algorithm B) of the known of receiving station or a unknown cell site of estimated position information estimation.

Along with moving of the mobile R2 of receiving station, its communication zone is also moving.By mobile repeating algorithm A and B, can in new region, sequentially obtain the position and the environmental coefficient of unknown cell site along with communication zone.As a result, on a wide zone, realized high-precision location estimation.

Estimated result (comprising the position of unknown cell site and the reposition of the mobile R2 of receiving station) is stored in the server 12.In order to obtain the position of a target cell site, by the identifier of user terminal 3 input target cell sites, it retrieves in server 12 via LAN 2 user simply.

As among first to the 3rd embodiment, when an ID signal can not receive at a certain receiving station place, this unknown message was used as a restrictive condition.For example, be received at the R1 of receiving station, R2 and R3 place from the signal of the T2 of cell site, but be not received at the R4 place.In this case, restrictive condition

d21＜d24

d22＜d24

d23＜d24

Be added.Therefore, or even unknown message is not dropped yet, and replaces, and it has been used in location estimation effectively.

Figure 28 has illustrated the operating process of receiving station 51.Basically, (R2 → R3 → R4) carry out identical operations, it is identical with the operation that the receiving station 31 that uses in the 3rd embodiment carries out for 51a of fixed position receiving station (R1) and the mobile 51b of receiving station.

At a time place that is used for sending a pumping signal (at S411 be), receiving station 31 sends to cell site 21 (S412) to a pumping signal.Then, when receiving an ID signal from the cell site, confirm whether the signal that is received is the ID signal (S413) of a type a in response to this pumping signal.If received the ID signal (in S413 be) of a type a, then measure and obtain the needed transmission time of ID signal (for example, the generation from pumping signal begins up to reading the needed time of this identifier) (S414).Also measured the intensity (S415) of the ID signal that receives.Transmission time and the intensity measured are provided for server 12 (S416) together with the identifier of cell site, the identifier and the markers of receiving station itself.Markers can be created by server 12.

The cell site not only sends the ID signal when having received a pumping signal, and also sends the ID signal when detecting the variation that causes owing to extraneous factor.Therefore, this receiving station determines whether that the ID signal of other types has been received (S417).If ID signal that is different from type a ID signal has been received (in S417 be), then from the ID signal, reads identifier, and measure the intensity (S418) of this ID signal.The intensity of measuring, is provided for server 12 (S419) together with markers at the identifier of the identifier of cell site and receiving station itself.

Figure 29 has illustrated the operating process according to the position computer 11 of the 4th embodiment.Position computer 11 inspection is kept at the markers of the data in the server 12, and determine time of one section predetermined quantity whether over and done with (S431).Because the discontinuous operation in cell site, and because the ID signal may be left in the basket so that prevent so carry out this step because signal overlaps and is not received.Then, based on markers, for each identifier is compared (S432) to current data and past data to determine whether current data has been updated (S433).If have data cell from previous data cell, to upgrade (in S433 be), then from all data updated, extract data prior location aware, the cell site, fixed position (T1-T4 in example shown in Figure 26).Use the data of this cell site, fixed position, determine to make the minimized correction coefficient B of equation (14), g, h and be used for p _Ij(by the signal propagation time of air) and d _IjThe proportionality constant K of the ratio of (distance).In addition, determine to make the minimized correction coefficient S1 of equation (3), S2 and the propagation formula (S434) of environmental coefficient Krj to provide one to be used for this electromagnetic field.

(A) then, the extracting data that provides from the R2 of receiving station at a unknown position goes out the data (S435) of the cell site of known or estimated position.Whether the ID signal of determining the cell site that upgrades from data then is the signal (S436) of type a.If the ID signal is the signal (in S436 be) of type a, then uses the intensity of measuring and obtain the needed transmission time solving equation (16) of this identifier and move the position of receiving station to estimate this.Estimated result is stored in the server 12.In addition, solving equation (3) is to determine that it also is stored in (S437) in the server 12 at the environmental coefficient Krj of the mobile receiving station at place, estimated position.

On the other hand, if one of ID signal that this ID signal is type b-f (in S436 not) then comes solving equation (3) with this position of moving receiving station as a unknown parameter, with position and the environmental coefficient of estimating this receiving station.Estimated result is stored in (S438) in the server 12.Step 435-438 is corresponding to above-described algorithm (A).

The data (S439) of the unknown cell site of extracting data that (B) then, the mobile receiving station of (R2, R3) provides from the R1 of fixed position receiving station or in the estimated position.Cell site for Data Update determines whether this ID signal is the ID signal (S440) of type a.If the ID signal is the ID signal (in S440 be) of type a, then use transmission time of measuring and intensity solving equation (17) to estimate the position of unknown cell site, this positional information is stored in the server 12.In addition, solving equation (18) is to estimate to be used for the environmental coefficient Kti of that cell site, and this value also is stored in (S441) in the server 12.

On the other hand, if the ID signal that this ID signal is not type a (in S440 not) then comes solving equation (18) with the position of this target cell site as a unknown parameter, to estimate the position and the environmental coefficient of this target (the unknown) cell site.Estimated result is stored in (S442) in the server 12.Step S439 to S442 corresponding to above-described algorithm (B).

The repeating step S435-S442 of cell site that is updated for all data (that is to say, algorithm (A) and (B)) (in S443 be).Current estimated result and previous result are compared, moved scheduled volumes or more cell site (in S444 be) and those its ID signals less than locating received cell site in any receiving station (in S445 be) to select those.Selection result is stored in (S446) in the server 12, and a warning message is offered relevant user terminal (S447).

Form 7 is presented in the server 12 example of record from a data structure of the data of receiving station 51, and form 8 example of a data structure of the estimated result that provides from position computer 11 of displayed record.

The data structure of the signal message that form 7 provides from receiving station

The data structure of the estimated result that form 8 provides from position computer

The surrounding environment of a cell site of environmental coefficient Kti reflection, and it provides Useful Information when attempting practically to determine the position, cell site.If environmental coefficient is big, it indicates this cell site to be positioned at a position that is masked with respect to this receiving station.If this environmental coefficient is little, then this cell site is positioned at an open space or a unsheltered position.Add such environmental information to this estimated position, allow the user to locate this target cell site practically.

User terminal 3 has two kinds of functions, as among first to the 3rd embodiment, that is, receives a warning message that provides from position computer 11, and the position of retrieving a target cell site.The user is input to the identifier of target cell site (ID) in the user terminal.This user terminal access server 12 is with the track record of that identifier of retrieval in server 12, such as markers, positional information, environmental coefficient, etc.Result for retrieval is presented on the user terminal.

The user can determine whether this target cell site is positioned at an open space from the positional information of being described by markers and corresponding environmental coefficient.In addition, the user can determine when from this track record and receive a pumping signal in the cell site or when detected external change.

In the 4th embodiment, use a fixed position receiving station and a mobile receiving station, realized that the exact position to many cell sites is estimated on a wide zone.For example, used, allowed another receiving station to move simultaneously about in four cell sites of known position and the positional information of a receiving station.From the positional information of known cell site and known receiving station and transmission time of measuring and intensity, determine the unknown parameter in first and second updating formulas.Then, (A) estimate in the positional information of the cell site of or estimated position known in the position of the mobile receiving station of a unknown position from least three, and the position of (B) estimating a unknown cell site the positional information of the receiving station of and/or estimated position known from least three.By repetitive operation (A) and (B), sequentially estimate the coordinate of unknown cell site.

As the application of the 4th embodiment, the 51a of fixed position receiving station may be implemented as a door, and the mobile 51b of receiving station can be attached to an object, and on a Hoover, it moves in a presumptive area everywhere.

Though only used single fixed position receiving station in the 4th embodiment, two or more fixed position receiving stations can combine with a mobile receiving station.In this case, if the number of fixed position receiving station is rn, and if the number of known cell site be tn, then must satisfy rn * tn 4 and rn * tn rn+2.If used two fixed position receiving stations, then the known cell site number that needs in the initial period is two.

[the 5th embodiment]

Figure 30 has illustrated a positioning system according to the 5th embodiment, and Figure 31 has illustrated the cell site 21 that uses and the structure of receiving station 51 in system shown in Figure 30.In the 5th embodiment, only used single mobile receiving station, and do not used a fixed position receiving station.

As illustrating among Figure 30, the positioning system of the 5th embodiment comprises a mobile receiving station 51, cell site 21 (T1-T10), server 12, a position computer 11 and a user terminal 3.Position computer 11, server 12 and user terminal 3 are connected to each other via LAN 2.Because in the 5th embodiment, used single mobile receiving station 51, so server 12 has a wireless LAN base station 41, and receiving station 51 has a WLAN cellular station 40.

Mobile receiving station 51 has a microcontroller 32, receiver 33, transmitter 34, excitation signal generator 35, an anti-collision determining unit 36 and a time calculating unit 37.The operation of microcontroller 32 control receiving stations 51, and have built-in storer, such as ROM and RAM.Excitation signal generator 35 produces a pumping signal, and transmitter 34 sends to the cell site to this pumping signal.Receiver 33 receives an ID signal and measures the intensity of the ID signal that receives from each cell site.Anti-collision determining unit 36 reads or extracts identifier from this ID signal.Time calculating unit 37 is measured and is obtained the needed transmission time of this ID signal.In the 4th embodiment, the transmission time is that the generation from pumping signal begins up to reading the needed time of this identifier.Yet time calculating unit 37 can be connected between transmitter 34 and the receiver 33.In this case, the transmission time be from transmit this pumping signal, up to receiving the required time of this ID signal.

The cell site of cell site 21 and explanation in second to the 4th embodiment has identical structure.That is, cell site 21 has a microcontroller 22, transmitter 23, an ID signal generator 25 and a sensor 26.ID signal generator 25 regularly produces an ID signal that comprises a unique identifier (ID) of that cell site 21.The operation of microcontroller 22 control cell sites 21, and have built-in storer, such as ROM and RAM.Receiver 24 receives the pumping signal that sends over from receiving station, and this pumping signal is provided to ID signal generator 25.Variation 27 caused by extraneous factor, in each parameter that sensor 26 detects, and testing result is provided to ID signal generator 25.ID signal generator 25 also when when receiving station has received pumping signal and when detecting a variation, produces dissimilar ID signals except producing a long relatively periodic signal at interval.Utilize this scheme, when needing an ID signal practically, send this signal, and can reduce the energy consumption of battery.Can also reduce the size of journal file.Sensor 26 by one use an acceleration transducer that falls pendulum, optical sensor, temperature sensor, humidity sensor, and a combination of the sensor of other types realize.

Position computer 11 according to algorithm as described below, is estimated the position of a cell site based on being provided to the data of server 12 from mobile receiving station 51 via WLAN.

＜be used to proofread and correct the algorithm in transmission time 〉

In example shown in Figure 30, the position of the T1-T7 of cell site is known (and these cell sites is called as " known cell site ").The mobile R2 of receiving station changes along with its position R1 → R2 → R3 → R4 and moves, as being indicated by dotted arrow.The initial position R1 of mobile receiving station 51 be (u1, v1), and the j position of mobile receiving station 51 be (uj, vj).The position of the T8-T10 of cell site is unknown (and these cell sites is called as " unknown cell site "), and the position of i cell site be (xi, yi).An ID signal sends to receiving station 51 via electromagnetic wave from a cell site, and the intensity of the ID signal that receives in receiving station's (for convenience's sake, being called j receiving station) of j position is e _IjDistance between i cell site and j receiving station is d _Ij, it can be expressed as equation (1).

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}---\left(1\right)$

At first, using the known position information of known cell site to proofread and correct obtains the ID signal and reads the needed transmission time t of this identifier _IjTransmission time t _IjBe the travel-time p that signal passes through air (being electromagnetic wave in this embodiment) _Ij, signal propagation time A in receiving station and a signal propagation time b in the cell site summation.

t _ij＝p _ij+A+b (6)

In the middle of the item of right-hand side, the travel-time A in receiving station 51 can be considered to constant, because use the power supply of an abundance to realize that receives an operation at a high speed.On the contrary, travel-time b in cell site 21 and intensity e _IjHas strong correlativity, because the reversibility of propagating depends on the configuration of the pumping signal testing circuit (not having to show) of each cell site.This correlativity changes according to being used to detect the technology of pumping signal, and can use an approximate formula of using a polynomial expression or an exponential function.For example, the reception of pumping signal is by a diode sensing, and to a capacitor charging.Then, when voltage arrives a predetermined level, can think that this pumping signal has been detected.In this case, use an exponential function by an approximate formula supposition of equation (7) definition, it has described intensity e in the cell site _IjAnd the correlativity between the travel-time b.

b＝f+gexp(-h×e _ij) (7)

In equation (7), f, g and h are correction coefficient.Equation (7) is inserted in the equation (6) to obtain equation (8).

t _ij＝p _ij+A+f+gexp(-h×e _ij) (8)

Because between cell site 21 and receiving station 51 apart from d _IjWith signal propagation time p by air _IjProportional, so equation (8) is modified to equation (19).

$p_{\mathrm{ij}}=t_{\mathrm{ij}}-A-f-\mathrm{gexp}(-h\&times;e_{\mathrm{ij}})=K{d}_{\mathrm{ij}}=K\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}---\left(19\right)$

Wherein K is a proportionality constant.

At this stage, e _IjBe the intensity of the ID signal that from the in advance known T1-T7 of cell site (being called " known cell site ") in each position, sends over.Unknown parameter is seven, i.e. A, F, g, h, K, uj and vj.If A and f be considered to single B parameter (=A+f), then the number of unknown number becomes six.Be used for these unknown parameters, make error minimize separate and can obtain by minimizing the estimation function " qqqq " that provides by equation (20).This equation (20) is:

Wherein rn is the number of receiving station, and tn is the number of known cell site.In order to find the solution all unknown numbers, must satisfy rn * tn 3 * rn+4.In example shown in Figure 30, rn be one and tn be seven.Therefore, all unknown numbers can be found the solution.For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.

There are many known methods to can be used for solving equation (20).For example, function qqqq is asked partial differential for each variable, and can use for example Newton method, obtain to allow the corresponding partial differential be 0 numerical solution.As selection, can use simplicial method, method of steepest descent (perhaps saddle point method), use neural network method.Use any one in these methods, determined correction coefficient B, g and h, one be used for signal propagation time p _IjWith distance d _IjProportionality constant K and the position of receiving station 51 (uj, vj).

The signal propagation time p that use is determined by equation (20) _Ij, can derive from unknown cell site to a known receiving station apart from nnd _IjAt nd _IjAnd p _IjBetween relation can be by the expression of the equation (21) of usage ratio constant K.

nnnd _ij＝p _ij/K＝{t _ij-B-gexp(-h×e _ij)}/K (21)

Nnd wherein _IjIt is a distance that from the transmission time of actual measurement, derives.Then, use the intensity and the transmission time that are combined in the receiving station 51 places measurement of estimated position by equation (20) definite K, B, g, h, can estimate the position of a unknown cell site.

The algorithm of＜use when mobile receiving station moves 〉

When mobile receiving station 51 moves to R2 and during to R3, uses equation (20) from R1, use the positional information of the known T1-T7 of cell site, can estimate this move the reposition of receiving station 51 (uj, vj).

Mobile receiving station 51 sends to a unknown cell site to a pumping signal at each place, estimated position.Then, at least three estimated positions " j " of this receiving station 51 be used to estimate unknown cell site " i " the position (xi, yi).By minimizing estimation function hhhhhhhi, carry out this estimation by equation (22) expression.

Wherein rrrn is the number of available (estimation) position of mobile receiving station 51.For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.

The algorithm of＜use when known cell site is outside the zone 〉

Along with moving of mobile receiving station 51, the T1-T7 of cell site that is fixed on known location can drop on the communication zone outside of this receiving station 51.Therefore, the position of the T8-T10 of cell site that has estimated in the above described manner is used to estimate that this moves a reposition of receiving station 51.

Use utilizes the time adjustment algorithm of second updating formula and is used for the algorithm of a mobile receiving station, sequentially estimates the position of the T8-T10 of cell site.By utilizing the positional information of estimating, can improve the estimated accuracy of the environmental coefficient Kti that is used for this cell site.

As among the embodiment formerly, at first definition is used for the environmental coefficient krj of receiving station " j ".Environmental coefficient Krj is an index, and the sensitivity of indication receiving station is how to depart from perfect condition to change.Similarly, also defined the environmental coefficient Kti that is used for a target cell site.

At first, use correction coefficient S1, S2 and an environmental coefficient Krj to proofread and correct the Frii formula,, be defined in a relation between distance ' ' d ' ' and the intensity " e " so that be used in the actual measured value between cell site 21 and the receiving station 51.Based on distance and intensity is the supposition of logarithmic relationship, has defined equation (2).

e _ij＝S ₁×log ₁₀(d _ij)+S ₂-K _rj (2)

Wherein S1 and S2 are correction coefficient.At this stage, e _IjBe intensity from each ID signal that sends over of the known T1-T7 of cell site.Be used for these unknown parameters, make error minimize separate and can obtain by minimizing the estimation function q that provides by equation (3).Equation (3) is:

Wherein rn is the number of known location receiving station, and tn is the number of known cell site.In order to find the solution all unknown numbers, must satisfy un * tn rn+2.In example shown in Figure 26, rn be one and tn be seven.Therefore, all unknown numbers can be found the solution.For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.

There are many methods to be used for solving equation (3),, and use Newton method to obtain to allow the corresponding partial differential be 0 numerical solution for example by function q is carried out partial differential to each variable.As selection, can use simplicial method, method of steepest descent (perhaps saddle point method), use neural network method.Use any one in these methods, can determine correction coefficient S1, S2 and environmental coefficient Krj.

Next, introduce the environmental coefficient Kti that is used for a unknown cell site.Though the transmission intensity at place, a cell site is constant, environmental coefficient changes according to the position, and therefore a relation between intensity and distance is assumed that equation (4), and its introducing is used for the environmental coefficient Kti of cell site.Equation (4) comprises coefficient S 1, the S2 that is determined by equation (3) and is used for the environmental coefficient Krj of receiving station.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{rj}}+K_{\mathrm{ti}})/S_1}---\left(4\right)$

Md wherein _IjIt is a distance that from the intensity of measuring, derives.Kti can determine by the estimation function hhhhhhhi that minimizes by equation (23) expression.

${\mathrm{hhhhhhhh}}_i=\underset{j=1}{\overset{\mathrm{rn}}{\mathrm{\&Sigma;}}}{({10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{rj}}+{\stackrel{)}{K}}_{\mathrm{ti}})/S_1}-\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2})}^2---\left(23\right)$

For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.In equation (23), (xi, yi), wherein this estimated value is to use equation (22) from the intensity measured with determine the transmission time to obtain to use estimated value to describe the position.

As among first to the 4th embodiment, when an ID signal can not receive at a certain receiving station place, this unknown message was used as a restrictive condition.For example, be received at the position of receiving station R1, R2 and R3 place from the signal of the T2 of cell site, but be not received at the R4 place.In this case, restrictive condition

d21＜d24

d22＜d24

d23＜d24

Be added.Therefore, or even unknown message is not dropped yet, and replaces, and it has been used in location estimation effectively.

Figure 32 has illustrated the operating process according to the position computer 11 of the 4th embodiment.Position computer 11 inspection is kept at the markers of the data in the server 12, and determine time of one section predetermined quantity whether over and done with (S531).Because the discontinuous operation in cell site, and because the ID signal may be left in the basket so that prevent so carry out this step because signal overlaps and is not received.If one period schedule time over and done with (in S531 be), then current data is compared (S532) with previous data, to determine whether current data has been updated (S533) for each identifier.If have data cell from previous data cell, to upgrade (in S533 be), then from all data updated, extract data prior location aware, cell site, fixed position (T1-T7 in example shown in Figure 30).Use the data of this cell site, fixed position, determine to make the minimized correction coefficient B of equation (20), g, h and be used for p _Ij(by the signal propagation time of air) and d _IjThe proportionality constant K of the ratio of (distance).In addition, determine to make the minimized correction coefficient S1 of equation (3), S2 and the propagation formula (S534) of environmental coefficient Krj to provide one to be used for this electromagnetic field.

(A) then, the extracting data that provides from the mobile receiving station 51 at a unknown position goes out the data (S535) of the cell site of known or estimated position.Whether the ID signal of determining the cell site that upgrades from data then is the ID signal (S536) of type a.If the ID signal is the ID signal (in S536 be) of type a, then use intensity and the transmission time solving equation (20) measured to move the position of receiving station to estimate this.Estimated result is stored in the server 12.In addition, solving equation (3) is to determine that it also is stored in (S537) in the server 12 at the environmental coefficient Krj of the mobile receiving station at place, estimated position.

On the other hand, if one of ID signal that this ID signal is type b-f (in S536 not), therefore the information that does not then have relevant this transmission time come position and the environmental coefficient of solving equation (3) to estimate this receiving station with this position of moving receiving station as a unknown parameter.Estimated result is stored in (S538) in the server 12.

(B) then, from the data (S539) of the unknown cell site of extracting data that in the mobile receiving station 51 of estimated position, provides.Cell site for this Data Update determines whether this ID signal is the ID signal (S540) of type a.If the ID signal is the ID signal (in S540 be) of type a, then use transmission time of measuring and intensity solving equation (22) to estimate the position of unknown cell site, this positional information is stored in the server 12.In addition, solving equation (23) is to estimate to be used for the environmental coefficient Kti of that cell site, and this value also is stored in (S541) in the server 12.

On the other hand, if the ID signal that this ID signal is not type a (in S540 not) then comes solving equation (23) with the position of this target cell site as a unknown parameter, to estimate the position and the environmental coefficient of this target (the unknown) cell site.Estimated result is stored in (S542) in the server 12.

For cell site's repeating algorithm (A) of all Data Update and (B) (in S543 be).When all more new datas all processed the time (in S543 not), current estimated result and previous that are compared to select those to move a scheduled volume or more cell site (in S544 be) and those its ID signals less than locating received cell site in any receiving station (in S545 be).Selection result is stored in (S546) in the server 12, and a warning message is offered relevant user terminal (S547).

Form 9 shown in server 12 example of record from a data structure of the data of receiving station 51, and form 10 has shown an example of a data structure of the estimated result that record provides from position computer 11.

The data structure of the signal message that form 9 provides from receiving station

The data structure of the estimated result that form 10 provides from position computer

The surrounding environment of a cell site of environmental coefficient Kti reflection, and it provides Useful Information when attempting practically to determine the position, cell site.If environmental coefficient is big, it indicates this cell site to be positioned at a position that is masked with respect to this receiving station.If this environmental coefficient is little, then this cell site is positioned at an open space or a unsheltered position.Add such environmental information to this estimated position, allow the user to locate this target cell site practically.

User terminal 3 has two kinds of functions, as among first to the 4th embodiment, that is, receives a warning message that provides from position computer 11, and the position of retrieving a target cell site.The user is input to the identifier of target cell site (ID) in the user terminal.This user terminal access server 12 is with the track record of that identifier of retrieval in server 12, such as markers, positional information, environmental coefficient, etc.Result for retrieval is presented on the user terminal.

The user can determine whether this target cell site is positioned at an open space from the positional information of being described by markers and corresponding environmental coefficient.In addition, the user can determine when from this track record and receive a pumping signal in the cell site or when detected external change.

In the 5th embodiment, use single mobile receiving station, realized that the exact position to many cell sites is estimated on a wide zone.Use a fixed position receiving station need increase the number of receiving station, and the cost that is used for system construction has also increased.Utilize the system of the 5th embodiment, reduced construction cost and maintenance cost widely.

If receiving station moves in traditional system, can confirm the existence of this receiving station or do not exist, but can not obtain position coordinates.On the contrary, the positioning system among the 5th embodiment can be estimated the position of a unknown cell site, allows receiving station to move simultaneously everywhere.That is to say, use the positional information of relevant seven known T1-T7 of cell site to determine first and second updating formulas.Then, (A) use the information of the cell site of relevant known at least or estimated position to estimate that this moves the position of receiving station, and (B) use the information of at least three estimated positions of relevant receiving station to estimate the position of a unknown cell site.By repeating (A) and (B), sequentially obtain the positional information of the unknown cell site on a broad regions.

By being identified for the environmental coefficient of a cell site, location estimation becomes more accurate to environmental consideration interior.

As the application of the 5th embodiment, mobile receiving station 51 is attached to an object, such as on the Hoover, and it is motion everywhere in a presumptive area.Along with moving of this object (perhaps Hoover), can be regularly and automatically check whole zones.On a wide zone, control stock or assets and need not to use the receiving station of many fixed positions.Therefore, the cost of total system can be reduced, and economy and efficient system can be realized.

[the 6th embodiment]

In first to the 5th embodiment, one first updating formula is expressed as:

e _ij＝S ₁×log ₁₀(d _ij)+S ₂-K _rj (2)

When estimating the position of a cell site, use this formula.In the 6th embodiment, provide a modification of this first updating formula (equation (2)).This improved formula of positioning system explanation of first embodiment that shows in Fig. 5 and 6 will be used.

Four positions known R1-R4 of receiving station is in advance arranged.Eight T1-T8 of cell site are arranged, and wherein the position of T1-T4 is known.The position of the known receiving station of j be (uj, vj), and the position of i cell site can be expressed as (xi, yi).The intensity of the ID signal that receives at j receiving station place is e _Ij, the distance between i cell site and j receiving station is represented by equation (1).

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}---\left(1\right)$

Then, definition is used for the environmental coefficient Krj of j receiving station.Environmental coefficient Krj is an index, and the sensitivity of indication receiving station is how to depart from perfect condition to change.Similarly, definition is used for the environmental coefficient Kti of i cell site.In distance and intensity is under the supposition that is in the logarithmic relationship, uses correction coefficient S1, S2 and an environmental coefficient Krj to proofread and correct the Frii formula to be defined in a relation between distance ' ' d ' ' and the intensity " e ".The formula of having proofreaied and correct can be expressed as:

e _ij＝S ₁×log ₁₀(d _ij+S ₂)-K _rj (24)

Wherein S1, S2 are correction coefficient, and eij is the intensity of the ID signal that sends over from the known T1-T4 of cell site.Be used for these unknown parameters, make error minimize separate and can obtain by minimizing the estimation function q that provides by equation (25).Equation (25) is:

Wherein rn is the number of known location receiving station, and tn is the number of known cell site.In order to find the solution all unknown numbers, must satisfy un * tn rn+2.In the example of first embodiment, rn be four and tn be four.Therefore, all unknown numbers can be found the solution.For the purpose of illustrating, an arc that is used in above the symbol comes the mark unknown number.

There are many methods to be used for solving equation (25),, and use Newton method to obtain to allow the corresponding partial differential be 0 numerical solution for example by function q is carried out partial differential to each variable.As selection, can use simplicial method, method of steepest descent (perhaps saddle point method), use neural network method.Use any one in these methods, can determine correction coefficient S1, S2 and environmental coefficient Krj.

Next, the environmental coefficient Kti that introducing is used for the target cell site (being called " unknown cell site " simply) of a position the unknown.Though the transmission intensity at place, a cell site is constant, environmental coefficient changes according to the position, and therefore the intensity of received signal also can change.Therefore, use the environmental coefficient Krj and correction coefficient S1 and the S2 that determine by equation (25), in equation (26), supposed a relation between intensity and distance.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}+K_{\mathrm{rj}}+K_{\mathrm{ti}})/\left(S_1\right)}-S_2---\left(26\right)$

Md wherein _IjBe a distance that from the intensity of measuring, derives, and Kti is the environmental coefficient that is used for cell site " i ".By minimizing the position and the environmental coefficient of estimation function (27) acquisition cell site " i ".

By this way, use the updating formula of a modification, from the intensity measured practically and known positional information, can estimate the position and the environmental coefficient of a unknown cell site exactly.

Figure 33 and Figure 34 illustrated use first updating formula revised, when using positioning system 1 shown in Figure 5, the test result of the actual estimated position of cell site.In this test, four receiving stations are fixed on the position of being indicated by pos1-pos4.Figure 33 has shown the estimated result that is used for the T6 of cell site, and Figure 34 has shown the estimated result that is used for the T7 of cell site.The physical location of circle indication cell site, and the estimated position that first updating formula of revising is used in the cross indication.Be embodied as in the figure isoline by the estimation function of equation (27) expression.The evaluated error that is used for the T6 of cell site is 0.4 and is 0.9 in Y direction in X-direction, and corresponding distance is 1.0.The evaluated error that is used for the T7 of cell site is 0.9 and is-0.7 in Y direction in X-direction, and corresponding distance is 1.14.Square in the figure is a unit area of ground on the scene, and its limit is 1.35m.

Traditional system only has the cell site of appointment and exists or non-existent function in the communication zone of a certain receiving station.For this reason, by the legacy system position of estimating and receiving station's position consistency with maximum intensity.Utilize this legacy system, the estimated position of cell site and pos2 position consistency in Figure 33, and also evaluated error is-6.0 in X-direction and is-5.0 in Y direction.Corresponding distance is 7.8.In the example of Figure 34, consistent by the position that this legacy system is estimated with pos4, and also evaluated error is 3.0 and is 3.0 in Y direction in X-direction.Corresponding distance is 4.3.The estimated result of these results and the 6th embodiment is compared, and for the T6 of cell site, the estimated accuracy of the 6th embodiment is 8 times of legacy system, and is four times of legacy system for the T7 of cell site, estimated accuracy.

In this test, the T6 of cell site is positioned at an open space place, and the T7 of cell site is arranged in a steel box.The environmental coefficient Kt6 and the Kt7 that are determined by the positioning system of using above-mentioned algorithm are respectively-2.99 and 16.01, and it is consistent with actual environment.This fact proved that environmental coefficient provides the effective information that is used for location estimation.

In above-mentioned example, a modification (that is first updating formula) of the Frii formula of correction can be expressed as

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)-K _rj. (24)

Yet, can only use correction coefficient S1 and S2 and non-environment for use coefficient.In this case, updating formula can be expressed as

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂). (24)’

In addition, by equation (24) ' or (24) " expression updating formula can be used for a cell site.

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)-K _ti (24)”

Having used wherein, equation (24) is used for a receiving station and equation (24) " example being used for a cell site is described the 6th embodiment.Yet, equation (24) ' and can be used for cell site and receiving station simultaneously.In this case, the position of a unknown cell site is still estimated with pinpoint accuracy.', then use equation (26) ' determines estimation function (27) if used equation (24) '.

${\mathrm{md}}_{\mathrm{ij}}={10}^{\left(e_{\mathrm{ij}}\right)/\left(S_1\right)}-S_2---{\left(26\right)}^{,}$

$h_{\mathrm{ij}}=\mathrm{\&Sigma;}{({10}^{\left(e_{\mathrm{ij}}\right)/\left(S_1\right)}-S_2-d_{\mathrm{ij}})}^2---{\left(27\right)}^{,}$

If equation (24) ' be used for a receiving station and equation (24) " be used for a cell site, then use equation (26) " determine equation (27) " estimation function.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}+K_{\mathrm{ti}})/\left(S_1\right)}-S_2---{\left(26\right)}^{,,}$

$h_{\mathrm{ij}}=\mathrm{\&Sigma;}{({10}^{(e_{\mathrm{ij}}+K_{\mathrm{ti}})/\left(S_1\right)}-S_2-d_{\mathrm{ij}})}^2---{\left(27\right)}^{,,}$

If equation (24) is used for a receiving station and equation (24) ' be used for a cell site, then use equation (26) " ' determine equation (27) " ' estimation function.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}+K_{\mathrm{rj}})/\left(S_1\right)}-S_2---{\left(26\right)}^{,,,}$

$h_{\mathrm{ij}}=\mathrm{\&Sigma;}{({10}^{(e_{\mathrm{ij}}+K_{\mathrm{rj}})/\left(S_1\right)}-S_2-d_{\mathrm{ij}})}^2---{\left(27\right)}^{,,,}$

Much less, the updating formula of the modification that illustrates in the 6th embodiment can not only be used in the positioning system of first embodiment, and can use in the positioning system of second to the 5th embodiment.

[other embodiment]

Though described the present invention based on preferred embodiment, the present invention is not limited to these examples, but covers many modifications, variation and replacement within those skilled in the art's limit of power, and does not deviate from scope of the present invention.For example, the object of location estimation (perhaps target) is not limited to the cell site as a label, can estimate a position that can send any article of a signal.The cell site can have both transmission and receiving function, just as a cell phone or a portable terminal.In this case, can estimate and manage the position of the people with such equipment.In addition, cell site and receiving station can have transmission/receiving function.

In second to the 5th embodiment, produce and provide pumping signal so that cause a cell site to send an ID signal by receiving station.Yet, can from a powerful remote base stations, provide this pumping signal by multileaving.In this case, this system can obtain the data or the information of relevant many cell sites by operated from a distance.This scheme can reduce manpower and improve data collection efficiency.In addition, can simplify the structure of receiving station.

Receiving station can be connected to server (perhaps Data Management Unit) via cable or with a kind of wireless mode.If as among the 4th and the 5th embodiment, having used a mobile receiving station, the then preferable wireless network that is to use such as WLAN.In this case, individual system can be controlled assets or whole stock on a plurality of places or buildings.User terminal also can be connected to server via a cable or a wireless network.No matter be which kind of situation, the user imports simply and is attached to the identifier (perhaps identification number) of a label on the article to allow position computer estimate the position of those article.

In first to the 5th embodiment, one first updating formula is expressed as:

e _ij＝S ₁×log ₁₀(d _ij)+S ₂-K _rj (2)

It is used for a receiving station.Yet only correction coefficient S1 and S2 can be used for this formula and non-environment for use COEFFICIENT K rj.In this case, be used for first updating formula of receiving station by equation (2) ' expression.

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂ (2)’

Similarly, for a cell site, equation (2) ' or (2) " can be used as first updating formula

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂-K _ti (2)”

If equation (2) ' be used for cell site and receiving station simultaneously, then use equation (4) ' and (5) ' replace equation (4) and (5) to represent distance and an estimation function of a derivation respectively.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}-S_2)/S_1}---{\left(4\right)}^{,}$

$h_{\mathrm{ij}}=\mathrm{\&Sigma;}{({10}^{(e_{\mathrm{ij}}-S_2)/S_1}-d_{\mathrm{ij}})}^2---{\left(5\right)}^{,}$

If equation (2) ' be used for a receiving station and equation (2) " be used for a cell site, then use equation (4) " find the solution by equation (5) " estimation function of expression determines the position.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{ti}})/S_1}---{\left(4\right)}^{,,}$

$h_{\mathrm{ij}}=\mathrm{\&Sigma;}{({10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{ti}})/S_1}-d_{\mathrm{ij}})}^2---{\left(5\right)}^{,,}$

If equation (2) is used for a receiving station and equation (2) ' be used for a cell site, then use equation (4) " ' find the solution by equation (5) " ' estimation function of expression determines the position.

${\mathrm{md}}_{\mathrm{ij}}={10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{rj}})/S_1}---{\left(4\right)}^{,,,}$

$h_{\mathrm{ij}}=\mathrm{\&Sigma;}{({10}^{(e_{\mathrm{ij}}-{\mathrm{<figure-callout\; id="2"\; label="S"\; filenames="C0212769100911.png,C0212769100951.png"\; state="\{\{state\}\}">S</figure-callout>}}_2+K_{\mathrm{rj}})/S_1}-d_{\mathrm{ij}})}^2---{\left(5\right)}^{,,,}$

Iff the equation (2) that uses S1 and S2 ' be chosen as first updating formula, and if do not have known cell site (tn=0), then the number of known receiving station must satisfy rn 5.Similarly, if there is not known receiving station (rn=0), then the number of known cell site must satisfy tn 5.

If the equation (2) of environment for use COEFFICIENT K ti " be chosen as first updating formula, and if do not have known cell site (tn=0), then the number of known receiving station must satisfy rn 6.Similarly, if there is not known receiving station (rn=0), then the number of known cell site must satisfy tn 6.

Use one wherein greater than the example of the number of receiving station's known location, to understand the 4th and the 5th embodiment at the number of the known cell site of original state.Therefore, after the unknown parameter of updating formula has been determined, repeat a kind ofly to estimate this receiving station position, use the estimated position of this receiving station to estimate the position of a unknown cell site, further estimate the algorithm of the reposition of receiving station then then.Yet, may be greater than the number of known cell site at the number of original state receiving station known location.In this case, after updating formula (one or more) has been determined, repeat the position of a cell site of a kind of estimation, then estimate the reposition of this receiving station, further estimate the algorithm of the position of another cell site then.

(at first estimate the position of receiving station) in the previous case,

(a) use and to be positioned at a known location from least one (ui sends in the known cell site " i " vi) and is being positioned at one first unknown position (xj, the first intensity e of one first signal that receiving station yj) " j " locates to measure _Ij, and from the cell site " i " to of receiving station " j " apart from d _Ij, first approximate function

$e_{\mathrm{ij}}=f_0\left(d_{\mathrm{ij}}\right)=f_0\left(\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}\right)$

Be defined as one first updating formula, with a position of first unknown position of deriving receiving station " j " (uj, vj);

(b) use that (xi sends in the unknown cell site " i " yi) and at the second intensity e that is positioned at the secondary signal that a receiving station " j " known or the estimated position locates to measure from being positioned at a unknown position _Ij, and the positional information of the receiving station " j " of described known or estimated position (uj vj), defines second approximate function based on this first updating formula

$e_{\mathrm{ij}}=f_0\left(\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}\right)$

With the position of deriving described unknown cell site " i " (ui, vi); Then

(c) use from being positioned at (ui, the 3rd intensity eij of one the 3rd signal that sends in the cell site " i " of the known or estimated position of vi) one and locate to measure in the receiving station that is positioned at one second unknown position " j ", and the positional information of the cell site " i " of described known or estimated position, based on one the 3rd approximate function of first updating formula definition

$e_{\mathrm{ij}}=f_0\left(\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}\right)$

With a position of second unknown position of deriving receiving station " j " (uj, vj).Repeating step (b) and (c) sequentially to estimate the position of a unknown receiving station and a unknown cell site.

Under a kind of situation of back, (at first estimate the position of a cell site),

(a) use and to be positioned at one first known location from one (xi sends in the first unknown cell site " i " yi) and is being positioned at known location (uj, the first intensity e of first signal that one or more known receiving station " j " vj) locates to measure _Ij, and from the cell site " i " to of receiving station " j " apart from d _Ij, first approximate function

$e_{\mathrm{ij}}=f_0\left(d_{\mathrm{ij}}\right)=f_0\left(\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}\right)$

Be defined as one first updating formula, with the position of deriving the first unknown cell site " i " (ui, vi);

(b) (ui, a cell site known or estimated position vi) send over and are being positioned at a unknown position (xj, the second intensity e of the secondary signal that a unknown receiving station " j " yj) locates to measure from being positioned in use _Ij, and the positional information of the cell site " i " of described known or estimated position (ui vi), defines second approximate function based on this first updating formula

$e_{\mathrm{ij}}=f_0\left(\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}\right)$

With the position of deriving described unknown receiving station " j " (uj, vj); Then

(c) use from being positioned at one second unknown position (xi, yi) the second unknown cell site " i " sends over and at (uj, the 3rd intensity eij of the 3rd signal that a receiving station " j " known or the estimated position that vj) locates locates to measure, and the positional information of the receiving station " j " of described known or estimated position, based on one the 3rd approximate function of first updating formula definition

$e_{\mathrm{ij}}=f_0\left(\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}\right)$

With a position of second unknown position of deriving the second unknown cell site " i " (ui, vi), repeating step (b) and (c) sequentially to estimate the position of a unknown cell site and a unknown receiving station.

This also is applicable to the algorithm that uses second updating formula.Though in the 4th and the 5th embodiment, after being determined, the unknown parameter of second updating formula at first estimates the position of mobile receiving station, but if the known or estimated position of many these receiving stations is arranged, then can at first estimate the position of a unknown cell site.

(at first estimate the position of movement station) in the previous case,

(a) use that (ui sends in the known cell site of vi) at least one " i " and is being positioned at one first unknown position (xj, the first intensity e of one first signal that receiving station yj) " j " locates to measure from being positioned at a known location _Ij, and the first signal transmission time tij, one first signal propagation time pij by air and the positional information of described known cell site, first approximate function

$p_{\mathrm{ij}}=f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K{d}_{\mathrm{ij}}=K\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}$

Be defined as one second updating formula with a constant K, with a position of first unknown position of deriving receiving station " j " (uj, vj);

(b) use that (xi sends in the unknown cell site " i " yi) and at the second intensity e that is positioned at the secondary signal that a receiving station " j " known or the estimated position locates to measure from being positioned at a unknown position _Ij, and the positional information of the receiving station " j " of secondary signal transmission time (tij) and described known or estimated position (uj vj), defines second approximate function based on second updating formula

$f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}$

With the position of deriving described unknown cell site " i " (ui, vi); Then

(c) use from being positioned at (ui, the 3rd intensity eij of one the 3rd signal that a cell site " i " known or the estimated position vi) sends over and locates to measure in the receiving station that is positioned at one second unknown position " j ", and the positional information of the cell site " i " of one the 3rd signal transmission time (tij) and described known or estimated position, based on one the 3rd approximate function of second updating formula definition

$f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}$

With a position of second unknown position of deriving receiving station " j " (uj, vj).Repeating step (b) and (c) sequentially to estimate the position of a unknown receiving station and a unknown cell site.

Under a unknown species situation of back (at first estimating the position of a unknown cell site),

(a) use from being positioned at one first known location (xi, yi) send in one the first unknown cell site " i " and be positioned at known location (uj, the first intensity eij of one first signal that one or more known receiving station " j " vj) locates to measure, and first signal transmission time (tij), one first signal propagation time (pij) by air, with the positional information of described known receiving station " j ", first approximate function

$p_{\mathrm{ij}}=f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K{d}_{\mathrm{ij}}=K\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}$

Be defined as one second updating formula with a constant K, with the position of deriving the first unknown cell site " i " (ui, vi);

(b) (ui, a cell site known or estimated position vi) send over and are being positioned at a unknown position (xj, the second intensity e of the secondary signal that a unknown receiving station " j " yj) locates to measure from being positioned in use _Ij, and the positional information of the cell site " i " of secondary signal transmission time (tij) and described known or estimated position (ui vi), defines second approximate function based on this second updating formula

$f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}$

With the position of deriving described unknown receiving station " j " (uj, vj); Then

(c) (xi, one second unknown cell site " i " yi) send over and are being positioned at (uj, the 3rd intensity e of one the 3rd signal that a receiving station " j " known or the estimated position vj) locates to measure from being positioned at one second unknown position in use _Ij, and the positional information of the receiving station " j " of one the 3rd signal transmission time (tij) and described known or estimated position, based on one the 3rd approximate function of second updating formula definition

$f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}$

With a position of second unknown position of deriving the second unknown cell site " i " (ui, vi).Repeating step (b) and (c) sequentially to estimate the position of a unknown cell site and a unknown receiving station.

Claims (32)

1. system that is used for determining the position of an object comprises:

One cell site is configured to send an ID signal that comprises one first identifier with a kind of periodic manner;

One receiving station is configured to receive an ID signal, measures the intensity of an ID signal, and extracts first identifier;

One Data Management Unit is configured to store explicitly and manage with first identifier this intensity; And

One position computer, be configured to use the information that is kept in this Data Management Unit to estimate a position of this cell site, position computer determines that one is defined in the intensity of this receiving station's place's measurement and first updating formula of the relation between the distance between cell site and the receiving station, and uses first updating formula and known positional information to estimate the position of a unknown cell site.

2. the system as claimed in claim 1 is characterized in that this receiving station comprises:

One excitation signal generator is configured to produce a pumping signal, and this pumping signal is used to cause the cell site to produce one the 2nd ID signal; And

One transmitter is configured to this pumping signal is sent to this cell site, and wherein this receiving station has an ID signal generator, and it is configured to produce the 2nd ID signal that comprises one second identifier in response to this pumping signal.

3. the system as claimed in claim 1, it is characterized in that: a pumping signal that provides from a remote base stations is provided in this cell site, and having an ID signal generator, it is configured to produce the 2nd ID signal that comprises one second identifier in response to this pumping signal.

4. the system as claimed in claim 1 is characterized in that this cell site has: a sensor is used for sensing because the variation that extraneous factor causes; And an ID signal generator, be configured to when sensing this variation, produce the 3rd an ID signal that comprises one the 3rd identifier.

5. system as claimed in claim 4 is characterized in that: the ID signal generator produces dissimilar described the 3rd identifiers according to the type that changes.

6. the system as claimed in claim 1, it is characterized in that: first updating formula is:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂

Perhaps

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)

E wherein _IjBe from that (xi, the i cell site that yi) locates send over and at (intensity of the signal that uj, the j receiving station that vj) locates measure, d _IjBe the distance from the i cell site to j receiving station, it can be expressed as

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}$

And S1 and S2 be correction coefficient, and wherein position computer uses known positional information to determine that correction coefficient S1 and S2 are to estimate the position of this unknown cell site.

7. system as claimed in claim 6 is characterized in that: work as use

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂

During as first updating formula, this position computer is derived a distance from the intensity of measuring

md _ij＝10 ^(e _ij ^-S ₂ ^)/S ₁

, and determine an estimation function

$h_{\mathrm{ij}}=\underset{j=1}{\overset{\mathrm{rn}}{\mathrm{\&Sigma;}}}{({10}^{(e_{\mathrm{ij}}-S_2)/S_1}-d_{\mathrm{ij}})}^2,$

Wherein, rn is illustrated in the number of the receiving station of known position,

And when using

e _ij＝f ₀(h _ij)＝S ₁×log ₁₀(d _ij+S ₂)

During as first updating formula, this position computer is derived a distance from the intensity of measuring

md _ij＝10 ^(e _ij ^)/(S ₁ ⁾-S ₂

, and determine an estimation function

h _ij＝∑(10 ^(e _ij ^)/(S ₁ ⁾-S ₂-d _ij) ²

So that use h _Ij/ md _IjBe weighted, to estimate the position of this unknown cell site.

8. the system as claimed in claim 1, it is characterized in that: first updating formula is:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂-K _rj

Perhaps

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)-K _rj

E wherein _IjBe from that (xi, the i cell site that yi) locates send over and at (intensity of the signal that uj, the j receiving station that vj) locates receive, d _IjBe the distance from the i cell site to j receiving station, it can be expressed as

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2},$

S1 and S2 are correction coefficient, and Krj is an environmental coefficient that is used for this receiving station, and wherein position computer uses known positional information to determine that correction coefficient S1, S2 and Krj are to estimate the position of this unknown cell site

9. system as claimed in claim 8 is characterized in that: work as use

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂-K _rj

During as first updating formula, this position computer is derived a distance from the intensity of measuring

md _ij＝10 ^(e _ij ^-S ₂ ^+K _rj ^)/S ₁ (4)’’’

, and determine an estimation function

h _ij＝∑(10 ^(e _ij ^-S ₂ ^+K _rj ^)/S ₁-d _ij) ²，

And when using

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)-K _rj

During as first updating formula, this position computer is derived a distance from the intensity of measuring

md _ij＝10 ^(e _ij ^+K _rj ^)/(S ₁ ⁾-S ₂

, and determine an estimation function

h _ij＝∑(10 ^(e _ij ^+K _rj ^)/(S ₁ ⁾-S ₂-d _ij) ²

So that use h _Ij/ md _IjBe weighted, to estimate the position of this unknown cell site.

10. the system as claimed in claim 1, it is characterized in that: first updating formula is:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂-K _ti

Perhaps

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)-K _ti

E wherein _IjBe from that (xi, the i cell site that yi) locates send over and at (intensity of the signal that uj, the j receiving station that vj) locates receive, d _IjBe the distance from the i cell site to j receiving station, it can be expressed as

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2},$

S1 and S2 are correction coefficient, and Kti is an environmental coefficient that is used for this cell site, and wherein position computer uses known positional information to determine that correction coefficient S1, S2 and Kti are to estimate the position of this unknown cell site

11. system as claimed in claim 10 is characterized in that: work as use

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂-K _ti

During as first updating formula, this position computer is derived a distance from the intensity of measuring

md _ij＝10 ^(e _ij ^-S ₂ ^+K _ti ^)/S ₁

, and determine an estimation function

h _ij＝∑(10 ^(e _ij ^-S ₂ ^+K _ti ^)/S ₁-d _ij) ²，

And when using

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)-K _ti

During as first updating formula, this position computer is derived a distance from the intensity of measuring

md _ij＝10 ^(e _ij ^+K _ti ^)/(S ₁ ⁾-S ₂

, and determine an estimation function

h _ij＝∑(10 ^(e _ij ^+K _ti ^)/(S ₁ ⁾-S ₂-d _ij) ²

, so that use h _Ij/ md _IjBe weighted, to estimate the position of this unknown cell site.

12. the system as claimed in claim 1 is characterized in that: this receiving station comprises:

One excitation signal generator is configured to produce a pumping signal, and this pumping signal is used to cause the cell site to send the 2nd an ID signal that comprises one second identifier;

One transmitter is configured to this pumping signal is sent to the cell site; And

One time computing unit is configured to measure one and obtains the needed transmission time of second identifier in response to this pumping signal from the cell site.

13. system as claimed in claim 12, it is characterized in that: position computer determines that one is defined in a signal by the travel-time of air and second updating formula of the relation between the distance between cell site and the receiving station, and uses second updating formula and known positional information to estimate the position of a unknown cell site.

14. system as claimed in claim 13 is characterized in that: second updating formula can be expressed as:

$p_{\mathrm{ij}}=f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=t_{\mathrm{ij}}-B-\mathrm{gexp}(-h\&times;e_{\mathrm{ij}})=K{d}_{\mathrm{ij}}=K\sqrt{{(u_i-u_j)}^2+{(v_i-v_j)}^2}$

, e wherein _IjBe from that (xi, the i cell site that yi) locates send over and at (intensity, the t of the 2nd ID signal that uj, the j receiving station that vj) locates receive _IjBe transmission time, p _IjBe travel-time, d _IjBe the distance from the i cell site to j receiving station, it can be expressed as

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2},$

B, g and h are correction coefficient, and K is a proportionality constant, and wherein position computer determines that from known positional information correction coefficient B, g and h and proportionality constant K are to estimate the position of unknown cell site.

15. system as claimed in claim 14 is characterized in that: this position computer is from passing through to derive a distance the travel-time of air

nd _ij＝p _ij/K＝{t _ij-B-gexp(-h×e _ij)}/K

, and use the distance that derives to determine an estimation function

hh _ij＝∑({t _ij-B-gexp(-h×e _ij)}/K-d _ij) ²

, to use hh _Ij/ nd _IjBe weighted to estimate the position of this unknown cell site.

16. the system as claimed in claim 1 is characterized in that: this receiving station comprises a fixed position receiving station and a mobile receiving station, and wherein this position computer is carried out the following step:

(a) use the known position information that provides from this fixed position receiving station to determine one first updating formula, it is defined in the intensity of a received signal and the relation between distance, and described distance is the distance between a cell site and the receiving station;

(b) use this first updating formula, the positional information of the signal message that sends over the cell site together with or estimated position known from and the cell site of relevant described known or estimated position estimates that this moves the position of receiving station; And

(c) based on sending to this fixed position receiving station from described unknown cell site or at the signal message of the mobile receiving station of an estimated position, and about the positional information of the mobile receiving station of this fixed position receiving station and described estimated position, estimate the position of a unknown cell site, and this position computer repeating step (b) and (c) with the mobile position of sequentially estimating a plurality of unknown cell sites along with mobile receiving station wherein.

17. system as claimed in claim 12 is characterized in that: this receiving station comprises a fixed position receiving station and a mobile receiving station, and wherein this position computer is carried out the following step:

(a) use transmission time of measuring and intensity and determine one second updating formula from the known position information that this fixed position receiving station provides in this fixed position receiving station, it is defined in by the relation between signal propagation time of air and the distance, and described distance is the distance between a cell site and the receiving station;

(b) use this second updating formula, send in the cell site together with or estimated position known from one this movement station signal message, move transmission time that receiving station measures about the positional information of the cell site of described known or estimated position with at this, estimate that this moves the current location of receiving station; And

(c) based on sending to this fixed position receiving station from described unknown cell site or at the signal message of the mobile receiving station of an estimated position, about the positional information of the mobile receiving station of this fixed position receiving station and described estimated position and in this fixed position receiving station or transmission time of measuring at the mobile receiving station place of estimated position, estimate the position of a unknown cell site, and this position computer repeating step (b) and (c) with the mobile position of sequentially estimating a plurality of unknown cell sites along with mobile receiving station wherein.

18. the system as claimed in claim 1 is characterized in that: this receiving station comprises single mobile receiving station, and wherein this position computer is carried out the following step:

(a) use and to send to from the cell site of a location aware in the signal message of the mobile receiving station of a unknown position and the positional information of described cell site, determine first updating formula of the relation between an intensity that is defined in a received signal and the distance, described distance is the distance between a cell site and the receiving station;

(b) use this first updating formula, based on the positional information of the signal message that from the cell site of a known cell site or an estimated position, sends over, estimate that this moves a current location of receiving station with the cell site of relevant described known cell site or estimated position; And

(c) based on the positional information of the current location that sends to the signal message in the mobile receiving station of the current position of estimating, relevant this estimation from described unknown cell site, estimate a position of a unknown cell site, and this position computer repeating step (b) and (c) with the mobile position of sequentially estimating a plurality of unknown cell sites along with mobile receiving station wherein.

19. system as claimed in claim 12 is characterized in that: this receiving station comprises single mobile receiving station, and wherein this position computer is carried out the following step:

(a) use to send in the positional information of the signal message of the mobile receiving station of a unknown position, described cell site and at this and move the transmission time of receiving station's measurement from the cell site of a location aware, determine that one is defined in signal propagation time by air and second updating formula of the relation between the distance, described distance is the distance between a cell site and the receiving station;

(b) use this second updating formula, based on the signal message that from the cell site of this a known cell site or an estimated position, sends over, move transmission time that receiving station measures, estimate the current location of this movement station about the positional information of the cell site of described known cell site or estimated position with by this; And

(c) based on send to the signal message in the mobile receiving station of the current position of estimating, the positional information of relevant this estimation current location from described unknown cell site, and by the transmission time of measuring in this mobile receiving station that estimates the current position, estimate a position of a unknown cell site, and this position computer repeating step (b) and (c) with the mobile position of sequentially estimating a plurality of unknown cell sites along with mobile receiving station wherein.

20. the system as claimed in claim 1 is characterized in that: use electromagnetic wave or sound wave to send an ID signal.

21. system as claimed in claim 2 is characterized in that: use electromagnetic wave or sound wave to send the first and second ID signals, and use electromagnetic wave or sound wave to send this pumping signal.

22. the system as claimed in claim 1, it is characterized in that: if the intensity of an ID signal that sends from the i cell site measures in j receiving station, but do not measure at m receiving station place, then this position computer determines that first updating formula added a restrictive condition

d _ij＜d _im

, d wherein _IjBe a distance between i cell site and j receiving station, and d _ImIt is a distance between i cell site and m receiving station.

23. a method that is used for the position of a definite object comprises step:

Receive an ID signal that comprises one first identifier that sends over from the cell site at a receiving station place;

The intensity of the ID signal that measurement receives at the receiving station place;

Determine first updating formula of the relation between intensity that is defined in this received signal and the distance, described distance is the distance between a cell site and the receiving station; And

Use first updating formula and known positional information to estimate a position of a unknown cell site.

24. method as claimed in claim 23 is characterized in that: first updating formula is represented as:

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂

Perhaps

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)

, e wherein _IjBe from that (xi, the i cell site that yi) locates send over and at (intensity of the signal that uj, the j receiving station that vj) locates measure, d _IjBe the distance from the i cell site to j receiving station, it can be expressed as

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2},$

, and S1 and S2 are correction coefficient.

25. method as claimed in claim 24 further comprises step:

If use

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij)+S ₂

As first updating formula, then from the intensity of measuring, derive distance

md _ij＝10 ^(e _ij ^-S ₂ ^)/S ₁

, and determine an estimation function

$h_{\mathrm{ij}}=\underset{j=1}{\overset{\mathrm{rn}}{\mathrm{\&Sigma;}}}{({10}^{(e_{\mathrm{ij}}-S_2)/S_1}-d_{\mathrm{ij}})}^2$

Wherein, rn is illustrated in the number of the receiving station of known position,

So that use h _Ij/ md _IjBe weighted to estimate the position of this unknown cell site.

26. method as claimed in claim 24 further comprises step:

If use

e _ij＝f ₀(d _ij)＝S ₁×log ₁₀(d _ij+S ₂)

As first updating formula, then from the intensity of measuring, derive distance

md _ij＝10 ^(e _ij ^)/(S ₁ ⁾-S ₂

, and determine an estimation function

$h_{\mathrm{ij}}=\mathrm{\&Sigma;}{({10}^{\left(e_{\mathrm{ij}}\right)/\left(S_1\right)}-S_2-d_{\mathrm{ij}})}^2$

So that use h _Ij/ md _IjBe weighted to estimate the position of this unknown cell site.

27. method as claimed in claim 23 further comprises step:

From receiving station a pumping signal is sent to the cell site;

In response to this pumping signal, the 2nd an ID signal that comprises one second identifier is sent to receiving station from this cell site;

In response to pumping signal, measure and obtain a needed transmission time of the 2nd ID signal at this receiving station place;

Determine that based on the transmission time of measuring one is defined in signal propagation time by air and second updating formula of the relation between distance, described distance is the distance between a cell site and the receiving station; And

Use second updating formula and known positional information to estimate a position of a unknown cell site.

28. method as claimed in claim 27 is characterized in that: second updating formula is:

$p_{\mathrm{ij}}=f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=t_{\mathrm{ij}}-B-\mathrm{gexp}(-h\&times;e_{\mathrm{ij}})=K{d}_{\mathrm{ij}}=K\sqrt{{(u_i-u_j)}^2+{(v_i-v_j)}^2}$

, e wherein _IjBe from that (xi, the i cell site that yi) locates send over and at (intensity, the t of the 2nd ID signal that uj, the j receiving station that vj) locates measure _IjBe transmission time, p _IjBe travel-time, d _IjBe the distance from the i cell site to j receiving station, it can be expressed as

$d_{\mathrm{ij}}=\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2},$

B, g and h are correction coefficient, and K is a proportionality constant, and wherein position computer is determined correction coefficient B, g and h and proportionality constant K from known positional information, to estimate the position of unknown cell site.

29. a method that is used for the position of a definite object comprises step:

(a) use and to be positioned at a known location from least one (ui sends in the known cell site " i " vi) and is being positioned at one first unknown position (xj, the first intensity e of one first signal that receiving station yj) " j " locates to measure _Ij, and from the cell site " i " to of receiving station " j " apart from d _Ij, determine first approximate function

$e_{\mathrm{ij}}=f_0\left(d_{\mathrm{ij}}\right)=f_0\left(\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}\right)$

As one first updating formula, with a position of first unknown position of deriving receiving station " j " (uj, vj);

(b) use that (xi sends in the unknown cell site " i " yi) and at the second intensity e that is positioned at the secondary signal that a receiving station " j " known or the estimated position locates to measure from being positioned at a unknown position _Ij, and the positional information of the receiving station " j " of described known or estimated position (uj, vj), based on one second approximate function of this first updating formula definition

$e_{\mathrm{ij}}=f_0\left(\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}\right)$

, with the position of deriving described unknown cell site " i " (ui, vi); And

(c) use from being positioned at (ui, the 3rd intensity e of one the 3rd signal that sends in the cell site " i " of the known or estimated position of vi) one and locate to measure in the receiving station that is positioned at one second unknown position " j " _Ij, and the positional information of the cell site " i " of described known or estimated position, based on one the 3rd approximate function of first updating formula definition

$e_{\mathrm{ij}}=f_0\left(\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}\right)$

With a position of second unknown position of deriving receiving station " j " (uj, vj), step (b) and (c) be repeated sequentially to estimate the position of a unknown receiving station and a unknown cell site.

30. a method that is used for the position of a definite object comprises step:

(a) use and to be positioned at one first known location from one (xi sends in the first unknown cell site " i " yi) and is being positioned at known location (uj, the first intensity e of first signal that one or more known receiving station " j " vj) locates to measure _Ij, and from the cell site " i " to of receiving station " j " apart from dij, determine first approximate function

$e_{\mathrm{ij}}={f_0\left(d_{\mathrm{ij}}\right)=f}_0\left(\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}\right)$

As one first updating formula, with the position of deriving the first unknown cell site " i " (ui, vi);

(b) (ui, a cell site known or estimated position vi) send over and are being positioned at a unknown position (xj, the second intensity e of the secondary signal that a unknown receiving station " j " yj) locates to measure from being positioned in use _Ij, and the positional information of the cell site " i " of described known or estimated position (ui, vi), based on one second approximate function of this first updating formula definition

$e_{\mathrm{ij}}=f_0\left(\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}\right)$

With the position of deriving described unknown receiving station " j " (uj, vj); Then

(c) use from being positioned at one second unknown position (xi, yi) the second unknown cell site " i " sends over and at (uj, the 3rd intensity eij of the 3rd signal that a receiving station " j " known or the estimated position that vj) locates locates to measure, and the positional information of the receiving station " j " of described known or estimated position, based on one the 3rd approximate function of first updating formula definition

$e_{\mathrm{ij}}=f_0\left(\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}\right)$

With the position of second unknown position of deriving the second unknown cell site " i " (ui, vi), repeating step (b) and (c) sequentially to estimate the position of a unknown cell site and a unknown receiving station.

31. a method that is used for the position of a definite object comprises step:

(a) use that (ui sends in the known cell site of vi) at least one " i " and is being positioned at one first unknown position (xj, the first intensity e of one first signal that receiving station yj) " j " locates to measure from being positioned at a known location _Ij, and the first signal transmission time tij, one the first signal propagation time pij that passes through air and the positional information of described known cell site, determine first approximate function

$p_{\mathrm{ij}}=f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K{d}_{\mathrm{ij}}=K\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}$

With a constant K as one second updating formula, with a position of first unknown position of deriving receiving station " j " (uj, vj);

(b) use from being positioned at a unknown position (xi, yi) send in the unknown cell site " i " and the second intensity eij of the secondary signal that the receiving station " j " of or estimated position known at locates to measure, and the positional information (uj of the receiving station " j " of secondary signal transmission time (tij) and described known or estimated position, vj), based on one second approximate function of second updating formula definition

$f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}$

With the position of deriving described unknown cell site " i " (ui, vi); And

(c) use from being positioned at (ui, the 3rd intensity eij of one the 3rd signal that a cell site " i " known or the estimated position vi) sends over and locates to measure in the receiving station that is positioned at one second unknown position " j ", and the positional information of the cell site " i " of one the 3rd signal transmission time (tij) and described known or estimated position, based on one the 3rd approximate function of second updating formula definition

$f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}$

With a position of second unknown position of deriving receiving station " j " (uj, vj), repeating step (b) and (c) sequentially to estimate the position of a unknown receiving station and a unknown cell site.

32. a method that is used for the position of a definite object comprises step:

(a) use that (xi sends in one the first unknown cell site " i " yi) and is being positioned at known location (uj, the first intensity e of one first signal that one or more known receiving station " j " vj) locates to measure from being positioned at a known location _Ij, and first signal transmission time (tij), one first signal propagation time (pij) that passes through air and the positional information of described known receiving station " j ", determine first approximate function

$p_{\mathrm{ij}}=f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K{d}_{\mathrm{ij}}=K\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}$

As one second updating formula, with the position of deriving the first unknown cell site " i " (ui, vi);

(b) (ui, a cell site " i " known or the estimated position vi) sends over and is being positioned at a unknown position (xj, the second intensity e of the secondary signal that a unknown receiving station " j " yj) locates to measure from being positioned in use _IjAnd the positional information of the cell site " i " of secondary signal transmission time (tij) and described known or estimated position (ui, vi), based on one second approximate function of this second updating formula definition

$f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K\sqrt{{(u_i-x_j)}^2+{(v_i-y_j)}^2}$

With the position of deriving described unknown receiving station " j " (uj, vj); And

(c) (xi, one second unknown cell site " i " yi) send over and are being positioned at (uj, the 3rd intensity e of one the 3rd signal that a receiving station " j " known or the estimated position vj) locates to measure from being positioned at one second unknown position in use _Ij, and the positional information of the receiving station " j " of one the 3rd signal transmission time (tij) and described known or estimated position, based on one the 3rd approximate function of second updating formula definition

$f_1(t_{\mathrm{ij}},e_{\mathrm{ij}})=K\sqrt{{(x_i-u_j)}^2+{(y_i-v_j)}^2}$

With a position of second unknown position of deriving the second unknown cell site " i " (ui, vi), repeating step (b) and (c) sequentially to estimate the position of a unknown cell site and a unknown receiving station.

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