CN1937843A - China mobile network positioning system - Google Patents
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- CN1937843A CN1937843A CNA2006101370529A CN200610137052A CN1937843A CN 1937843 A CN1937843 A CN 1937843A CN A2006101370529 A CNA2006101370529 A CN A2006101370529A CN 200610137052 A CN200610137052 A CN 200610137052A CN 1937843 A CN1937843 A CN 1937843A
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Abstract
1. Technology fields: 1.1 the technology of network wireless microwave digital data transmission of mobile communication as well as measuring time and distance. 1. 2 conducting wire measure technology of geodesy. 2. Technical problems and the main points to solve: 2.1 Distance measurement measures by the distance detection documentation, Mobile communication networks through fixed the begin and end time of the binary digital measure transmission documents which is send between the base stations and cell phone back and forth between transmit measured, multiply the speed to obtain the exact distance between them. It is used to measure the distance between the fixed station which send and receive digital information by microwave and the mobile station with the same feature. 2.2 the compendia and precise orientation of the cell phone is located using the three side which has calculated the length between the base station which has measured the three-dimensional coordinate by mobile communication network and the cell phone as well as the altitude difference between each based station and the cell phone, calculates the triangle which is composed of three level distance side, using triangular corner and the conducting wire measurement formula to obtain the location of the three-dimensional coordinate of the mobile station. Use 1) measure 3-D coordinates of the points. 2) Cell phone coordinate with an electronic map to locate for transport and individual.
Description
One. the present invention relates to technical field: mobile communication network and geodesic survey.
1. wireless Digital Microwave transfer of data of mobile communication network and survey time are calculated distance technique.
2. utilize the known coordinate point to ask the traverse survey technology of calculating the unknown coordinates point in the geodesy.
Two. the background technology that the present invention relates to: GPS, old positioning mode of wireless network and traverse survey.
1.GPS----U.S.'s GPS (Global Position System), be new generation satellite navigation and the location military system that US military began to develop in 1973, by being distributed in six cycles of the 21+3 on the track is that 12 hours satellites are formed, civilian restriction is used, and approximately is used to solve the geodesic survey problem since nineteen eighty-three.Its basic fixed position principle is according to the pseudo range measurement between user and four mobile-satellites, determine the receiver user antenna coordinate according to the known coordinate of satellite in suitable reference frame, signal is sent by satellite, basic measured value is that signal is by the propagation time interval of mobile satellite antenna to receiver antenna, take advantage of then in signal velocity, signal propagation time is converted into distance.
2. the old positioning mode of wireless network has:
At present known have the base station mobile handset positioning mode to have:
1) COO----plays the source honeycomb district location technology.ID determines Position Approximate according to the travelling carriage cell identification.
2) the AOA----angle arrives location technology.According to the relative base station of travelling carriage angular relationship, can determine the position apart from two signal of base station angles of arrival as long as measure a travelling carriage.
3) TOA----arrival time location technology.Utilize travelling carriage to 3 or more base stations (must the synchronously) time to locate, atomic clock need be installed in the base station or GPS equipment is realized synchronously.
4) TDOA----arrival time difference location technology.Utilize travelling carriage to transmit signals to definite position of two base station time differences, the base station must be synchronously.
5) E-OTD---enhancement mode observed time difference location technology.It is based on OTD observed time difference technology, uses terminal positioning.
6) A-GPS----auxiliary global satellite positioning system technology.All there is the GPS receiver travelling carriage and base station, locate by receiving satellite positioning signals.The above 6 kinds of method, precision is very low, and precision mainly is subjected to following factor affecting: 1. non line of sight NLOS propagates; 2. multipath effect; 3. multiple access disturbs; 4. need to install and change hardware device, cost height.Precision is generally greater than 125 meters.
3. lead computing formula: Xp=Xa+Sap*cos (α ap) in the geodesy, Yp=Ya+Sap*sin (α ap). Xa wherein, Xp, Ya, Yp is the coordinate in length and breadth of base station A and mobile phone P, and Sap is the flat distance that mobile phone is arrived in the base station, and α ap is the azimuth of base station A to mobile phone P, sin, cos are mathematics sine and cosine.
4. triangle corner computing formula: a^2=b^2+c^2-2*b*c*cos (A), cos (A)=(b^2+c^2-a^2)/(2*b*c). a^2 wherein, b^2, c^2 are length of side a, b, c square, cos (A) is b, string after the angle A of c limit institute.
Three. the content that the present invention relates to: the three-dimensional coordinate of range measurement and travelling carriage (mobile phone) is asked calculation.
1. distance measurement technique between mobile communication company network fixed base stations and the travelling carriage (mobile phone).Be to utilize distance detecting file (various audio frequency, video, literal, digital data files such as numeral) to measure the technology of distance between them between mobile communication company network fixed base stations and the travelling carriage (mobile phone).
2. all use distance measurement technique between the mobile radio station of the fixed station of fixed frequency electronics transreceiver of wireless microwave transmitting and receiving digital information and same nature.
Promptly all use wireless microwave transmitting and receiving digital information fixed frequency electronics transreceiver fixed station and have between the mobile electron transreceiver of the wireless Digital Microwave information of transmit-receive cofrequency rate and utilize distance detecting file (various audio frequency, video, literal, digital data files such as numeral) technology of the distance of conjunction measuring between them.
3. utilize the people behaviour area mostly to be the level land in the same cellular cell of mobile communication company network and measure average absolute altitude H0 or ask the accurate absolute altitude Hp that measures mobile phone, the accurate absolute altitude H's (I) that measures with mobile communication network base station radio microwave receiving launch point is poor
Use formula
(wherein S (PI) and Spi be respectively between base station and the mobile phone oblique distance peace apart from), obtain the technology of horizontal range.
4. utilize in the same cellular cell in the mobile communication company network or adjacent base station that two or more of adjacent cells have been surveyed three-dimensional coordinate and travelling carriage (mobile phone) form one, two or a plurality of level triangle (triangles of known three horizontal range length of side compositions of measuring length with the distance detecting file and calculating with the discrepancy in elevation between base station and the mobile phone) ask the technology of the three-dimensional coordinate of calculation travelling carriage (mobile phone).
Four. description of drawings of the present invention: accompanying drawing 1,2,3 marks with explain
1. Fig. 1 explanation:
(1)。A, B, C are mobile communication company network base station, they are adjacent one another are, have measured three-dimensional coordinate to be: base station A (X (A), Y (A), H (A)), B (X (B), Y (B), H (B)), C (X (C), Y (C), H (C)).
X wherein, Y, H are respectively an A, B, coordinate in length and breadth and the absolute altitude of C.
(2)。P is travelling carriage (mobile phone), and its three-dimensional coordinate is P (X (P), Y (P), H (P)).X wherein, Y, H are respectively coordinate in length and breadth and the absolute altitude of a P.
(3)。S (PA), S (PB), S (PC) be mobile phone P to base station A, B, the emission of C is wireless microwave is long with three hypotenuses of acceptance point.
(4)。Spa, spb, spc be mobile phone P to base station A, B, the flat distance of obtaining with the discrepancy in elevation and oblique distance between the C.
(5)。α, β are PA, PB, AB floor projection limit pa and ab, the angle of pb and ab.
2. Fig. 2 explanation:
(1) .I is the base station, and its three-dimensional coordinate is (X (I), Y (I), H (I)).X wherein, Y, H are respectively coordinate in length and breadth and the absolute altitude of an I.
(2) .P is travelling carriage (mobile phone), its three-dimensional coordinate be P (X (P), Y (P), H0).X wherein, Y, H0 are respectively average absolute altitude in the coordinate in length and breadth of a P and the cellular cell.
(3) .S (PI) is that the hypotenuse of mobile phone P and base station I is long.
(4) .Spi is for to ask the flat distance of calculating with S (PI) and H (I)-H0 (discrepancy in elevation between them).
3. Fig. 3 explanation:
(1) .I is the base station, and its three-dimensional coordinate is (X (I), Y (I), H (I)).X wherein, Y, H are respectively coordinate in length and breadth and the absolute altitude of an I.
(2) .P is travelling carriage (mobile phone), and its three-dimensional coordinate is P (X (P), Y (P), H (P)).X wherein, Y, H are respectively coordinate in length and breadth and the absolute altitude of a P.
(3) .S (PI) is that the hypotenuse of mobile phone P and base station I is long.
(4) .Spi is for to ask the flat distance of calculating with S (PI) and H (I)-H (P) (discrepancy in elevation between them).
(5)。(t) be the angle of hypotenuse PI and gravity vertical.
Five. embodiment: China Mobile's network positioning system
(China?mobile?net?positioning?system)
Wu Xuebin
(all mouthful of near coal-mine measurement of plumbous zinc ore in Shaoguan, Guangdong section)
Summary: the base station of coordinate has been surveyed in utilization and the measuring distance of travelling carriage and base station is asked the coordinate of calculating travelling carriage.
Keyword: distance detecting file, base station, travelling carriage, cellular cell, GPS.
All the time, I have a kind of idea: be exactly the Internet resources that how to make full use of the prosperity of existing mobile communication company, the continent that developing china is controlled oneself and the navigation system of coastal periphery, realize mobile phone value-added service, this relates to national mobile communication company developing direction, country's national defense construction and the construction of measurement geography information, the needs of serving the general public in addition.Therefore, I have done commmunication company's development trend and technical feasibility analytic demonstration, wish that country attaches great importance to, tissue be expounded through peer review feasible not? official report to the superior is as follows:
The existing mobile communication network system of country has the GSM of 900MHZ/1800MHZ/1900MHZ, AMPS, CDMA1X, TDMA etc., use the wireless microwave transmission digital information of fixed frequency (list or double frequency) in their networks between base station and mobile phone, base station and mobile phone all are the electronics transreceivers with transmitting/receiving wireless Digital Microwave information, the base station is a fixed station, mobile phone is a mobile radio station. store digital data file in their equipment. and as GSM network transmission data and speed of sound is per second 9600 bytes, if each byte is 8 (bit), 76800bits/s is then arranged, how to make full use of mobile phone, base station and computer equipment, realize accurately location, only needing increases support programs, and does not need to increase or change any hardware device, become best preferred option, principle is simple.I prove as follows hereby for this reason:
One, principle
As Fig. 1, A, B, C, D----etc. are mobile communication company base station, because I do not understand the programming software situation of commmunication company's equipment and use, there is one can read the computer equipment that is accurate to 1 millisecond or 0.1 second level so establish the base station, supposes A, B at this, C, respectively there is a computer equipment (if then better at a high speed) base stations such as D----, and computer hard disc has a plurality of distance detecting files, the distance detecting file promptly is all audio frequency, video, literal, numerals etc. are stored with binary numeral (0/1), transmission, the digital data file of expression, file size is 3 (S) * 9600B=28.125KB or 6 (s) * 9600B=57600B (can be more greater or lesser), puts through A when mobile phone P and distant place friend converse, B, during station such as C, connect preceding 3 seconds of beginning, transmitting range detects file, by A, B, C, adjacent station B (also can be aroused by the A station in stations such as D----; Arouse adjacent station C by B; Arouse adjacent station D by C; Or the like the rest may be inferred), transmit a distance detecting file, transmit with per second 9600 byte speed, and mobile phone should have and transmits A station or B stop spacing from the ability that detects file data (mobile phone preferably do not have postpone to transmit), it is reported that this functional software Programming Design is not difficult.Because track data is serial transfer, signal element sends singly, and each bit (bit) all will pass through same circuit distance P A, PB, PC. radio as everybody knows transmit speed C0=3*10^8m/s, establish S (PA)=50 so, 100,400,800 meters etc., 28.125*8*1024=230400 (bit) then; 57600*8=460800 (bit):
1，230400*2*50/(3*10^8)*1000＝76.8ms. 1，460800*2*50/(3*10^8)＝0.15(s).
2，230400*2*100/(3*10^8)*1000＝153.6ms. 2，460800*2*100/(3*10^8)＝0.31(s).
3，230400*2*400/(3*10^8)*1000＝614.4ms. 3，460800*2*400/(3*10^8)＝1.22(s).
4,230400*2*800/ (3*10^8) * 1000=1228.8ms etc.4,460800*2*800/ (3*10^8)=2.45 (s) etc.
(1) by A → P → A:
1, t0=2*S (PA)/C0+t1. wherein: t0 is that circulation of a bit (0 or 1) is (by the delivery time of A → P → A).T1 transmits data 1bit time of delay in the mobile phone.
2, with v=9600*8 (bits/s) data speed transmission, the A bit (0 or 1) that stands sends beginning A station computer timing and begins, distance detecting file by A to P to A whole transmission return the time by the computer timing, be made as T, be accurate to millisecond.Then a bit transmits back elapsed time t=1/ (9600*8) and (s) sends the 2nd bit data, establishes the number of bits of n for each distance detecting file.Then 1) .t0*n+ (t-t0) * (n-1)=T. hypothesis t is greater than t0,2). as t during less than t0, T=((n+1)/2) * t0, .T=when n is odd number (n/2) * t0+t, when n is even number. can obtain S (PA) (rice), n*2*S (PA)/(1/76800-2*S (PA)/C0)=T. can obtain S (PA) to C0+ (n-1) * so as if t1=0s; In like manner can obtain S (PB); S (PC)----or the like.
3, because A, B, C, the D----three-dimensional coordinate can be measured first method with GPS (U.S.'s GPS (Global Position System)): measure with nearly territory static immobilization, precision can reach plane 5mm+0.5ppm, elevation 1cm+0.5ppm.Second method: measure (RTK) with nearly territory real-time dynamic positioning, precision can reach 1cm～～0.2m.With static immobilization certainty of measurement height, measure A, B, C, all base station of D----or the like whole nation receive the three-dimensional coordinate of mobile phone wireless Digital Microwave information point; Measure A again, B, C, this cellular cell people behaviour area, base stations such as D average absolute altitude H0 in plane (because the movable place of most of people is the level land, the mountain area is arranged also certainly, the little general absolute altitude of scope changes not quite in cellular cell, can more accurately measure average absolute altitude).
4, can obtain α with the cosine law so, β angle (Fig. 1):
α＝arccos((Sab^2+Spa^2-Spb^2)/(2*Sab*Spa)).
β＝arccos((Sab^2+Spb^2-Spa^2)/(2*Sab*Spb)).
Wherein: α, β are PA, PB, floor projection limit ap and the ab of AB, bp and ba angle.Sab, Spa, Spb are hypotenuse AB, PA, PB are projected in the flat distance on the horizontal plane.
(2), by measuring engineering science as can be known, the AB azimuth is
α ab=arctg ((Y (B)-Y (A))/(X (B)-X (A))). then
αbp＝αab+β±180°；αap＝αba+(360-α)±180°。Use the coordinate Calculation formula:
{X(P)＝X(I)+Spi*cosαip
Y(P)＝Y(I)+Spi*sinαip?}?-----------(1)
Wherein: α ap is the azimuth on A → P limit, and α bp is B → P azimuth, and α ba is B → A azimuth: α ba=α ab ± 180 °, wherein when α ab spends greater than 180 be-, other is+, I is A, one of B, (i) be a, one of b (Spi) is PA, and PB hypotenuse length is projected in the flat distance on the horizontal plane, as accompanying drawing 2, (H (I)-HO) ^2 obtains available (Spi) ^2=S (PI) ^2-.A, B, C, D or the like base station computer is obtained Spi, and ((i) is A, B, C, one of base sites such as D) after, adjacent station computer is mutually relatively behind the Spi, and is flat minimum apart from influence to obtaining because the P point actual elevation that connects the long limit of P point and HO differ size, therefore limit Spi and this (i) station coordinates greatly by base station----D → C → B → A transmission, point (i) as the B point, if Spa is more than or equal to Spb, I is A in the then top coordinate Calculation formula (1), (i) is a, otherwise I is B, (i) be b, form level triangle abP by ABP and ask a calculation point P three-dimensional coordinate that concrete verification msg is as follows: by Spi^2=S (PI) ^2-(H (I)-H0) ^2 formula.With S (PI)=50,150,250 meters, H (I)-HO=20 or 40 meters substitutions get: (45.8 meters and 30 meters); (148.7 meters or 144.6 meters); (249.2 meters or 246.8 meters).Be respectively and differ 15.8 meters; 4.1 rice; 2.4 rice.Slant visibility is from long more more little to flat distance influence.
(3), P point three-dimensional coordinate X (P) is obtained in the base station, Y (P), behind the HO, can transmit the electronic chart that the P point coordinates can be connected and store in the palm electronic reader for mobile phone, mobile phone by the base station, show the position on the P point map behind the input P point coordinates, can realize the location with this.This precision less than 20 meters, is generally less than 10 meters under poor especially condition.This method precision mainly is subjected to following factor affecting:
1, the precision of T when computer is surveyed.
2, non line of sight NLOS propagates.
3, multipath propagation.
4, mobile phone actual elevation and the average high extent of absolute altitude etc.
But because the base station has accurate coordinates and oblique distance to measure accurately, cooperate correction, can draw this method precision by experiment than higher, by having cooperated source honeycomb district ID sign indicating number identification (whole China Mobile system base-station cellular cell identification code can be numbered input base station computer in advance with the difference different districts), if there is the littler Position Approximate absolute altitude of scope on each sub-district electronic chart each base station then is more accurate. this method major defect: when the absolute altitude difference is big in this cellular cell, cause flat apart from differing bigger, also can cooperate the adjacent base station point calculate a plurality of P point coordinates average (can in mobile phone, establish this program) can obtain accurate P point.
Above method precision should be passable, for the more accurate travelling carriage coordinate of calculating, and available following method.
Two, the accurate localization method
At present known have the base station mobile handset positioning mode to have:
1, COO----plays the source honeycomb district location technology.ID determines Position Approximate according to the travelling carriage cell identification.
2, the AOA----angle arrives location technology.According to the relative base station of travelling carriage angular relationship, can determine the position apart from two signal of base station angles of arrival as long as measure a travelling carriage.
3, TOA----arrival time location technology.Utilize travelling carriage to 3 or more base stations (must the synchronously) time to locate, atomic clock need be installed in the base station or GPS equipment is realized synchronously.
4, TDOA----arrival time difference location technology.Utilize travelling carriage to transmit signals to definite position of two base station time differences, the base station must be synchronously.
5, E-OTD----enhancement mode observed time difference location technology.It is based on OTD observed time difference technology, uses terminal positioning.
6, A-GPS----auxiliary global satellite positioning system technology.All there is the GPS receiver travelling carriage and base station, locate by receiving satellite positioning signals.The above 6 kinds of method, precision is very low, and precision mainly is subjected to following factor affecting: 1. non line of sight NLOS propagates; 2. multipath effect; 3. multiple access disturbs; 4. need to install and change hardware device, cost height.Precision is generally greater than 125 meters.For the more accurate P point coordinates value of obtaining, need accurately obtain the flat distance of the length of side, therefore must accurately obtain the discrepancy in elevation of travelling carriage and base sites
As accompanying drawing 3,1. must accurately measure inclination angle t, be accurate to angle 1 minute, 2. utilize the software innovation, can accurately calculate the elevation H (P) of travelling carriage, be accurate to decimetre or Centimeter Level, find the solution accurately
Formula is as follows:
Wherein I is A, one of B, and H (P), H (I) is P, the elevation that I is ordered, the oblique distance that S (PI) is ordered to I for P, t is the angle of hypotenuse and gravity vertical.Base-station antenna array is installed and must be overlapped with gravity vertical, and must there be the equipment of accurately measuring travelling carriage radio incident inclination angle t the base station.Accurately obtain and flat can use areal coordinate computing formula (1) behind the Spi and accurately obtain the coordinate that P is ordered, if 1. inclination angle t is accurate, this precision is less than 10 meters.2. as using the adjacent base station of having surveyed three-dimensional coordinate in adjacent cells or the same cellular cell, the elevation H (P) of measuring and calculating travelling carriage (mobile phone) is accurate, the method is tried to achieve travelling carriage (mobile phone) three-dimensional coordinate (X (P), Y (P), H (P)) should be very accurate, precision should be less than 0.1 meter, in the sight line fairway, and precision even reach Centimeter Level.
List of references:
1, China, " computer network with communicate by letter ", communication interface and data link control, Feng Boqin chief editor, economic science publishing house, in March, 2000, the 3rd chapter, the 60th page.
2, China, " mine surveying " (first fascicle, operating mine survey), operating mine survey method, Zhou Liwu, Zhang Guoliang, Lin Jiacong, metallurgical industry publishing house, in June, 1987, first piece the 60th page.
3, Chinese Guangdong, the collection of thesis of " mobile communication " magazine.
4, China, " Guangdong mapping " magazine, the 3s new technology in the mapping science, Jiang Lilong submits the article, " Guangdong mapping " editorial office, 2006
Claims (2)
1. the technology of the present invention feature:
(1) range finding----utilizes distance detecting file (various digital data file), such as long SMS etc., measure to transmit file from beginning to be sent to the complete total time of passing original position back by transmitting binary numeral (0/1) between mobile communication network base station and the travelling carriage (mobile phone) back and forth, and then take advantage of in ray velocity and ask the distance of calculating between them.Convenient, quick, accurately, small investment, practicality, programming is simple, need not change hardware, need only update software get final product.
(2) ask and calculate travelling carriage (mobile phone) three-dimensional coordinate----and utilize mobile communication network to measure the distance of measuring between the travelling carriage (mobile phone) of two or a plurality of base station and unknown coordinates of three-dimensional coordinate, the big probable value or the exact value that cooperate the discrepancy in elevation between them, after trying to achieve horizontal range, form the horizontal plane triangle, obtain angle with triangle corner computing formula, utilize engineering surveying to ask the lead computing formula of calculating point coordinates, try to achieve travelling carriage (mobile phone) three-dimensional coordinate.Simply, quick, accurately, practicality, programming are easily.
2. the present patent application is asked for protection following scope:
(1) distance measurement technique between mobile communication company network fixed base stations and the travelling carriage (mobile phone).
Be to utilize distance detecting file (various audio frequency, video, literal, digital data files such as numeral) to measure the technology of distance between them between mobile communication company network fixed base stations and the travelling carriage (mobile phone).
(2) all use distance measurement technique between the mobile radio station of the fixed station of fixed frequency electronics transreceiver of wireless microwave transmitting and receiving digital information and same nature.
Promptly all use wireless microwave transmitting and receiving digital information fixed frequency electronics transreceiver fixed station and have between the mobile electron transreceiver of the wireless Digital Microwave information of transmit-receive cofrequency rate and utilize distance detecting file (various audio frequency, video, literal, digital data files such as numeral) technology of the distance of conjunction measuring between them.
(3) utilizing the people behaviour area mostly to be the level land in the same cellular cell of mobile communication company network measures average absolute altitude HO or asks the accurate absolute altitude Hp that measures mobile phone, the accurate absolute altitude of measuring with mobile communication network base station radio microwave receiving launch point poor obtained the technology of horizontal range again with oblique distance between them and right-angled triangle Pythagorean theorem.
(4) utilize in the same cellular cell in the mobile communication company network or adjacent base station that two or more of adjacent cells have been surveyed three-dimensional coordinate and travelling carriage (mobile phone) form one, two or a plurality of level triangle (oneself knows the triangles of three horizontal range length of side compositions of measuring length with the distance detecting file and calculating with the discrepancy in elevation between base station and the mobile phone) ask the technology of the three-dimensional coordinate of calculation travelling carriage (mobile phone).
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| US11035948B2 (en) | 2018-03-20 | 2021-06-15 | Boe Technology Group Co., Ltd. | Virtual reality feedback device, and positioning method, feedback method and positioning system thereof |
| CN110109056A (en) * | 2019-04-24 | 2019-08-09 | 广州市慧建科技有限公司 | A kind of multiple target laser orientation system |
| CN110109057A (en) * | 2019-04-24 | 2019-08-09 | 广州市慧建科技有限公司 | A kind of laser orientation system |
| CN110109056B (en) * | 2019-04-24 | 2021-04-20 | 广州市慧建科技有限公司 | Multi-target laser positioning system |
| CN110109057B (en) * | 2019-04-24 | 2021-04-20 | 广州市慧建科技有限公司 | Laser positioning system |
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