CN100538389C - A kind of radio 3-D positioning method and system - Google Patents
A kind of radio 3-D positioning method and systemDownload PDFInfo
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- CN100538389C CN100538389CCNB2006100786429ACN200610078642ACN100538389CCN 100538389 CCN100538389 CCN 100538389CCN B2006100786429 ACNB2006100786429 ACN B2006100786429ACN 200610078642 ACN200610078642 ACN 200610078642ACN 100538389 CCN100538389 CCN 100538389C
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Abstract
Description
Technical field:
The invention belongs to data transmission and communication technology device field, relate in particular to a kind of radio 3-D positioning method and system.
Background technology:
At present, all exist the Wireless 3 D location of requirement carry out to(for) mobile personnel in many fields such as mining industry, medical monitorings.
For example, in the coal in China mining industry, aboveground control center needs to understand in real time the definite position of down-hole miner operation.In case accident of mine disaster such as mine caves in, gas explosion take place, and these definite positional informations can be brought great help to rescue work.
Again for example, in places such as admissions office of hospital, monitoring center, sanatorium, sudden illness can appear in many patients, need carry out urgent medical rescue.Yet in some cases, their morbidity place is not to be near the sick bed, to be likely places such as toilet.This just need utilize location technology that the patient present position is positioned.
Existing wireless location technology can be divided into satellite radio location and terrestrial wireless location.
Gps satellite wireless location, function are that independent GPS receiver is positioned, and tell residing coordinate of receiver and height, are mainly used in navigation.Therefore the gps satellite location is not suitable for using in orientation management fields such as mining industry, medical monitoring.
The terrestrial wireless location technology is the travel-time by the measurement radiowave, and signal intensity, phase place, parameters such as incident angle realize two dimension (X, the Y direction) location to moving target.Also there is not at present to carry out the terrestrial wireless location technology of Wireless 3 D location.
Summary of the invention:
The present invention be directed to the blank of present terrestrial wireless three-dimensional localization art, propose a kind of method of utilizing the terrestrial wireless three-dimensional localization of broadcast mechanism, can carry out the Wireless 3 D location in the face of mobile personnel on ground.
Another object of the present invention, provide a kind of Wireless 3 D positioning system, this system comprises: user terminal, information repeating base station, broadcast base station, center base station, center monitoring computing machine, and to support the method for a kind of Wireless 3 D location proposed by the invention.
The present invention is a kind of method of utilizing broadcast mechanism to carry out the terrestrial wireless three-dimensional localization, it is characterized in that utilizing the sign of broadcast message as Z direction coordinate, combines with terrestrial wireless two dimension (X, Y direction) localization method, realizes the terrestrial wireless 3-D positioning method.
Radio 3-D positioning method provided by the invention at first according to the geographical situation in practical application place, is determined the quantity that is in the layering of different Z coordinate direction that all mobile subscribers may arrive; The layering of described Z coordinate direction is meant the floor of buildings, the tunnel of mine etc.
According to the situation in practical application place, determine to arrive the quantity and the residing position of each Z coordinate direction layering inlet; Inlet in identical Z coordinate direction layering is settled the broadcast base station that has identical Z coordinate information; Inlet in different Z coordinate direction layerings is settled the broadcast base station that has different Z coordinate informations;
According to the geographical situation in practical application place, settle the information repeating base station, to guarantee that in application places the mobile subscriber sends information in any point that may arrive, and can both be received by at least three information repeating base stations in same hierarchical level.
With the aggressive mode is example, when the user applies for three-dimensional localization, adopts following steps:
A. user terminal is in the state that receives the Z coordinate information by phased manner;
B. when the user carry user terminal from a certain inlet of certain Z layering through out-of-date, user terminal will receive that user terminal will store this information from the Z coordinate information of the broadcast base station of this Z layering by the Radio Link between user terminal and the broadcast base station;
C. carry user terminal when certain Z layering enters a certain inlet of another Z layering as the user, user terminal will refresh the Z coordinate information of having stored.
D. the user applies for the location, presses the button on the user terminal, and with ID number and Z coordinate information of user terminal, the radio up-line by between user terminal and the information repeating base station sends to the information repeating base station.If locate successfully, inform the user; If the mechanism of reorientating is then adopted in the location failure;
E. after at least three information repeating base stations are received the information of user terminal, measure the intensity of this signal earlier, measurement result is carried out analog to digital conversion, and storage; The strength information of the signal of adding ID number of information repeating base station and having stored, the radio up-line by between information repeating base station and the center base station sends to center base station;
F. after center base station was received the information of at least three information repeating base stations, with the information via decoding processing, the wired up-link by between center base station and the center monitoring computing machine sent to the center monitoring computing machine;
G. after the center supervisory control comuter is received the information of center base station, the correctness of information is checked.Check success, then send confirmation to center base station by the wired downlink between center monitoring computing machine and the center base station; Center base station is received confirmation, then sends confirmation to the information repeating base station by the radio downlink between center base station and the information repeating base station.The information repeating base station is received confirmation, then sends confirmation to user terminal by the radio downlink between information repeating base station and the user terminal.User terminal is received confirmation, informs that the user locatees success;
H. meanwhile, the information that the center monitoring computing machine receives comprises: the strength information of the signal that the ID of user terminal number and Z coordinate information, at least three information repeating base station ID separately number and these three information repeating base stations are stored separately.The location application that by distinguishing user terminal ID number can judge which user terminal sends sends and through the Z coordinate information that information repeating base station, center base station are transmitted, directly draws the residing Z direction of user terminal coordinate by user terminal; The strength information of the signal of storing separately by at least three information repeating base station ID separately numbers and these three information repeating base stations can go out the coordinate of user terminal X, Y direction by algorithm computation;
Radio Link between described broadcast base station and the user terminal is a uni-directional downlink.
The ID of described user terminal number, ID number of the information repeating base station is unique in native system.The ID of user terminal number with the information repeating base station ID number belongs to two kinds of different frame formats respectively.
Control by timer is set the positioning time of the described mechanism of reorientating at interval, time one also will be provided with the number of times that a counter records resends Location Request to resending Location Request, if surpass certain threshold value, then stop Location Request, as error event report user.
Described algorithm is the intensive parameter by measuring-signal, judges the distance between user terminal and the information repeating base station.User terminal is being the center of circle with this information repeating base station just, is in the circle of radius with this distance.At least three information repeating base stations are received the information of user terminal, and then user terminal just is within the public intersection range of these three circles, utilize this algorithm can realize wireless two dimension (X, Y direction) location to moving target.
Described X, Y, Z direction coordinate are the positional informations that goes out according to the application places cartographic representation of drawing.
When adopting Passive Mode, adopt the user terminal of polling mode by center base station and information repeating base station visit appointment by the center monitoring computing machine, user terminal is then carried out and is equivalent to by the operation of button, thereby carries out the process of aggressive mode.
The Wireless 3 D positioning system that radio 3-D positioning method according to the present invention designs comprises:
Broadcast base station: be used for being responsible for storage, broadcasting Z coordinate information;
User terminal: be used for being responsible for ID number of storage user terminal; Send the location application information; Receive Z coordinate information, location successful information, broadcasting polling message;
Information repeating base station: be used for being responsible for ID number of canned data repeating base station; Transmit locating information, location successful information, broadcasting polling message;
Center base station: be used for being responsible for Radio Link is converted to wire link; Transmit locating information, location successful information, broadcasting polling message;
Center monitoring computing machine: be used for being responsible for the processing locating information; Calculate X, the Y of user terminal, the coordinate information of Z direction; Send location successful information, broadcasting polling message;
Wherein, the signal relation of above each several part is: during the location, the center monitoring computing machine receives locating information from center base station, center base station receives locating information from least three information repeating base stations, at least three information repeating base stations receive the location application information from user terminal, and user terminal receives the Z coordinate information from broadcast base station; After locating successfully, user terminal receives the location successful information from the information repeating base station, and the information repeating base station receives the location successful information from center base station, and center base station receives the location successful information from the center supervisory control comuter.
Described broadcast base station is by first controller module 61, first wireless radio frequency modules 71, first outer memory module 81,first antenna 151Form, wherein,
First controller module 61: be responsible for and first wireless radio frequency modules 71Communicate; Be responsible for control to first outer memory module 81Carry out read-write operation;
First wireless radio frequency modules 71: be responsible for by Radio Link transmission, reception information;
First outer memory module 81: be responsible for storage Z coordinate information;
First controller module 61By data line from first outer memory module 81Obtain the Z coordinate information; Be transferred to first wireless radio frequency modules 7 by data line again1, byfirst antenna 151Output.
Described user terminal is by second controller module 62, second wireless radio frequency modules 72, second outer memory module 82, external timer module 9, power amplification circuit module 10, hummer driver module 11, button 12, hummer 13, thesecond antennas 152Form, wherein,
Second controller module 62: be responsible for and second wireless radio frequency modules 72Communicate; Be responsible for control to second outer memory module 82Carry out read-write operation;
Second wireless radio frequency modules 72: be responsible for by Radio Link transmission, reception information;
Second outer memory module 82: responsible ID number of storing user terminal;
External timer module 9: be responsible for timing wake-up second controller module 62
Power amplification circuit module 10: be responsible for signal is carried out power amplification;
Hummer driver module 11: be responsible for driving hummer 13;
Second controller module 62By data line from second outer memory module 82, be transferred to second wireless radio frequency modules 7 by data line again obtain user terminal ID number2, after 10 amplifications of overpower amplifying circuit module, byantenna 152Output.External timer module 9 is by data line, and the transmit timing wake-up signal is given second controller module 62Second controller module 62By data line, the transmission drive signal is given hummer driver module 11.
Described information repeating base station is by the 3rd controller module 63, the 3rd wireless radio frequency modules 73, the 3rd outer memory module 83, analog-to-digital conversion module 14,third antenna 153Form, wherein,
The 3rd controller module 63: be responsible for and the 3rd wireless radio frequency modules 73Communicate; Be responsible for control to the 3rd outer memory module 83Carry out read-write operation; Be responsible for control analog-to-digital conversion module 14;
The 3rd wireless radio frequency modules 73: be responsible for by Radio Link transmission, reception information; Be responsible for measuring the intensity of received signal;
The 3rd outer memory module 83: be responsible for ID number of the canned data repeating base station, the strength information of signal;
Analog-to-digital conversion module 14: be responsible for carrying out the conversion of simulating signal to digital signal;
The 3rd controller module 63By data line from the 3rd outer memory module 83Obtain the information repeating base station ID number; Be transferred to the 3rd wireless radio frequency modules 7 by data line again3, bythird antenna 153Output.The 3rd wireless radio frequency modules 73Reception is from the information of user terminal, and the strength information of this signal is transferred to analog-to-digital conversion module 14, after analog to digital conversion, by the 3rd controller module 63Store the strength information of this signal into the 3rd outer memory module 8 by data line3
Described center base station is by the 4th controller module 64, the 4th wireless radio frequency modules 74, the4th antenna 154, Computer Interface Module 16, serial ports 17 is formed, wherein,
The 4th wireless radio frequency modules 74: be responsible for by Radio Link transmission, reception information;
The 4th controller module 64: be responsible for and the 4th wireless radio frequency modules 74Communicate; Be responsible for communicating with Computer Interface Module 16;
Computer Interface Module 16: be responsible for by serial ports 17 and center monitoring compunication;
The 4th controller module 64With the 4th wireless radio frequency modules 74From the4th antenna 154Receive information, be transferred to Computer Interface Module 16, after serial ports 17 is transferred to the center monitoring computing machine by data line.
The present invention is a kind of radio 3-D positioning method and the system that utilizes broadcast mechanism, filled up the blank of present terrestrial wireless three-dimensional localization techniques, realized under the separate network support, the terrestrial wireless 3 D positioning system, can be applicable in the sorts of systems such as large-scale, medium-sized, small-sized, have also simultaneously that equipment volume is little, characteristics such as installation and simple operation.
Description of drawings:
One-piece construction synoptic diagram in Fig. 1, Wireless 3 D positioning system one floor, wherein:
1, center monitoring computing machine, 2, center base station, 31, first information repeating base station, 32, the second information repeating base station, 33, the 3rd information repeating base station, 41, first broadcast base station, 42, second broadcast base station, 51, first user terminal;
The broadcast base station structural representation of Fig. 2, Wireless 3 D positioning system, wherein:
61, first controller module, 71, first wireless radio frequency modules, 81, first outer memory module, 151, first antenna;
The user terminal structural representation of Fig. 3, Wireless 3 D positioning system, wherein:
62, second controller module, 72, second wireless radio frequency modules, 82, second outer memory module, 9, the external timer module, 10, the power amplification circuit module, 11, the hummer driver module, 12, button, 13, hummer, 152, second antenna;
The information repeating base station structural representation of Fig. 4, Wireless 3 D positioning system, wherein:
63, the 3rd controller module, 73, the 3rd wireless radio frequency modules, 83, the 3rd outer memory module, 14, analog-to-digital conversion module, 153, third antenna;
The center base station structural representation of Fig. 5, Wireless 3 D positioning system, wherein:
64, the 4th controller module, 74, the 4th wireless radio frequency modules, 154, the 4th antenna, 16, Computer Interface Module, 17, serial ports;
Embodiment:
The embodiment of method and system of the present invention is described below in conjunction with Figure of description.
As shown in Figure 1, be in first floor of a building apartment, to use one-piece construction synoptic diagram of the present invention, this first floor has two inlets, has settled two broadcast base stations that have identical Z coordinate information at two inlets respectively.Present embodiment comprises center monitoring computing machine 1 and center base station 2, realizes control information, data information transfer by wire link; First information repeating base station 31, the second information repeating base station 32, the 3rd information repeating base station 33, by the data information transfer of Radio Link realization and user terminal, center base station; First broadcast base station 41, second broadcast base station 42Be the broadcast base station of these two porch of floor, by the data information transfer of Radio Link realization with user terminal; User terminal 51For being in a user terminal of this floor, by the data information transfer of Radio Link realization with information repeating base station, broadcast base station.
The broadcast base station of Wireless 3 D positioning system is by first controller module 61, first wireless radio frequency modules 71, first outer memory module 81,first antenna 151Form first controller module 61By data line from first outer memory module 81Obtain the Z coordinate information; Be transferred to first wireless radio frequency modules 7 by data line again1, byfirst antenna 151Output, as shown in Figure 2.
The user terminal of Wireless 3 D positioning system is by second controller module 62, second wireless radio frequency modules 72, second outer memory module 82, external timer module 9, power amplification circuit module 10, hummer driver module 11, button 12, hummer 13, thesecond antennas 152Form.Second controller module 62By data line from second outer memory module 82, be transferred to second wireless radio frequency modules 7 by data line again obtain user terminal ID number2, after 10 amplifications of overpower amplifying circuit module, byantenna 152Output; External timer module 9 is by data line, and the transmit timing wake-up signal is given second controller module 62Second controller module 62By data line, the transmission drive signal is given hummer driver module 11, as shown in Figure 3.
The information repeating base station of Wireless 3 D positioning system is by the 3rd controller module 63, the 3rd wireless radio frequency modules 73, the 3rd outer memory module 83, analog-to-digital conversion module 14,third antenna 153Form.
The 3rd controller module 63By data line from the 3rd outer memory module 83Obtain the information repeating base station ID number; Be transferred to the 3rd wireless radio frequency modules 7 by data line again3, bythird antenna 153Output; The 3rd wireless radio frequency modules 73Reception is from the information of user terminal, and the strength information of this signal is transferred to analog-to-digital conversion module 14, after analog to digital conversion, by the 3rd controller module 63Store the strength information of this signal into the 3rd outer memory module 8 by data line3, as shown in Figure 4.
The center base station of Wireless 3 D positioning system is by the 4th controller module 64, the 4th wireless radio frequency modules 74, Computer Interface Module 16, serial ports 17, the fourantennas 154Form.
The 4th controller module 64With the 4th wireless radio frequency modules 74From the4th antenna 154Receive information, be transferred to Computer Interface Module 16, after serial ports 17 is transferred to the center monitoring computing machine, as shown in Figure 5 by data line.
Native system can adopt active work mode, promptly proposes the location application by the user; Also can adopt passive work mode, promptly adopt the user terminal of polling mode by center base station and information repeating base station visit appointment by the center monitoring computing machine, user terminal is then carried out and is equivalent to by the operation of button, thereby carries out the process of aggressive mode.
When the user proposes positioning requirements, promptly be example with the aggressive mode, adopt following steps:
A. work as the user and carry user terminal 51By first when inlet, by with first broadcast base station 41Between Radio Link, obtain, store the Z coordinate information; When user terminal 51By second when inlet, by with second broadcast base station 42Between Radio Link, obtain, store the Z coordinate information; As user when from then on floor enters another floor, will refresh the Z coordinate information, and obtain, store new Z coordinate information.
B. the user applies for location, user terminal 51With the Z coordinate information that stored and ID number of this user terminal, by the radio up-line between user terminal and the information repeating base station, the first information repeating base station 3 around sending to1, the second information repeating base station 32, the 3rd information repeating base station 33, and wait for confirmation of receipt information.If locate successfully, inform the user; If the mechanism of reorientating is then adopted in the location failure;
C. work as above-described three information repeating base stations and receive user terminal 51Information after, measure earlier the intensity of this signal, measurement result is carried out analog to digital conversion, and storage; The strength information of the signal of adding three information repeating base station ID separately numbers and storing by the radio up-line between information repeating base station and the center base station, sends to center base station 2;
D. subsequently, center base station 2 has been received the information of three information repeating base stations, and with the information via decoding processing, the wired up-link by between center base station and the center monitoring computing machine sends to center monitoring computing machine 1;
E. after center supervisory control comuter 1 is received the information of center base station 2, the correctness of information is checked.Check success, then send confirmation to center base station 2 by the wired downlink between center monitoring computing machine and the center base station; Center base station 2 is received confirmation, then sends by the radio downlink between center base station and the information repeating base station and confirms that an information is to three information repeating base stations.The information repeating base station is received confirmation, then sends confirmation to user terminal 5 by the radio downlink between information repeating base station and the user terminal1User terminal 51Receive confirmation, inform that the user locatees success;
F. meanwhile, the information that receives of center monitoring computing machine 1 comprises: user terminal 51ID number and the strength information of the signal of Z coordinate information, three information repeating base stations ID number and these three information repeating base stations storages.The location application that by distinguishing user terminal ID number can judge which user terminal sends, the strength information of the signal of storing separately by at least three information repeating base station ID separately numbers and these three information repeating base stations can go out the X of user terminal, the coordinate of Y direction by algorithm computation; Send and, directly draw the coordinate of the Z direction of user terminal by user terminal through the Z coordinate information that information repeating base station, center base station are transmitted;
G. utilize X, Y, the Z coordinate information that calculates, corresponding with the map of drawing according to the actual conditions of application places, positioning user terminal.
The present invention uses the broadcast message on the Z direction, because the Z directional information is well-determined, add the method for existing terrestrial wireless two-dimensional localization, be that method by the measure signal intensity parameter positions calculating in the present embodiment, just can realize the Wireless 3 D location on ground the user terminal that moves.Filled up the technological gap of existing terrestrial wireless three-dimensional localization.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed in the technical scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (10)
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| CNB2006100786429ACN100538389C (en) | 2006-04-29 | 2006-04-29 | A kind of radio 3-D positioning method and system |
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| CNB2006100786429ACN100538389C (en) | 2006-04-29 | 2006-04-29 | A kind of radio 3-D positioning method and system |
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| US8897801B2 (en)* | 2008-06-13 | 2014-11-25 | Qualcomm Incorporated | Transmission of location information by a transmitter as an aid to location services |
| CN102291754A (en)* | 2010-12-31 | 2011-12-21 | 吴东辉 | Method and system for positioning and speed measurement of mobile terminal based on mobile communication system |
| CN109366359B (en)* | 2018-10-25 | 2020-10-16 | 毛海龙 | High-stability intelligent grinding machine control method and system based on Internet of things |
| CN110445761A (en)* | 2019-07-10 | 2019-11-12 | 视联动力信息技术股份有限公司 | A kind of video drawing stream method and device |
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