CN103238041A - Wide area positioning system - Google Patents

Abstract

Positioning systems and methods comprise a network of transmitters that broadcast positioning signals comprising ranging signals and positioning system information. A ranging signal comprises information used to measure a distance to a transmitter broadcasting the ranging signal. A reference sensor array comprising at least one reference sensor unit is positioned at a known location. A remote receiver includes an atmospheric sensor collecting atmospheric data at a position of the remote receiver. A positioning application is coupled to the remote receiver and generates a reference pressure estimate at the position of the remote receiver using the atmospheric and reference data from the reference sensor array. The positioning application computes the position of the remote receiver using the reference pressure estimate and information derived from at least one of the positioning signals and satellite signals that are signals of a satellite-based positioning system. The position includes an elevation.

Description

The wide area positioning system

Related application

The application requires the rights and interests of No. the 61/413rd, 170, united states's patented claim of submitting on November 12nd, 2010.

The application is the part continuation application of No. the 12/557th, 479, the U.S. Patent application submitted on September 10th, 2009.

Technical field

Disclosure herein relates generally to positioning system.Especially, the disclosure relates to the wide area positioning system.Background technology

Picture GPS positioning systems such as (GPS) was used many years.Yet under bad signal conditioning, these traditional positioning systems may have the performance of deterioration.

Description of drawings

Fig. 1 is the block diagram of the wide area positioning system under the embodiment.

Fig. 2 is the block diagram of the sync beacon under the embodiment.

Fig. 3 is the block diagram of the positioning system of the use repeater configurations under the embodiment.

Fig. 4 is the block diagram of the positioning system of the use repeater configurations under the optional embodiment.

The signal tower that Fig. 5 shows under the embodiment is synchronous.

Fig. 6 is the block diagram that the GPS under the embodiment is restrained the PPS generator.

Fig. 7 is that the GPS under the embodiment is restrained oscillator.

Fig. 8 shows being used for PPS and making the simulation part of transmitter can send the signal graph that the mistiming between the signal of data counts under the embodiment.

Fig. 9 is the block diagram of the difference WAPS system under the embodiment.

Figure 10 shows between common apparent time under the embodiment and transmits.

The two-way time that Figure 11 shows under the embodiment transmits.

Figure 12 is the block diagram of the acceptor unit under the embodiment.

Figure 13 is the block diagram of the RF module under the embodiment.

Figure 14 shows conversion and/or conversion down on the signal under the embodiment.

Figure 15 is the block diagram of the receiver system with a plurality of reception chains under the embodiment, wherein, can use of receiving in the chain to be used for receiving the WAPS signal temporarily and it is handled.

Figure 16 is the block diagram that the clock of sharing in positioning system under the embodiment is shown.

Figure 17 is the block diagram that the assistance from WAPS to the GNSS receiver under the embodiment is transmitted.

Figure 18 is the block diagram that the transmission of the supplementary from the GNSS receiver to the WAPS receiver under the embodiment is shown.

Figure 19 provides the example arrangement of WAPS assistance information from the WAPS server under the embodiment.

Figure 20 is the estimation h[n under the embodiment] in the process flow diagram that arrives the path the earliest.

Figure 21 is the process flow diagram of the estimation benchmark related function under the embodiment.

Figure 22 is the process flow diagram of the estimating noise subspace under the embodiment.

Figure 23 is the process flow diagram of the estimating noise subspace under the optional embodiment.

Figure 24 is the process flow diagram of the estimating noise subspace under another optional embodiment.

Figure 25 is the process flow diagram of the estimating noise subspace under the another optional embodiment.

Figure 26 is again the process flow diagram of the estimating noise subspace under the optional embodiment.

Figure 27 is the block diagram of the benchmark height above sea level pressure system under the embodiment.

Figure 28 is the block diagram of the WAPS of the integrated benchmark height above sea level pressure system under the embodiment.

Figure 29 is the block diagram that the use under the embodiment is estimated from the hybrid position of the scope measured value of each system.

Figure 30 is the block diagram that the use under the embodiment is estimated from the hybrid position of the location estimation value of each system.

Figure 31 is the block diagram that the use under the embodiment is estimated from the hybrid position of the combination of the scope of each system and location estimation value.

Figure 32 is the process flow diagram of the definite hybrid position solution under the embodiment, and wherein, when the quality of GNSS/WAPS position and/or velocity estimation value was good, feedback was from the location/velocity estimated value of WAPS/GNSS system, to help the drift biasing of calibration sensor frequently.

Figure 33 is the process flow diagram of the definite hybrid position solution under the embodiment, wherein, under the situation that does not need clearly to feed back, as the part that the location/velocity in GNSS and/or the WAPS unit is calculated, comes estimated sensor parameter (for example biasing, ratio and drift).

Figure 34 is the process flow diagram of the definite hybrid position solution under the embodiment, wherein, pick up calibration is separated with each position calculation unit.

Figure 35 is the process flow diagram of the definite hybrid position solution under the embodiment, wherein, carries out sensor parameters as the part of the state of each position calculation unit and estimates.

Figure 36 shows WAPS under the embodiment and the exchange of the information between other system.

Figure 37 is the block diagram that the exchange of FM receiver under the embodiment and the place between the WAPS receiver, frequency and time estimated value is shown.

Figure 38 is the block diagram that the exchange of WLAN/BT transceiver under the embodiment and place, time and frequency estimation between the WAPS receiver is shown.

Figure 39 is the block diagram that the exchange of cellular transceiver under the embodiment and place, time and frequency estimation between the WAPS receiver is shown.

Figure 40 shows the parallel multiple correlation device framework under the embodiment.

Figure 41 shows the 32 bit shift register realization that two the 16 bit shift register primitives from having parallel random access reading capability under the embodiment draw.

Figure 42 shows the shift operation under the embodiment and reads arithmetic speed.

Figure 43 shows the structure of the adder tree of the realization 1023 * n position totalizer under the embodiment.

Figure 44 is the block diagram that the session key under the embodiment is set.

Figure 45 is the process flow diagram of the encryption under the embodiment.

Figure 46 is the block diagram of the security architecture that is used for encryption under the optional embodiment.

Embodiment

The system and method for the position that is used for definite receiver is described.The positioning system of embodiment comprises the transmitter network, and the transmitter network comprises the transmitter of broadcasting positioning signal.Positioning system comprises remote receiver, and remote receiver is obtained and track and localization signal and/or satellite-signal.Satellite-signal is based on the signal of the positioning system of satellite.First pattern of remote receiver is used the location based on terminal, and wherein, remote receiver is used positioning signal and/or satellite-signal calculating location.Positioning system comprises the server that is couple to remote receiver.Second mode of operation of remote receiver comprises based on network location, wherein, the position that server calculates remote receiver according to positioning signal and/or satellite-signal, wherein, remote server receives and transmits positioning signal and/or satellite-signal to server.

The embodiment method of allocation really is included in the remote receiver place and receives in positioning signal and the satellite-signal at least one.Receive positioning signal from the transmitter network that comprises a plurality of transmitters.From satellite-based positioning system receiving satellite signal.This method comprises that use based on one in the location of terminal and the based on network location, determines the position of remote receiver.Location based on terminal comprises at least one that use in positioning signal and the satellite-signal, calculates the position of remote receiver at the remote receiver place.Based on network location comprises at least one that use in positioning signal and the satellite-signal, calculates the position of remote receiver at the remote server place.

In the following description, introduce a large amount of details, provide the complete understanding of described system and method and make it possible to described system and method is described.Yet various equivalent modifications will recognize, under the situation of one or more that can be in not having these details or use other parts, system etc. to put into practice these embodiment.In other example, do not illustrate or be not described in detail known structure or computing, to avoid covering the each side of disclosed embodiment.

Fig. 1 is the block diagram of the positioning system under the embodiment situation.Here the positioning system that is also referred to as wide area positioning system (WAPS) or " system " comprises: the network of sync beacon; Obtain and the acceptor unit (and randomly having the location calculations engine) of tracking beacon and/or GPS (GPS) satellite; And the server that comprises the index (index), charge interface (billing interface), dedicated encrypted algorithm (with location calculations engine randomly) of signal tower.System works in the working band of permission/not permission, and sends special-purpose waveform for place and navigation purpose.Separate (location solution) for better place, can be used in combination the WAPS system with other positioning system, perhaps can use the WAPS system to assist other positioning system.In the context of this article, positioning system is to one or more system that positions in latitude, longitude and the sea level elevation coordinate.

In presents, when mentioning ' GPS ', refer on the meaning widely, can comprise such as other existing global position systems such as Glonass and such as the GNSS (GLONASS (Global Navigation Satellite System)) of following positioning systems such as Galileo and Compass/Beidou.

Fig. 2 is the block diagram of the sync beacon under the embodiment situation.The sync beacon of embodiment (being also referred to as beacon here) forms cdma network, and each beacon uses the data stream of embedded assitance data, sends pseudo random number (PRN) sequence that has good cross correlation property such as gold code sequence etc.Alternatively, can stagger in time from the sequence of each beacon transmitter and become the separation of TDMA form time slot.

In Ground Positioning System, one of main challenge that overcome is far and near (near-far) problem, and wherein, at the receiver place, near the transmitter scope transmitter far away will be subjected to disturbs.In order to address this problem, the beacon of embodiment uses the combination of CDMA and TDMA technology, and wherein, local transmitter can use the time slot (TDMA) (and randomly different code (CDMA)) of separation to alleviate near-far problem.Permission transmitter further away from each other uses identical tdma slot when using different CDMA codes.This system that makes has the wide area scalability.Tdma slot can be determine guaranteeing far and near performance, or randomized so that good average far and near performance to be provided.Also carrier signal can be offset the hertz (for example sub-fraction of gold code repetition frequency) of some quantity, to improve the simple crosscorrelation performance of code, to solve " distance " problem arbitrarily.When two signal towers are used identical tdma slot but are to use different codes, can before detecting more weak signal, use the Interference Cancellation of strong signal, further resist the simple crosscorrelation in the receiver.

Another important parameter in the tdma system is tdma slot cycle (being also referred to as tdma frame).Particularly, in the WAPS system, the tdma frame duration is the time period between two continuous slots of same transmitter.The tdma frame duration is determined by the quantity that positions required transmitter time slot in the overlay area and the product of tdma slot duration.Though sensitivity is limited by single tdma slot not necessarily, the tdma slot duration is required to determine by sensitivity.An example arrangement can be used 1 second as the tdma frame duration, and uses 100ms as the tdma slot duration.

In addition, the beacon of embodiment can use the preamble (preamble) that comprises assitance data, perhaps can use the information for channel estimating and forward error detection and/or correction, to help to make the data robust.The assitance data of embodiment is including, but not limited in the following data one or more: the rising of the pulse of waveform or the accurate system time of falling edge; The geographic code data of signal tower (latitude, longitude and sea level elevation); The index of the sequence that the geographic code information of closing signal tower and each transmitter in the zone use; The clock correction of timing value that is used for transmitter (choosing wantonly) and adjacent transmitter; Local air pressure corrected value (choosing wantonly); WAPS timing and GNSS time relation (choosing wantonly); The indication (choosing wantonly) of the city of auxiliary reception device, half city, rural environment in the pseudo-range solution; And from the base index of PN sequence or index the skew of gold code sequence.In the transmission Frame of broadcasting, can comprise that the reason that comprises owing to safety and/or License Management makes the field of the information that single or one group of receiver lost efficacy.

To regularly be synchronized to common timing base from the transmission waveform of the transmission of the different beacons of embodiment and signal tower.Alternatively, should know and send timing difference between the emission of unlike signal tower.Except the timed message that will increase progressively at interval with rule, repeat assitance data with the interval of being determined by quantity and the size of data block.As describing in detail here, can use the dedicated encrypted algorithm, assitance data is encrypted.For added security, can also be encrypted spreading code.Signal is gone up conversion and broadcasted with predefined frequency.End-to-end delay in the transmitter is calibrated exactly, approximate less than 3 nanoseconds to guarantee the differential delay between the beacon.Use is in the difference WAPS receiver of being investigated the place of listening to one group of transmitter, can find the relative time clock corrected value for the transmitter of this group.

At covering and the place degree of accuracy, optimize the signal tower of embodiment and arrange.With the most of places in network and the mode that receives signal at the edge of network from 3 or more signal tower, arrange the deployment of signal tower, make geometric dilution of precision (GDOP) in these places each less than the predetermined threshold that requires based on degree of accuracy.The software program that will carry out the RF project study is expanded to comprising in the network and the analysis of the GDOP around the network.GDOP is the function of receiver position and emitter position.A kind of method that GDOP is included in the network planning is following setting optimization.Want minimized function be cover GDOP on the volume square volume integral.Volume integral is at (x, y, z) coordinate of receiver position.For the n that is restricted an emitter position coordinate (x in the given overlay area ₁, y ₁, z ₁), (x ₂, y ₂, z ₂) ... (xn _,Yn _,z _n) minimize, the emitter position coordinate is in covering volume: for i=1 ..., n, x _Min＜x＜x _Max, y _Min＜y＜y _Max, z _Min＜z＜z _Max, wherein, x _Min, y _MinAnd z _MinBe lower limit, x _Max, y _MaxAnd z _MaxIt is the upper limit that covers volume.Can be written as by minimized function

$\begin{array}{c}f(x_i,y_i,z_i;i=\mathrm{1,2},...n)\\ =\underset{x\∈(\mathrm{xl},\mathrm{xu}),y\∈(\mathrm{yl},\mathrm{yu}),z\∈(\mathrm{zl},\mathrm{zu})}{\∫\∫\∫}\end{array}{\mathrm{GDOP}}^2(x,y,z,x_i,y_i,z_i;i=\mathrm{1,2},...n)$

In addition, can be according to overlay area R _jImportance (i.e. the performance quality of Yao Qiuing), be weighted wanting minimized function.

$f(x_i,y_i,z_i;i=\mathrm{1,2},...n)=\underset{j}{\mathrm{\Σ}}{W}_j\underset{x,y,z\∈R_j}{\∫\∫\∫}{\mathrm{GDOP}}^2(x,y,z,x_i,y_i,z_i;i=\mathrm{1,2},...n)$

Can be based on the place of spendable signal tower in the given area to the added limitations in signal tower coordinate place.Generally can be positive x with average east, with average the north be positive y and with average vertical upwards in the local horizontal coordinates of positive z, carry out the coordinatograph of all coordinates.The software that solves above-mentioned restricted minimization problem will be exported and will make the minimized optimum emitter position (x of function f ₁, y ₁, z ₁), (x ₂, y ₂, z ₂) ... (xn _,Yn _,z _n).

$\arg \underset{x_i,y_i,z_i;l=\mathrm{1,2},...n}{\min }\left(f(x_i,y_i,z_i\mathrm{li}=\mathrm{1,2},...n)\right)$

Can at wide area network (as in the city) or in partial deployment (as in shopping plaza) use this technology.In an example arrangement, the network of transmitter with triangle/hexagonal arrangement, separates with the scope of about 30km around each metropolitan area.Each signal tower can be carried out radiation up to peak power via corresponding antenna in the scope of approximate 20W to 1kW EIRP.In another embodiment, can position signal tower, and signal tower can send with the power level that is low to moderate 1W.The frequency band of work comprises any permission in the radio-frequency spectrum or the frequency band of not permitting.The emitting antenna of embodiment comprises omnidirectional antenna or can help diversity, is divided into fan-shaped etc. a plurality of antenna/arrays.

The different sequences that use has a good cross correlation property send or send identical sequence in the different time alternatively, distinguish the signal tower of closing on.These can be distinguished technical combinations and only be applied to given geographic area.For example, can reuse identical sequence by the network in different geographic regions.

Can in given geographic area, place the local signal tower, to expand the Wide Area Network signal tower of embodiment.When using the local signal tower, the local signal tower can improve the degree of accuracy of location.The local signal tower can be deployed in as in the environment such as campus, perhaps need for common security, the local signal tower is separated certain distance (this distance at tens meters in the scope of several kms).

Preferably signal tower is placed on (rather than on similar height) on the various height, with the convenient sea level elevation estimated value that obtains better quality of separating according to the position.Except transmitter was in the different latitude/longitude with differing heights, the another kind of method that increases the height diversity to signal tower was to go up at same physical signalling tower (having identical latitude and longitude) to have a plurality of WAPS transmitters (using different code sequences) at differing heights.Notice that the different code sequence on the same physical signalling tower can be used identical time slot, because the transmitter on the same signal tower does not produce near-far problem.

The WAPS transmitter can be placed on the prior existing or new signal tower (for example cellular signal tower) of one or more other system's use.By sharing same physical signalling tower or place, can make the WAPS transmitter dispose cost minimization.

In order to improve the performance in the regional area (for example warehouse or shopping plaza), can in this zone, place the additional signal tower, be used for the transmitter that wide area covers to expand.Alternatively, in order to reduce the cost that full transmitter is installed, can in region-of-interest, place repeater.

Notice that the transmission beacon signal that use location discussed above needs not be that transmitter is built-in exclusively for WAPS, and can be from original synchronous any other system in time or expanded the signal of synchronous system by additional time block.Alternatively, signal can be from determining synchronous relatively system by the benchmark receiver.These systems for example can dispose or newly dispose the appended synchronization ability.The example of these systems can be the broadcast system such as numeral and analog TV or MediaFlo.

When configuration WAPS network, some send places may than in the network by design or some other places of determining by in-site measurement good (height of the beacon that clutter, power level are above).Can be direct or indirect, perhaps by the data bit of indication letter target " quality " (receiver can use beacon " quality " that the signal that receives from these beacons is weighted) is encoded, make receiver identify these beacons.

Fig. 3 is the block diagram of the positioning system of the use repeater configurations under the embodiment situation.Repeater configurations comprises with lower member:

1) public WAPS receiving antenna (antenna 1)

2) the RF power amplifier is connected with separation vessel/switch for each WAPS emitter antenna (local antenna 1-4)

3) WAPS user's receiver

Antenna receives composite signal, it is amplified, and local antenna 1-4 is arrived in its distribution (switching).Switching should (preferably) not exist the mode of overlapping (conflict) to carry out at user's receiver place from the transmission of different repeaters.Can avoid the conflict that sends at interval by using protection.Should postpone by adding at repeater-amplifier-transmitter place, so that the overall delay of all local repeaters equates, perhaps postpone by the time gauge line cable that arrives from the given trunk device that will estimate at user's receiver place, come the known cable from the switch to the emitting antenna is postponed to compensate.When in wide area WAPS network, using TDMA, select repeater time slot switching rate, make each wide area time slot (each time slot will comprise a wide area WAPS signal tower) in all repeater time slots, to occur.An example arrangement equals use the repeater time slot duration of a plurality of wide area tdma frame duration.Particularly, if the wide area tdma frame is 1 second, then the repeater time slot can be integer second.This configuration is the simplest, but because the requirement of the RF signal distributions on the cable, and only be suitable in limited zonule, disposing.User WAPS receiver uses the mistiming that arrives when listening to the repeater signal tower with calculating location, and supposes work down in static (perhaps quasistatic) during the repeater slot cycle.The fact of the identical timing difference (jump) from a repeater time slot to next repeater time slot can be shown by each WAPS signal tower signal, detect the fact of sending from repeater automatically.

Fig. 4 is the block diagram of the positioning system of the use repeater configurations under the optional embodiment situation.In this configuration, the WAPS transmitter is expanded in the covering that is associated that comprises WAPS repeater-receiver and have a local antenna (for example its can indoor) of each repeater.WAPS repeater-receiver should extract the WAPS system timing information and with a WAPS data stream that wide area WAPS transmitter is corresponding.With the WAPS system regularly with the data delivery corresponding with wide area WAPS transmitter to corresponding local WAPS transmitter, local WAPS transmitter can send WAPS signal (for example using different codes and identical time slot) again then.Transmitter will comprise the additional data of latitude, longitude and sea level elevation such as local antenna in it sends.In this configuration, for the fact of signal from repeater, WAPS user's receiver operation (scope is measured and position measurement) can be apparent.Notice that the transmitter that uses is more cheap than full WAPS beacon in repeater, do not extract GNSS regularly because it does not need to have the GNSS timing unit.

According to the mode of operation of acceptor unit, system provides based on the location of terminal or based on network location.In the location based on terminal, acceptor unit originally calculates user's position on one's body at receiver.This is useful in the application of picture branch highway section navigation (turn-by-turn direction), geographical fence (geo-fencing) etc.In based on network location, acceptor unit receives the signal from signal tower, and transmits or send the signal that receives to server to calculate user's place.This is useful in the application as E911 and the asset tracking that is undertaken by central server and management.Position calculation in the server can use the data (for example GNSS, difference WAPS etc.) from many sources to carry out in the mode that approaches real-time or aftertreatment, to improve the degree of accuracy at server place.The WAPS receiver can also provide and obtain the information from server (for example, being similar to SUPL secure user plane server (Secure User PLane server)), conveniently to carry out based on network location.

The signal tower of embodiment independently or use based on network synchronously, keep synchronized with each other.The signal tower that Fig. 5 shows under the embodiment situation is synchronous.When describing synchronous each side, use following parameter:

System transmitter time=t _WAPS-tx

Absolute time benchmark=t _{WAPS_abs}

Time adjusted value=Δ _System=t _WAPS-tx-t _{WAPS_abs}

Note, with WAPS system time and absolute time benchmark synchronously not necessarily.Yet, with all WAPS transmitters and public WAPS system time synchronous (that is, the relative timing of all WAPS transmitters is synchronous).Should calculate each transmitter with respect to the correction of timing of WAPS system time (if there is).Should be by assisting transmission through air WAPS or by some other communication modes, making the correction of timing value can directly obtain for receiver.For example, can be from system (for example broadcasting channel of iridium (Iridium) or digital TV or MediaFlo or cellular system), by honeycomb (or other) modulator-demodular unit or by the broadcasting data, assistance is delivered to the WAPS receiver.Alternatively, the correction of timing value can be sent to server, and when server place calculating location, use.To synchronous being described below of the signal tower of embodiment.

Based on network synchronous following, signal tower is synchronized with each other in regional area.As describing in detail here, the emission that generally includes pulse synchronously between the signal tower (can use the modulation to the carrier wave of arbitrary form and/or use to be used for the expansion that the better time separates the spreading code of (it is modulated carrier wave then), paired pulses is modulated) and be synchronized to the edge of a pulse on the receiver.

Under the autonomous synchronous mode of embodiment, use local timing base to come signal tower is carried out synchronously.Timing base for example can be in the following content: gps receiver; Pin-point accuracy clock source (for example atom); Local zone time source (for example GPS is restrained clock); And other has the network in reliable clock source arbitrarily.Can use the use to the signal from XM satelline radio, LORAN, eLORAN that accurately carried out time synchronized, TV signal etc., as the thick timing base of signal tower.As the example among the embodiment, Fig. 6 be under the embodiment situation being used for regulation such as rubidium (Rubidium), caesium (Caesium) or hydrogen master (hydrogen master) accurately/stablize timing source, from the block diagram of the PPS impulse source of gps receiver.Alternatively, as shown in Figure 7, can use GPS to be restrained the rubidium clock oscillator.

With reference to figure 6, the time constant of PLL in the accurate clock source is set to provide enough big numbers (for example in 0.5-2 hour scope) of better short-term stability (the perhaps filtering that equivalently short-term GPS PPS is changed), and ' slightly ' that GPS-PPS provides more long-term stability and broader area synchronously.These two PPS pulses (from the GPS unit with from accurate clock source) of ejector system watch-keeping, and report any unusual.Unusually may be after two PPS source locking several hrs, the threshold value of being determined by signal tower network manager preset time be opened from another source drift in one of PPS source.The 3rd local clock source of can using is detected unusually.Under the situation of abnormal behaviour, ejector system selects to show the PPS signal of correct behavior, and this information is reported back monitoring station.In addition, can by transmitter broadcasting or can to send PPS input and the instantaneous time between the PPS output in correct time source (being reported as time source) to server poor, to use when the aftertreatment.

In ejector system, use the high-frequency clock that generates in inside, measure the rising edge of PPS pulse input and make the simulation part of transmitter can send the mistiming between the rising edge of signal of data.Fig. 8 show under the embodiment situation to PPS and make the analog component of transmitter can send the signal graph that the mistiming between the signal of data counts.Send the counting of this difference of expression to each receiver as the part of data stream.Only under the situation that equipment can not be modulated signal specific tower data again, the high stability clock reference of use such as rubidium clock (this clock is stable at several hrs/in several days), the system that makes can store/send this corrected value at each signal tower on equipment.If there is spendable communication media, also can send this correction data to equipment via communication media.Can be by the benchmark receiver or be installed in receiver on the signal tower of listening to other signal tower broadcasting and monitor correction data from signal tower, and can be to central server feed correction data.Signal tower also can periodically send this count information to central server, and central server can pass through near the communication link of the equipment of these signal towers then, scatters this information to these equipment.Alternatively, server can be from signal tower (for example in this locality) with this information delivery to adjacent signal tower, so that can broadcast this information as assistance information at adjacent signal tower.Can comprise position (because signal tower is static) and correction of timing information about near signal tower at the assistance information of adjacent signals tower.

Similar with the transmitter correction of timing value of embodiment, in the time can obtaining true PPS, can use it to estimate multichannel biasing and accurate true scope.Receiver for example uses the sample from the signal of ADC, comes estimation range.The receiver of embodiment uses high-frequency clock, determines poor between first edge of the appearance of PPS and sample ADC clock.This makes it possible to poor between when true PSS occurring and when the data of ADC are sampled, proofreaies and correct receiver based on ADC sample estimated ranges, makes it possible to thus the true scope of receiver is estimated the better precision of sample clock solution than ADC.In the context of the discussion in the superincumbent paragraph, PPS refer to such as the justified margin of GPS per second pulse (PPS (pulse-per-second)) or the pulse that has known offset with the standard timing benchmark.

In another embodiment, can use the wide area differential positioning system to come the timing error from signal tower is proofreaied and correct.Fig. 9 is the block diagram of the difference WAPS system under the embodiment.Use benchmark receiver (being positioned at the place of investigating in advance), receive the signal near all signal towers.Though in this method, use the principle of differential GPS, under surface state, the influence of non-sight line handled making that it is unique.Pseudo-range (code phases) measured value to the benchmark receiver of each signal tower adds the time label, sends it to server then.Can be written as follows at benchmark receiver place at the scope based on code phases of signal tower j and i measurement with what receive:

$R_{\mathrm{ref}}^j\left(t\right)={\mathrm{\ρ}}_{\mathrm{ref}}^j+c({\mathrm{dt}}_{\mathrm{ref}}-{\mathrm{dt}}^j)+{\mathrm{\ϵ}}_{R,\mathrm{ref}}^j$

$R_{\mathrm{ref}}^i\left(t\right)={\mathrm{\ρ}}_{\mathrm{ref}}^i+c({\mathrm{dt}}_{\mathrm{ref}}-{\mathrm{dt}}^i)+{\mathrm{\ϵ}}_{R,\mathrm{ref}}^i,$

Wherein,

Be for the benchmark receiver that sends signal tower j geometric ranges, dt _RefAnd dt ^jBe respectively the benchmark receiver relevant with transmitter antenna separately with the benchmark receiver and transmitter clock with respect to the skew of common reference time (that is to say gps time), c is the speed of light, and

It is the noise of measuring.

By top two equations are subtracted each other, and use known geometric ranges from the benchmark receiver to the tower that transmits, calculate the clock-timed difference dt between signal tower i and the j at the server place ⁱ-dt ^jThis makes it possible to eliminate the timing difference between the transmitter in rover station/moving station measuring value.Note, when the clock that uses in the tower that transmitting is relatively stable, can use in time to be averaging, obtain the mistiming dt of better (for example noise still less) ⁱ-dt ^jEstimated value.

Also the pseudo-range measured value to rover station/movement station adds the time label, and sends it to server.The scope of measuring at rover station/movement station place based on code phases that receives can be write:

$R_m^i\left(t\right)={\mathrm{\ρ}}_m^i+c({\mathrm{dt}}_m-{\mathrm{dt}}^i)+{\mathrm{\ϵ}}_{R,m}^i$

$R_m^j\left(t\right)={\mathrm{\ρ}}_m^j+c({\mathrm{dt}}_m-{\mathrm{dt}}^j)+{\mathrm{\ϵ}}_{R,m}^j$

By top two equations being subtracted each other and rearranging, the result is

$({\mathrm{\ρ}}_m^j-{\mathrm{\ρ}}_m^i)=(R_m^j\left(t\right)-R_m^i\left(t\right))-c({\mathrm{dt}}^i-{\mathrm{dt}}^j)+({\mathrm{\ϵ}}_{R,m}^i-{\mathrm{\ϵ}}_{R,m}^j).$

Note,

With

Be the amount of measuring, according to benchmark receiver measured value calculated amount dt ⁱ-dt ^jCan write out according to the unknown coordinates of receiver and the known coordinate of transmit tower i and j

With

In each.Use three scope measured values, can as above form two range differences equations, to obtain the two-dimensional position solution, perhaps use four scope measured values, can as above form three range differences equations, to obtain three-dimensional position.Use additional measurements, can use least square solution, with noisiness

With

Influence minimize.

Alternatively, the timing difference corrected value can be sent it back movement station, proofread and correct with the error to the original place, and make things convenient for the position calculation at movement station place.The as many transmitter that can see benchmark and movement station is used the difference correction value.This method can be worked under the synchronous situation of signal tower not having in the conceptive system that makes, perhaps alternatively any remaining clocking error in the loose synchronous system is proofreaied and correct.

Opposite with top difference method, other method is independent timing method.Setting up regularly synchronous a kind of mode is to make the GPS timing receiver reception at each the tower place that transmits in the specific region from the DGPS corrected value of the DGPS benchmark receiver in the same area.The DGPS benchmark receiver that is installed in known location is considered as reference clock with its oneself clock, and finds the corrected value to the pseudo-range measured value of the gps satellite of its tracking.The DGPS corrected value of specific gps satellite generally comprises global error and ionosphere and the tropospheric delay that produces owing to satellite position and clocking error.Because the direction of the sight line between DGPS benchmark receiver and the gps satellite changes in this near zone seldom, all be identical so any pseudo-range that this global error is carried out near other gps receiver of (generally centered by the DGPS receiver, radius is in the zone of about 100Km) the DGPS benchmark receiver is measured.Therefore, use the gps receiver of the DGPS corrected value that DGPS benchmark receiver sends at specific gps satellite, use this corrected value from it at removing this global error the pseudo-range measured value of this satellite.Yet in this was handled, it was with the clock biasing and its pseudo-range measured value addition of DGPS benchmark receiver with respect to gps time.But because this clock biasing all is common for all DGPS pseudo-range corrected values, so its influence to the timing solution of different gps receivers will be common biasing.But this is biased in the timing of different gps receivers jointly, does not give and the relative timing error.Especially, if these gps receivers are regularly gps receiver (in known position), then that they are all synchronous with the clock of DGPS benchmark receiver.When these GPS timing receivers drove different transmitters, emission also obtained synchronously.

Replace to use the corrected value from DGPS benchmark receiver, the GPS timing receiver can use the similar corrected value that is sent by wide area extension system (WAAS) satellite, comes the emission of transmitter that they are driven to carry out synchronously.The advantage of WAAS is or not reference time reference time of DGPS baseline system, but the gps time itself that is kept by one group of accurate atomic clock.

The synchronous other method of correct time between the signal tower in wide zone is striden in realization, is to use many and sets up time transmission technology regularly between to signal tower.Adaptable a kind of technology is called " transmitting (common view time transfer) altogether between apparent time ".Figure 10 shows between common apparent time under the embodiment and transmits.Use has the gps receiver in the transmitter of common satellite view, is used for this purpose.Gps receiver to from the code phases of each signal tower that is in the satellite in looking altogether and/or carrier phase measurement value periodically (for example minimum every several seconds once) add time tag, and send it to server, these measured values are analyzed.

Can be with GPS code observed reading

(by satellite " i " emission and by the observed signal of receiver " p ") writing:

$R_p^i\left(t\right)={\mathrm{\ρ}}_p^i+c({\mathrm{\δ}}_R^i+{\mathrm{\δ}}_{R,p}+T_p^i+I_p^i)+c({\mathrm{dt}}_p-{\mathrm{dt}}^i)+{\mathrm{\ϵ}}_{R,p},$

Wherein,

Be to equal

Receiver satellite geometry scope,

Be the receiver aerial position at signal reception time place,

Satellite position during the expression signal transmission time,

With Be respectively ionosphere and tropospheric delay, and

With Be that receiver and satellite hardware group postpone.Variable

Comprise antenna, be connected to the cable of receiver and the influence of the delay in the receiver itself.In addition, dt _pAnd dt ⁱBe respectively receiver and the satellite clock skew with respect to gps time, c is the speed of light, and ε _RBe to measure noise.

Transmission method calculates single poor code observed reading between apparent time altogether

, it is to locate poor between the simultaneously-measured code observed reading at two receivers (being called " p " and " q "), it is

When calculating the poor observed reading of this list, the group in the satellite postpones and the clocking error of satellite obtains offsetting.In addition, notice that in the superincumbent equation, (perhaps for example separate under the big situation at receiver, can carry out modeling to it) offset with the ionosphere perturbation in the troposphere.In case being postponed difference, the group between the receiver calibrates, then the mistiming c (dt between the receiver clock that can obtain wishing according to equation _p-dt _q).Can the poor and satellite measurement of the list of striding a plurality of times is synthetic, the quality of the mistiming that estimates with further improvement.

In a similar fashion, can will be total to the poor carrier phase equation writing of the list that transmits between apparent time:

Note, because it is fuzzy to exist initial phase to blur with integer in the superincumbent equation, therefore can not use the single poor time transmission (time transfer) of directly determining of phase place.Being used in combination of code and phase observations value, make it possible to be used to from code about the absolute information of mistiming with from the precise information about the evolution of mistiming of carrier phase.Error during the carrier phase list is poor changes obviously single poor good than code phases, and this causes the better time to transmit tracking.

The error of each signal tower that will obtain at given satellite sends it back signal tower and proofreaies and correct, use at the signal tower place, send to receiver by communication link, carry out additive correction by receiver, perhaps send with other correction of timing value from signal tower as broadcast.In instantiation, can on server, carry out aftertreatment to the measured value from signal tower and receiver for better position precision.Can use from L1 and/or L2 or from produce single channel GPS timing receiver or the hyperchannel timing receiver of C/A code measured value and/or carrier phase measurement value such as other satellite systems such as Galileo/Glonass, be used for the purpose of transmitting between apparent time altogether.In multi-channel system, receiver is in the information of catching in a flash together from a plurality of satellites in looking altogether.

Optional mechanism in " transmitting between apparent time altogether " is to guarantee that the different timing gps receiver (each supplies with its corresponding transmitter) in the local zone only uses common satellite in its timing pip is derived (for example pulse of per second), do not aim at GPS (or UTC) second and do not attempt proofreading and correct timing pip.The use of looking satellite altogether guarantees that the common error (for example common gps satellite position and clocking error and ionosphere and tropospheric delay compensating error) in the timing pip produces the error in the timing pip of about identical amplitude, and the relative error in the timing pip reduces.Because only relative timing error has relation when positioning, therefore do not need to carry out any timing error based on server and proofread and correct.Yet server can provide order to the different gps receivers of the gps satellite that will use when the derivation timing pip.

The optional method that time transmits is " the two-way time transmits " technology.The two-way time that Figure 11 shows under the embodiment situation transmits.Consider to be used for contrast two signal towers regularly each other.Begin from being sent in the PPS pulse of each in two transmitters, and at the receiving unit of tower that transmits (WAPS receiver) last start-up time of interval counter.The signal that use receives stops the time-interval counter of any side.Send result from time-interval counter to the WAPS server on the data modem unit link, the place compares these results with transmitting time at the WAPS server, and can calculate two errors in the timing between the signal tower.Then, this can be expanded to the signal tower of any amount.In this method, can be with the counter measures value Δ T at signal tower i place _iCounter measures value Δ T with signal tower j place _jBetween relation and the mistiming dt between the clock among i and the j _IjBe expressed as

${\mathrm{dt}}_{\mathrm{ij}}=T_i-T_j=\frac{1}{2}({\mathrm{\ΔT}}_i-{\mathrm{\ΔT}}_j)+\frac{1}{2}[({\mathrm{\τ}}_i^{\mathrm{Tx}}+{\mathrm{\τ}}_j^{\mathrm{Rx}})-({\mathrm{\τ}}_j^{\mathrm{Tx}}+{\mathrm{\τ}}_i^{\mathrm{Rx}})],$

Wherein,

The transmitter that is signal tower postpones, and

The receiver that is signal tower postpones.In case transmitter and receiver are postponed to proofread and correct, then can estimated time poor.

Time between signal tower can also be obtained the timing with respect to the signal tower of gps time by the GPS timing receiver of use in transmitting between apparent time altogether transmitting.The conduct of usable range measured value

$R_p^i\left(t\right)={\mathrm{\ρ}}_p^i+c({\mathrm{\δ}}_R^i+{\mathrm{\δ}}_{R,p}+T_p^i+I_p^i)+c({\mathrm{dt}}_p-{\mathrm{dt}}^i)+{\mathrm{\ϵ}}_{R,p},$

After the delay of considering receiver, satellite clock sum of errors ionosphere/tropospheric error, calculate the time adjustment value dt with respect to the local clock of gps time _pCan use the measured value of group delay to the delay δ of receiver _{R, p}Calibrate.Can use the information (obtaining by demodulation or from server) from the gps satellite navigation message, calculate and eliminate dt ⁱWith

The satellite correction of timing value of influence.Similarly, use the corrected value from external model, the influence of troposphere and ionosphere delay is minimized.For example can from WAAS message, obtain the ionosphere corrections value.Alternatively, in the time can obtaining, can obtain the combination of clock and ionosphere/tropospheric correction value from the RTCM DGPS corrected value at pseudo-range.

Also can be used as a part from the data stream of signal tower and send skew with respect to gps time.This makes any WAPS receiver that obtains the WAPS signal that accurate GPS time and frequency can be provided, and it helps to reduce significantly the GNSS searching requirement in the GNSS receiver.

In the embodiment of system, can utilize broadcsting transmitter specially, provide local indoor location to determine.For example, in fire safety evaluating is used, the WAPS transmitter can be placed on three or more the broadcasting stations (for example can be fire truck).By a kind of and broadcast singal in many modes of describing in the early time, that signal tower is synchronized with each other.Based on the spectrum availability and the degree of accuracy requirement that are applied at this in this time in this zone, bandwidth and stock removal rate are carried out convergent-divergent.To pass through to the communication link of equipment to receiver reporting system parameter.

Figure 12 is the block diagram of the acceptor unit under the embodiment situation.Antenna place on acceptor unit receives beacon signal, to beacon signal change (down-converted) down, demodulation is close, and it is fed to engine of positioning.Receiver provides all information, with reconstruction signal exactly.Receiving antenna can be omnidirectional antenna, perhaps alternatively, provides a plurality of antenna/arrays of diversity etc.In another embodiment, can in numeric field, mix and descend conversion.The private key that each acceptor unit comprises or uses unique hardware identification number and computing machine to generate.Usually, each acceptor unit is stored last several place in nonvolatile memory, and can remotely inquire last several places of storage subsequently to each acceptor unit.Based on the availability of the frequency spectrum in the given area, transmitter and receiver can be fitted to available bandwidth, and at better degree of accuracy and multichannel solution, change stock removal rate and filtering bandwidth.

In one embodiment, use obtainable gps receiver on the market, multiplexing by with the WAPSRF module signal from GPS RF part being carried out/as to present, the digital baseband of finishing is to the received signal handled.Figure 13 is the block diagram of the receiver with WAPS RF module under the embodiment situation.Only lift several examples, the RF module comprises one or more in low noise amplifier (LNA), wave filter, down-converter and the AD converter.Except these parts, can also use chip or customization ASIC to go up or FPGA goes up or DSP goes up or microprocessor on additional treatments, further signal is regulated, to cooperate the input requirement of gps receiver.This Signal Regulation can comprise: in the frequency band or the digital filtering of out-of-band noise (for example ACI adjacent passages disturb); Frequency according to the WAPS receiver is carried out conversion to centre or the baseband frequency of the input of GPS IC; Regulate digital signal strength, make GPS IC to handle the WAPS signal; Be used for automatic gain control (AGC) algorithm of control WAPS front end etc.Especially, frequency transformation is very useful feature because this make WAPS RF module can with arbitrarily on market obtainable gps receiver work.In another embodiment, the whole RF front end chain that comprises the circuit for signal conditioning of WAPS system can be integrated in the existing GPS substrate that comprises GPS RF chain.

In another embodiment, if can not use visit to the input of digital Base Band, then can with signal from any frequency band change/descend to be transformed into the GPS frequency band, and with its RF that is fed to gps receiver partly in.Figure 14 shows conversion and/or conversion down on the signal under the embodiment.

In another embodiment, no matter be at wide area or at local, can add a plurality of RF chains or tunable RF chain to transmitter and the receiver of WAPS system, so that be used in the most effective frequency of working in the given area.Can be by the cleanliness of frequency spectrum, the selection of propagating definite frequency such as requirement.

Similarly, WAPS can use the reception chain in the receiver system that comprises a plurality of reception chains temporarily.For example, broadband CDMA (W-CDMA) receiver system comprises two reception chains, to improve receive diversity.Therefore, when in the W-CDMA receiver system, using WAPS, can use in two local reception chains of W-CDMA temporarily, be used for the WAPS signal is received and handles.Figure 15 is the block diagram of the receiver system with a plurality of reception chains under the embodiment situation, wherein, can use receive in the chain one so that the WAPS signal is received and handles temporarily.In this example, can use the diversity reception chain, receive temporarily and handle the WAPS signal.Alternatively, can use GPS to receive chain, receive temporarily and handle the WAPS signal.

Can between WAPS and Another Application, share radio front-end.Can share the some parts of front end, and can use some parts on the basis of repelling mutually.For example, if substrate (die)/system has had TV (system of NTSC or ATSC or picture DVB-H, the MediaFLO) tuner front end that comprises antenna, then can share TV tuner wireless device and antenna with the WAPS system.They can be worked on the basis of repelling mutually, because system is receiving the TV signal arbitrarily preset time or receiving the WAPS signal.In another embodiment, if feasible easier to this interpolation WAPS RF of system part, then can share antenna between TV tuner and WAPS system, this makes two systems to work simultaneously.Have at system/substrate under the situation of wireless device of picture FM wireless device, the RF front end can be modified to and comprise WAPS system and FM wireless device, and these wireless devices can be worked on the basis of repelling mutually.Can similarly revise with the system near the RF front end of the nearly frequency work of WAPS RF frequency band having some.

Can share the clock source benchmark such as crystal, crystal oscillator (XO), voltage controlled temperature compensated crystal oscillator (VCTCXO), digitally controlled crystal oscillator (DCXO), temperature compensating crystal oscillator (TCXO) that is used for the GNSS subsystem with the WAPS receiver, to provide reference clock to the WAPS receiver.Can carry out this on substrate or outside the chip shares.Alternatively, can share the TCXO/VCTCXO that any other system uses at cell phone with the WAPS system.Figure 16 is the block diagram that the clock in the positioning system that illustrates under the embodiment situation is shared.Notice that transceiver or processor system piece can refer to multiple systems.The transceiver system of sharing clock with the WAPS system can be modulator-demodular unit transceiver (for example honeycomb or WLAN or BT modulator-demodular unit) or receiver (for example GNSS, FM or DTV receiver).These transceiver systems can randomly be controlled VCTCXO or DCXO, to carry out frequency control.Notice that transceiver system and WAPS system can be integrated in the single substrate, perhaps can be separate substrates, and it is shared not influence clock.Processor can be to use any cpu system (for example ARM subsystem, digital signal processor system) in clock source.Usually, when sharing VCTCXO/DCXO, the frequency correction that can slow down as far as possible and be applied by other system is to make things convenient for the WAPS operation.Particularly, the frequency in the maximum integral time of using in the WAPS receiver (integration time) is upgraded, and may be confined to make the WAPS receiver to have more performance (even SNR minimization of loss).Can with other systems exchange about the information of the state of WAPS receiver (particularly, the integrated horizontal that is using, catching with respect to the tracking mode of WAPS system), upgrade with regulating frequency better.For example, can suspend frequency in the WAPS stage of obtaining and upgrade, perhaps can when the WAPS receiver is in sleep state, arrange frequency to upgrade.Communication can be with the form of control signal, perhaps alternatively with the form of the message that exchanges between transceiver system and WAPS system.

The mode of WAPS not need the baseband hardware of traditional gps receiver is revised, broadcasting are from signal and the message of signal tower, to support WAPS and traditional gps system.Though this importance is the WAPS system and only has half (this influences chip rate) as the available bandwidth of GPS C/A code system, the WAPS broadcast singal is configured to the fact of working in the scope of commercial C/A code gps receiver.In addition, based on availability, algorithm is to use gps signal to determine the position with decision, still should use WAPS signal or its to make up to obtain place the most accurately.

Under the situation of the use scene of mixing GNSS-WAPS, the data that can use the gold code top in the WAPS system to send send the assistance information for GNSS.Assistance can be SV orbit parameter (for example ephemeris and year calendar) form.Assist also can be exclusively used in visible SV in regional area.

In addition, can use the timing information that obtains from the WAPS system, as the meticulous time of assisted GNSS system.Because the WAPS system is regularly and GPS (or GNSS) time alignment, therefore with the code of WAPS signal and bit aligned and from the arbitrary signal tower reading data flow, the rough understanding to the GNSS time is provided.In addition, (the clock biasing of receiver is the secondary product that separate the position) definite WAPS system time is exactly separated in the position.In case known the WAPS system time, then can provide the auxiliary meticulous time to the GNSS receiver.Timing information is transmitted in the single hardware signal pulse that can use the internal timebase of edge and WAPS to contact.Notice that the WAPS system time maps directly on the gps time and (more generally, uses the GNSS time, because the time base of GNSS system is directly related).GNSS should be when receiving this edge, base counting when locking its inner GNSS.Alternatively, the GNSS system should generate the pulse that the edge aligns with its internal timebase, and WAPS system base should lock its inner WAPS the time.Then, the WAPS receiver sends the message with this information to the GNSS receiver, this make the GNSS receiver can be when base be mapped to WAPS at that time base.

Similarly, can use the frequency estimation of local clock that the frequency of assisted GNSS receiver is provided.Note, can use the frequency estimation that comes refinement GNSS receiver from the frequency estimation of WAPS receiver, no matter whether they share common clock.When two receivers have the clock of separation, need additional calibration hardware or software block, measure a system with respect to the clock frequency of another system.This hardware or software block can be in WAPS receiver parts or in GNSS receiver part.Then, can use the frequency estimation from the WAPS receiver, improve the frequency estimation of GNSS receiver.

The estimated value that can also comprise the place from the information that the WAPS system sends to the GNSS system.The estimated value in place can be (for example being determined by the PN code of WAPS signal tower) that is similar to, or based on the actual position estimation value in the WAPS system and more accurately.Note, can with from WAPS system obtainable ground point estimate with from the another location estimated value of different system (for example from the rough position estimated value based on the location of cell ID) combination, can be used for the more accurate location estimated value of assisted GNSS system better to provide.Figure 17 is the block diagram that the assistance from WAPS to the GNSS receiver under the embodiment situation is transmitted.

The GNSS receiver can also help improve the performance of WAPS receiver aspect primary positioning time (TTFF (Time-To-First-Fix)), sensitivity and ground point mass by place, frequency and GNSS time estimated value are provided to the WAPS receiver.As example, Figure 18 is the block diagram that the transmission of the supplementary from the GNSS receiver to the WAPS receiver under the embodiment situation is shown.Notice that the GNSS system can replace with LORAN, e-LORAN or similar Ground Positioning System equally.The ground point estimate can be part (for example sea level elevation or 2-D position) or complete (for example 3-D position), or original scope/pseudorange data.Should provide scope/pseudorange data with the place of SV (perhaps calculating the device such as the place of the SV of SV orbit parameter), so that can in mixing solution, use this range information.Should provide all place supplementarys with the tolerance of the quality of indicating the place supplementary.When GNSS temporal information (can use hardware signal, it is delivered to the WAPS system) is provided, should provide the skew (if there is) of GNSS time with respect to gps time, so that can in the WAPS receiver, use.Can with confidence measure (estimated quality of indication estimated value, the greatest hope error in the estimated value for example) together, provide frequency estimation as the estimated value of clock frequency.This is enough when GNSS shares identical clock source with the WAPS system.When GNSS uses the clock that separates with the WAPS system, also should provide GNSS clock to the WAPS system, so that (estimating that namely WAPS is with respect to the relative time clock biasing of GNSS clock) can be calibrated by the WAPS system, perhaps alternatively, the WAPS system should provide its clock to the GNSS system, and the GNSS system should provide calibration estimated value (being that WAPS is with respect to the estimated value of the relative time clock biasing of GNSS clock).

For sensitivity and the TTFF that further improves the WAPS receiver, can pass through other communication media (such as cell phone, WiFi, SMS etc.), assistance information (for example, can otherwise decode to assistance information according to the information of being launched by signal tower) is provided from the WAPS server to the WAPS receiver.By obtainable " year calendar " information, because receiver only needs the time is alignd (not needing to carry out bit aligned or decoding) with the transmission waveform, so the work of WAPS receiver becomes simple.The elimination of the needs that the data bit is decoded has reduced TTFF, therefore since do not need to receiver continuously power supply therefore save electric power so that all bits are decoded.Figure 19 provides the example arrangement of WAPS assistance information from the WAPS server under the embodiment situation.

Can add beacon to receiver, with the further local location of improving.Beacon can comprise periodically and to send the low power RF transmitter that has based on the waveform of the signature of device id.For example, signature can be the code of identification transmissions device uniquely.The receiver that is associated is sought by carry out the signal energy peak when it scans in all directions, perhaps by direction finding (use from the signal of a plurality of antenna elements and determine the direction that signal arrives), can find the place of transmitter with relative higher accuracy.

The scheme of multiple signals

The scheme of multichannel is very crucial in positioning system.The feature of radio channel often is one group of multichannel component with randomly changing of random phase and amplitude.In order to make accurate positioning, pressure receiver algorithm solves LOS path (it will be the path that at first arrives) or solves the path (it is the LOS component not necessarily) that at first arrives under the situation that has sight line (LOS) path.

The frequent following work of classic method: (1) is with the pseudo-random sequence of the signal that receives and transmission (for example at the receiver place known gold code sequence) simple crosscorrelation; (2) receiver positions first peak value of the cross correlation function of acquisition, and estimates that at first the timing in the path of arrival is identical with the timing of being indicated by the position of this peak value.As long as minimum multichannel separates (multipath separation) but much larger than the inverse (often not being this situation) of utilized bandwidth, then these methods are worked effectively.Bandwidth is precious commodity, and wishes very much to use minimum bandwidth to solve the method for multichannel, to improve the efficient of system.

According to channel environment (comprising multichannel and signal intensity), use the suitable method that acquisition arrives the estimated value in path the earliest that is used for.For scheme best, use high resolution method, and in order to obtain rational behavior at low SNR place, use directly more traditional method of some character of use cross-correlation peak value sample and peak value related function on every side.

Consideration by following formula provide with speed f _sThe reception signal y[n of the quantification of sampling]:

$y\left[n\right]=h_{\mathrm{eff}}\left[n\right]\⊗x\left[n\right]$

$y\left[n\right]=\underset{i={\mathrm{<figure-callout\; id="0"\; label="n"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">n</figure-callout>}}_0}{\overset{\&infin;}{\mathrm{\&Sigma;}}}{h}_{\mathrm{eff}}\left[i\right].x[n-i]$

Wherein, y[n] be the signal that receives, it is the pseudo-random sequence x[n that sends] and effective passage

Convolution, wherein, h _Tx[n] is transmitting filter, h _Tx[n] is receiving filter, and h[n] be multiplexer channel.

Find a kind of method of peak to be to use the value of surrounding tangible peak to carry out the peak value interpolation.Interpolation can be to use peak value either side a value second order or can use the more higher order polynomial that utilizes two or more samples around the peak value, perhaps can use optimal actual pulse shape.Under the situation of second order interpolation, the value that makes second order be fit to peak value and and then surround peak value.The peak that the peak value of second order is determined to find range.The suitable robust of this method, and can work well with low SNR.

Optional embodiment can use value outside the peak as the reference position.Notice that the actual use of DLL peak is as the reference position on the related function, and the use of this method is different from the point of peak value as benchmark.This method is subjected to edge morning of correlation peak to be subjected to the influence of multichannel inspired by the little fact of influence of multichannel than trailing edge.For example, can use small pieces (chip) T from the peak value on the related function that does not have distortion (do not have passage influence) _cPoint 75% as reference point.In this case, select the z[n with the process interpolation of this 75% coupling] part of function, and to find peak value away from this point be 25% T _cAnother optional method based on the peak value related function can be used peak value shape (such as the measured value of the distortion of peak value, for example spike width).From the peak value place, based on the shape of peak value, be determined to the corrected value in peak value place, to estimate arrival path the earliest.

High resolution method is to use a class that eigen space decomposes to locate multichannel component multichannel resolution method efficiently.Drop under this class solution such as methods such as MUSIC, ESPIRIT.They are very strong schemes, because for identical given bandwidth, they can be found the solution effectively than classic method and lean on isolated multichannel component much closerly.High resolving power earliest arrival time method is attempted the time of arrival in direct estimation path the earliest, and does not infer peak according to peak value.Obtaining roughly of the hypothesis signal that can obtain to send at the receiver place, and the roughly beginning of known pseudo random sequences at the receiver place below.

Figure 20 is the estimation h[n under the embodiment situation] in the process flow diagram that arrives the path the earliest.Determine that route method comprises following operation but is not limited to following operation the earliest:

1. with the sample y[n that receives] and send sequence x[n] simple crosscorrelation, to obtain z[n as a result].When writing this simple crosscorrelation according to convolution,

$z\left[n\right]=y\left[n\right]\&CircleTimes;x^{*}[-n]$

This equation can be rewritten as

$z\left[n\right]=h_{\mathrm{eff}}\left[n\right]\&CircleTimes;{\mathrm{\&phi;}}_{\mathrm{xx}}\left[n\right]$

Wherein, φ _Xx[n] is the autocorrelation function of pseudo-random sequence

2. to z[n] first peak value position, and it is expressed as n _PeakExtract z[n] the wL sample on this peak value left side and wR the sample on this peak value the right, and be pV with this vector representation.

pV=[z[n _peak-wL+1]…z[n _peak+wR]]

The vector pV represent cross correlation results z[n] useful part.In ideal conditions, do not having passage when distortion, and when limiting channel BW not, selecting w _L=w _R=f _sT _cFor the timing of the signal of determining to receive with enough.When having limited BW, for as pseudo random code x[n] be+situation during the sequence of 1/-1 that selecting the best approach of wL and wR is they to be chosen as respectively be present in The left side of peak value and the nonzero value on right side (perhaps more generally, selective value〉be defined as a fraction of specific threshold of peak value).Another consideration when selecting wL and wR is to select enough incoherent noise sample, to obtain the enough information about noise subspace.In addition, should select integer wL and wR, to comprise especially the possible multichannel component of the institute in left side (namely by selecting wL), to help to find the solution multichannel component very far away.Comprise the too many f of surpassing _sT _cSample, the amount of the noise of introducing in the pV vector is increased, therefore must reduce sample.By emulation and test, the set of the value of general wL and wR is respectively 3f _sT _cAnd 3f _sT _c

Note z[n] (pV then) comprise passage h[n], transmitting filter h _Tx[n], receiving filter h _RxThe autocorrelation function φ of [n] and pseudo-random sequence _XxThe influence of [n].For the path of arrival the earliest in the estimating channel, need to eliminate other influence.In many cases, at the optimum noise performance, will send with the received pulse shape and mate, but this algorithm work does not need this restriction.The benchmark related function is defined as using pV to need before estimating to arrive the path the earliest to estimate and eliminate ${\mathrm{\&phi;}}_{\mathrm{ref}}\left[n\right]={\mathrm{\&phi;}}_{\mathrm{xx}}\left[n\right]\&CircleTimes;h_{\mathrm{tx}}\left[n\right]\&CircleTimes;h_{\mathrm{rx}}\left[n\right].$

3. next estimate benchmark related function φ _Ref[n].

A kind of method that obtains the benchmark simple crosscorrelation is as follows: carry out step 1-2 in resonable come round (so-called " wired link "), to obtain corresponding peak value vector pV _RefPV _RefComprise benchmark related function φ _RefThe useful sample of [n].Figure 21 is the process flow diagram of the estimation benchmark related function under the embodiment situation.

" wired link " method comprises from transmitter front-end (bypass power amplifier and emitting antenna) passes through ' ideal ' passage (for example cable) to receiver front end (bypass receiving antenna) transmission modulation signal.Notice that ' ideal ' passage can have some delays and decay, but should not increase any other distortion, and must have high SNR.In order to obtain optimum performance, need generate ' wired ' benchmark at each pseudo-random sequence separately, because they have different autocorrelation functions, therefore have different benchmark.Then, in order to obtain best autocorrelation function, correctly select PRN also very crucial (particularly, compare with peak value, should suppress their closure in the auto-correlation secondary lobe fully), this will cause the regularly best overall of solution, unless because obtained abundant decay, otherwise the auto-correlation secondary lobe may make multichannel make a mistake.Suppose that response is controlled to transmitting filter, need carry out primary calibration to wired response of chaining at each receiver of production period.If can control receiver filter characteristic (for example at a collection of receiver), then the calibration of wired link to response further can be reduced at the primary calibration of one group of receiver and measure.

Determine benchmark related function φ _RefThe optional method of [n] is to resolve ground to calculate each component φ _Xx[n], h _Tx[n] and h _Rx[n], and they are asked convolution, to reach benchmark related function φ _Ref[n].Notice that this method depends on the degree that can control transmission and receiving filter impulse response in reality realizes.

4. coherently average by striding a plurality of gold codes even striding a plurality of bits, improve the SNR in the estimated value of pV.Can after making the decision that sends each bit, coherently stride the average of a plurality of bits.In other words, before striding than particular integral, use to determine feedback.Note, carry out being averaging the SNR that can be improved equivalently in estimating by the cross correlation function in step 1.

5. use N _Fft-(wL+wR) zero zero padding calculates pV and pV _RefLength N _FftFast Fourier transform (FFT), to obtain length N respectively _FftVector pV _FreqAnd pV _{Ref, Freq}By using the synthetic and true passage of measuring, the property found the solution by emulation inspection multichannel obtains N _FftOptimum value.Find N _FftGeneral value more than or equal to 4096.

6. calculate With passage h[n] acquisition frequency domain estimated value (mixing with noise).If use N _Os(namely for frequency band limits+/-the transmission pulse shape of 1/Tc,

), the sequences y [n] that receives has been carried out over-sampling, and if send and the received pulse shaped filters has been carried out splendid frequency band limits with BW=1/Tc, then for true passage H _RealThe estimation of [k], H _FullThe DC of [k] on every side just in time

(can use) of individual positive negative sample right and wrong zero.According to our research, we reach a conclusion, and in order to obtain the optimum performance of derivation algorithm, should pick up the either side of DC

Individual sample, wherein, based on actual pulse shaped filters and the autocorrelation function φ in transmitter and the use of receiver place _Xx[n] selects α＞1.Note, comprise φ _RefThe frequency transition band of [n] causes noise to increase, and selects enough big α, to get rid of these frequencies in the sample of selecting.Yet, select too big α will cause the loss of signal message.When realizing, use based on the preferred selection of the rised cosine filter shape with little extra bandwidth at α=1.25 of true frequency band limits function.

7. if H _FullThe DC component of [k] is at index 0 place, then with the vectorial H[of the H of reduction] be defined as:

H=[H _full[N _fft-N+1]…H _full[N _fft]H _full[0]H _full[1]…H _full[N]]

8. by the vectorial H[k of the passage estimated value of reduction] formation matrix P,

Wherein, 1＜M＜2N is parameter, () ' the plural conjugation of expression.

To reduce passage estimated value vector H[k] the covariance matrix R of estimation be defined as

R=P×P'

If the M too little (near 1) that selects, then the quantity of the eigenvalue of R is very limited, consequently, can not describe high resolution algorithm between signal and noise.If the M that selects is big (near 2N) too, then because the quantity not sufficient that is averaging when obtaining covariance, and the covariance matrix R that obtains also is rank defect, so covariance matrix value R is unreliable.Therefore, in the value of the M of the middle of the allowed band of M, be that M=N is good selection.This has also obtained the experience checking.

9. as following formula, R is carried out svd (SVD)

R=UDV＇

Wherein, U is the matrix of left singular vector, and V is the matrix of right singular vector, and D is the diagonal matrix of singular value.

10. as following formula, construct the vectorial sV of ordering singular value

SV=is according to the diagonal element of the D of descending sort

11. next committed step is separation signal and noise subspace.In other words, in order to select the index ns among the vectorial sV, make singular value sV[ns+1] ... sV[N] corresponding to noise.The vector of noise singular is defined as sV _Noise

There is several different methods, can separates the singular value corresponding with noise subspace, and find the representative of the basis vector of noise subspace:

A) all less than

Singular value, wherein, T ₁Be the threshold value as the function of signal to noise ratio (S/N ratio) (for example SNR on the sheet), T ₁=f (SNR).

Figure 22 is the process flow diagram of the estimating noise subspace under the embodiment situation.

B) all less than

Singular value, wherein, L is the parameter that can be selected as greater than postponing expansion (for example N/2), and T ₂It is another threshold value (general value can be 1000) of rule of thumb determining.

Figure 23 is the process flow diagram of the estimating noise subspace under the optional embodiment.

C) other method comprises by repeating to estimate SNR at the different intervals of noise and signal-plus-noise subspace, and compares with another estimated value of SNR, determines noise subspace.Figure 24 is the process flow diagram of the estimating noise subspace under another optional embodiment situation.

1) estimated value of following calculating SNR:

I. suppose that noise is by sV () n _s, n _s+ 1 ... M, expression, then as the following formula calculating noise variance:

${\mathrm{\&sigma;}}_{\mathrm{est}}^2\left(n_s\right)=\frac{{\mathrm{\&Sigma;}}_{i=n_s}^M\mathrm{sV}\left(i\right)}{M-n_s+1}$

Ii. conduct $P_{\mathrm{sig}}\left(n_s\right)={\mathrm{\&Sigma;}}_{i=1}^{n_s-1}(\mathrm{sV}\left(i\right)-{\mathrm{\&sigma;}}_{\mathrm{est}}^2\left(n_s\right))$ Calculate signal power

The estimated value of iii.SNR: ${\mathrm{SNR}}_{\mathrm{est}}\left(n_s\right)=\frac{P_{\mathrm{sig}}\left(n_s\right)}{{\mathrm{\&sigma;}}_{\mathrm{est}}^2\left(n_s\right)}$

2) by other method (for example SNR on the sheet), obtain the optional estimated value of SNR.The method of a kind of direct estimation SNR is as follows:

If i. by passing through X _iProvide the data sample that receives (carry out that frequency error is removed and sampling again and code decorrelation to the sample in Tc space after) (wherein, X _iBe to begin (chip-spaced) that intervals between platelets is opened from the peak through interpolation).

X _i=,S+N _i

Ii. conduct $\hat{S}=\frac{1}{N}{\mathrm{\&Sigma;}}_{i=0}^{N-1}{X}_i$ Estimated signal

Iii. conduct $\hat{N}=\frac{1}{N-1}{\mathrm{\&Sigma;}}_{i=0}^{N-1}{(X_i-\hat{S})}^2$ Estimating noise

Iv. conduct Estimate SNR

3) as the sV that meets the following conditions (ns, ns+1 ..., M) select noise singular:

D) other method comprises by using c) 1) repeat to estimate SNR at the different intervals of noise and signal subspace, and select interval n _Start, make

$n_{\mathrm{start}}={\arg \max }_{n_s}[{\mathrm{SNR}}_{\mathrm{est}}\left(n_s\right)-{\mathrm{SNR}}_{\mathrm{est}}(n_s-1){]}_{n_s=2}^K,$

Determine noise subspace.

Figure 25 is the process flow diagram of the estimating noise subspace under the another optional embodiment situation.

E) Figure 26 is again the process flow diagram of the estimating noise subspace under the optional embodiment situation.

1) definition

Then, a wLen singular value is represented tangible signal-plus-noise subspace or noise subspace singular value (all the other singular values represent be correlated with noise and signal and quantification effect).

2) estimated value of following calculating SNR:

I. suppose that noise is by sV (i): i=n _s, n _s+ 1 ... wLen represents; 1＜n _s≤ wLen, then as the following formula calculating noise variance:

${\mathrm{\&sigma;}}_{\mathrm{est}}^2\left(n_s\right)=\frac{{\mathrm{\&Sigma;}}_{i=n_s}^{\mathrm{wLen}}\mathrm{sV}\left(i\right)}{\mathrm{wLen}-n_s+1}$

Ii. conduct $P_{\mathrm{sig}}\left(n_s\right)={\mathrm{\&Sigma;}}_{i=1}^{n_s-1}[\mathrm{sV}\left(i\right)-{\mathrm{\&sigma;}}_{\mathrm{est}}^2\left(n_s\right)].$ Calculate signal power

The estimated value of iii.SNR: ${\mathrm{SNR}}_{\mathrm{est}}\left(n_s\right)=\frac{P_{\mathrm{sig}}\left(n_s\right)}{{\mathrm{\&sigma;}}_{\mathrm{est}}^2\left(n_s\right)}$

3) definition

n _Start=[minimum n _s: SNR _Est(n _s)＞(SNR _Est(wLen)-thresDB)].Then, up to the n of winLen _StartThe expression noise singular.The general value of thresDB is 10.

12. select the right singular vector of corresponding noise, to set up V _N, namely select the institute directed quantity corresponding with noise singular among the V, and set up the noise subspace matrix V _N

13. the Estimated Time of Arrival in first path:

A) definition

$\mathrm{\&omega;}\left(\mathrm{\&tau;}\right)={\left[\begin{array}{cccccc}1& e^{\frac{j2\mathrm{\&pi;}}{N_{\mathrm{fft}}}\mathrm{\&tau;}}& e^{\frac{j2\mathrm{\&pi;}}{N_{\mathrm{fft}}}2\mathrm{\&tau;}}& e^{\frac{j2\mathrm{\&pi;}}{N_{\mathrm{fft}}}3\mathrm{\&tau;}}& ...& e^{\frac{j2\mathrm{\&pi;}}{N_{\mathrm{fft}}}(M-1)\mathrm{\&tau;}}\end{array}\right]}^H$

B) at the scope (τ ∈ [τ of the value of τ _Max,-τ _Max]), calculate

Can select the solution Δ τ of little search as required.As example, τ _Max=5, and Δ τ=0.05, thereby in scope [5,5], search τ with 0.05 step-length.

14. the peak value of Ω (τ) will provide channel pulse with respect to rough peak value n _PeakThe position.In theory, first peak value will be corresponding to the LOS path.Can be based on controlling τ from the information about the communication environments base station, that may in transmission, encode _MaxFor example, if it is big to postpone expansion, then can be with τ _MaxBe chosen as big (for example 10), and if to postpone expansion less, then can be with τ _MaxBe chosen as less value (for example 4).

Combined method:

Except independent solution discussed above, can also use a large amount of other combined methods.Combination based on the scheme of SNR on the sheet is effective method.The tabulation of the assembled scheme that can realize in practice is described below:

1. for the chipSNR less than chipSNRRef, choosing method 12 (d) is selected noise singular.Otherwise, system of selection 12 (a).

2. for the chipSNR greater than chipSNRRef, choosing method 12 (d) is selected noise singular, and estimates peak.Otherwise, use from cross correlation function z[n] and the direct peak value estimation technique (for example peak value interpolation, peak shape) of beginning.

3. for the chipSNR less than chipSNRRef, choosing method 12 (e) is selected noise singular.Otherwise, system of selection 12 (a).

The general value of chipSNRRef is 10dB.

The calculating of position

By spendable engine of positioning on terminal unit or server, determine the place of acceptor unit.Receiver can use the scope measured value from system, perhaps with the system scope measured value with from any one combination in the measured value of the signal on other opportunity.If derive measured value from known location, then the scope measured value of abundant set produces location fix (fix).Provide scope equation in the 3d space by following formula

$r_i=\sqrt{{(x_i-X)}^2+{(y_i-Y)}^2+{(z_i-Z)}^2}.$

In some local coordinate frames, by (x _i, y _i, z _i) provide the place of transmitter, and by (X, Y Z) provide the unknown place of mobile unit.Three or more transmitters produce and are used for three or more scope measured values of computer azimuth.Measured value has receiver time offset additive term equally, because receiver time and WAPS asynchronism(-nization) step.

R _i=r _i+cΔt

This equation is called " pseudo-range measurement equation ".Notice that because the timing of transmitter is synchronous, so time offset is common.Must pseudo-range be proofreaied and correct at from embedding from the obtainable transmission correction of timing of the data stream the transmission of each transmitter value.This δ (delta) time offset is created new unknown parameter, therefore uses minimum four measuring value to find the solution.The pressure altimeter measured value provides the information that needs of finding the solution as following formula

Baro=(z _b-Z)。

A kind of method of finding the solution these nonlinear simultaneous equations is in that arbitrarily initial point is with problem linearization, and iteration is tried to achieve the corrected value to this initial position then, thereby iteration draws final solution.

This method is used the initial guess that X, Y, Z are separated, and therefore uses the centre of form (centroid) of transmitter as following formula

$({\mathrm{<figure-callout\; id="0"\; label="X"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">X</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Y"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Y</figure-callout>}}_0,Z_0)=(1/n)\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}(x_i,y_i,z_i)$

Suppose that the final position solution is following form

(X,Y,Z,Δt)=(X ₀，Y ₀,Z ₀,Δt ₀=0)+(dX,dY，dZ,dΔt)

Can be about (X, Y, Z, Δ t)=(X ₀, Y ₀, Z ₀, Δ t ₀) Taylor (Taylor) progression in expand geometric ranges

$\begin{array}{c}{R}_t=\sqrt{{(x_i-X)}^2+{(y_i-Y)}^2+{(z_i-Z)}^2}+\mathrm{c\&Delta;t}\\ =\sqrt{{(x_i-X_0)}^2+{(y_i-Y_0)}^2+{(z_i-Z_0)}^2}+c{\mathrm{\&Delta;<figure-callout\; id="0"\; label="t"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">t</figure-callout>}}_0+\frac{\&PartialD;r}{\&PartialD;x}{|}_{({\mathrm{<figure-callout\; id="0"\; label="X"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">X</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Y"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Y</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Z"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Z</figure-callout>}}_0,{\mathrm{\&Delta;t}}_0)}\mathrm{dX}+\frac{\&PartialD;r}{\&PartialD;y}\\ ={\hat{r}}_i+\frac{\&PartialD;r}{\&PartialD;x}{|}_{({\mathrm{<figure-callout\; id="0"\; label="X"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">X</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Y"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Y</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Z"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Z</figure-callout>}}_0,{\mathrm{\&Delta;t}}_0)}\mathrm{dX}+\frac{\&PartialD;r}{\&PartialD;y}{|}_{({\mathrm{<figure-callout\; id="0"\; label="X"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">X</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Y"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Y</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Z"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Z</figure-callout>}}_0,{\mathrm{\&Delta;t}}_0)}\mathrm{dY}+\frac{\&PartialD;r}{\&PartialD;z}{|}_{({\mathrm{<figure-callout\; id="0"\; label="X"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">X</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Y"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Y</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Z"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Z</figure-callout>}}_0,{\mathrm{\&Delta;t}}_0)}\mathrm{dZ}+\mathrm{cd\&Delta;t}\end{array},{|}_{({\mathrm{<figure-callout\; id="0"\; label="X"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">X</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Y"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Y</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Z"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Z</figure-callout>}}_0,{\mathrm{\&Delta;t}}_0)}\mathrm{dY}+\frac{\&PartialD;r}{\&PartialD;z}{|}_{({\mathrm{<figure-callout\; id="0"\; label="X"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">X</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Y"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Y</figure-callout>}}_0,{\mathrm{<figure-callout\; id="0"\; label="Z"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Z</figure-callout>}}_0,{\mathrm{\&Delta;t}}_0)}\mathrm{dZ}+\mathrm{cd\&Delta;t}$

Wherein, estimated ranges is calculated as

${\hat{r}}_i=\sqrt{{(x_i-X_0)}^2+{(y_i-Y_0)}^2+{(z_i-Z_0)}^2}.$

And provide partial derivative by following formula

$\&PartialD;R/\&PartialD;x=\&PartialD;r/\&PartialD;x=(x_i-X)/r_i,\&PartialD;R/\&PartialD;\mathrm{\&Delta;t}=c$

$\&PartialD;R/\&PartialD;y=\&PartialD;r/\&PartialD;y=(y_i-Y)/r_i$

$\&PartialD;R/\&PartialD;z=\&PartialD;r/\&PartialD;z=(z_i-Z)/r_i.$

In the present embodiment, show four linear equations with four unknown-values.The additional range estimated value will produce more multirow in matrix.The result is the set of following equation

$\left[\begin{array}{cccc}(x_1-X_0)/{\hat{r}}_1& (y_1-X_0)/{\hat{r}}_1& (z_1-Z_0)/{\hat{r}}_1& 1\\ (x_2-X_0)/{\hat{r}}_2& (y_2-Y_0)/{\hat{r}}_2& (z_2-Z_0)/{\hat{r}}_1& 1\\ (x_3-X_0)/{\hat{r}}_3& (y_3-Y_0)/{\hat{r}}_3& (z_3-Z_0)/{\hat{r}}_1& 1\\ 0& 0& 1& 0\end{array}\right]\&times;\left[\begin{array}{c}\mathrm{\&delta;X}\\ \mathrm{\&delta;Y}\\ \mathrm{\&delta;Z}\\ \mathrm{c\&delta;\&Delta;t}\end{array}\right]=\left[\begin{array}{c}{R}_1-{\hat{r}}_1\\ R_2-{\hat{r}}_2\\ R_3-{\hat{r}}_3\\ z_b-{\mathrm{<figure-callout\; id="0"\; label="Z"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Z</figure-callout>}}_0\end{array}\right]$

Last column of observing matrix is represented the pressure altimeter measured value.The identical time offset on all three scopes is shown in three 1 tabulation.These equations are Ax=b forms.Separate x=A ^-1* b.Notice that under the situation that does not have the barometric surveying value, many additional measurements will increase the similar additional row of 1 to 3 row with top matrix.This additional measurements will make it possible to estimate the sea level elevation of receiver.Notice that when having the used measured value of Duoing than the quantity of unknown-value, then solution will be based on by A ₊=(ATA) ^-1A ^TThe pseudoinverse of the A that provides, and by x=A ₊ ^-1B provides least square solution.When the quality of measured value was inequality, the best mode of solving equation Ax=b was to use and the proportional weight of SNR at the error from each equation on the least square meaning.This produces separates x=A ₊ ^-1B, wherein, A ₊=(A ^TWA) ^-1A ^TW.Diagonal angle weighting matrix W is by forming with the proportional weight of the noise variance of measured value.The solution of these equations produces δ corrected value and the δ time estimated value to X, Y, Z, makes

$\left[\begin{array}{c}{X}_1\\ Y_1\\ {\mathrm{<figure-callout\; id="1"\; label="Z"\; filenames="HDA00003182548700181.png,HDA00003182548700191.png"\; state="\{\{state\}\}">Z</figure-callout>}}_1\\ {\mathrm{\&Delta;<figure-callout\; id="1"\; label="t"\; filenames="HDA00003182548700181.png,HDA00003182548700191.png"\; state="\{\{state\}\}">t</figure-callout>}}_1\end{array}\right]=\left[\begin{array}{c}{X}_0\\ Y_0\\ {\mathrm{<figure-callout\; id="0"\; label="Z"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">Z</figure-callout>}}_0\\ {\mathrm{\&Delta;<figure-callout\; id="0"\; label="t"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">t</figure-callout>}}_0\end{array}\right]+\left[\begin{array}{c}\mathrm{\&delta;X}\\ \mathrm{\&delta;Y}\\ \mathrm{\&delta;Z}\\ \mathrm{\&delta;\&Delta;t}\end{array}\right].$

This has finished the iteration first time of this method.Replace initial guess with the position after upgrading and time offset estimated value, and continue this algorithm, up to the δ parameter till some are below the threshold value.General halt will be standard below specific threshold (for example 1 meter) with the δ value.

Use least square and about the initial guess in user's place, come the system of the lienarized equation among the GPS is found the solution, make algorithm convergence arrive the final user place.Linearization is based on distance between satellite and the customer location greater than the basic assumption of the distance between tellurian customer location and the position guessed.Identical system of equations for work in ground environment (having little geometry), initial guess can perhaps obtain by the direct method that provides closed form solution by means of the formula sequence that does not have iteration based on the centre of form (as above), near the point of the strongest transmitter of the signal that receives.When initial guess is the point of the strongest transmitter of the centre of form or the close signal that receives, use least square method to improve initial guess.When obtaining initial guess by the direct method that provides closed form solution by means of the formula sequence that does not have iteration, initial solution itself is final solution, and and if only if there is the measured value (so equation) of Duoing than unknown-value, wherein, use error expected in these measured values (it is according to obtaining such as parameters such as signal intensity and elevation angles) when each measured value is weighted, use least square to improve initial guess.In addition, if in time the sequence of measured value is handled, then can present the solution that as above obtains to Kalman (Kalman) wave filter, to obtain optimum solution " track ".

The another kind of method that overcomes the linearization problem under the surface state comprises system of equations is formulated as non-linear minimization problem (particularly, as weighting non-linear least square problem).Particularly, will be defined as by minimized non-linear objective function

$f(X,Y,Z,\mathrm{\&Delta;t})=\underset{i=0}{\overset{N-1}{\mathrm{\&Sigma;}}}{W}_i\&times;{[R_i-\sqrt{{(x_i-X)}^2+{(y_i-Y)}^2+{(z_i-Z)}^2}-\mathrm{\&Delta;t}]}^2$

Select weights W _iWith measurement range R _iSNR be inversely proportional to.As the set that makes objective function minimized (X, Y, Z, Δ t), obtain the best estimate in receiver place.But when barometer or auxiliary time spent of other sea level elevation, then objective function is modified to

$f(X,Y,Z=Z_{\mathrm{baro}},\mathrm{\&Delta;t})=\underset{i=0}{\overset{N-1}{\mathrm{\&Sigma;}}}{W}_i\&times;{[R_i-\sqrt{{(x_i-X)}^2+{(y_i-Y)}^2+{(z_i-Z_{\mathrm{baro}})}^2}-\mathrm{\&Delta;t}]}^2$

Will more stable and robust based on the position solution of this method, especially under little geometry ground system configuration.In this configuration, the change of little receiver coordinate changes observing matrix significantly, and causes linearization iteration not restrain sometimes.Converge on local minimum or disperse the more frequent appearance owing to influence the shape, the possible residual bias in the feasible measured value that may have a local minimum of objective function.Possible residual bias may be quite general in indoor/urban canyons environment.Above non-linear formula except overcoming little geometry linearization problem, also make position algorithm with respect to the measured value robust of setovering.

A kind of method that function f is minimized to obtain best X, Y, Z is to use genetic algorithm (for example differential evolution), to find the global minimum of function.Use this algorithm to make solution can avoid the local minimum that when in the scope measured value, having the multichannel biasing, in location, little geometry ground, occurs.

No matter use the linearization least square, still be that nonlinear least square method comes importantly to provide quality metric with the location estimation value to pseudo-range measured value equation solution.The position quality metric should be that the quality of pseudo-range measured value equation residual error, measured value and signal tower are with respect to the function of the geometry of the position of estimating.Provided the pseudo-range measured value residual error of i signal tower measured value by following formula

${\mathrm{PR}}_{\mathrm{res},i}=R_i-(\sqrt{{(x_i-X)}^2+{(y_i-Y)}^2+{(z_i-Z)}^2}+\mathrm{c\&Delta;t})$

Provide average weighted rms pseudo-range residual error by following formula

${\mathrm{PR}}_{\mathrm{res}}=\sqrt{\left(\frac{\underset{i}{\mathrm{\&Sigma;}}{W}_i\&times;{{\mathrm{PR}}_{\mathrm{res},i}}^2}{\underset{i}{\mathrm{\&Sigma;}}{W}_i}\right)}$

According to H=(A ^TA) ^-1A ^TDiagonal element HDOP, VDOP, PDOP are defined as following formula

$\mathrm{HDOP}=\sqrt{H\left(\mathrm{1,1}\right)+H\left(\mathrm{2,2}\right)}$

VDOP=H(3,3)

$\mathrm{PDOP}=\sqrt{H\left(\mathrm{1,1}\right)+H\left(\mathrm{2,2}\right)+H\left(\mathrm{3,3}\right)}$

Provided pseudo-range RMS (root mean square) error at specific SNR place by following formula

${\mathrm{PRE}}_{\mathrm{th}}=f\left(\sqrt{\mathrm{SNR}}\right)$

Wherein, the f Nonlinear Monotone decreasing function of its independent variable normally.The function that can be used as signal BW and receiver BW at specific receiver Command Line Parsing derive, perhaps alternatively, obtain function f as the table that SNR is mapped to coverage error according to emulation.

The quality metric of 2-D position is defined as

${\mathrm{QM}}_{2-D}=\mathrm{HDOP}\&times;\sqrt{{{\mathrm{PR}}_{\mathrm{res}}}^2+{{\mathrm{PRE}}_{\mathrm{th}}}^2}\&times;\mathrm{\&alpha;}$

Similarly, provided the quality metric of sea level elevation and 3-D position by following formula

${\mathrm{QM}}_{\mathrm{alt}}=\mathrm{VDOP}\&times;\sqrt{{{\mathrm{PR}}_{\mathrm{res}}}^2+{{\mathrm{PRE}}_{\mathrm{th}}}^2}\&times;\mathrm{\&alpha;}$

${\mathrm{QM}}_{3-D}=\mathrm{PDOP}\&times;\sqrt{{{\mathrm{PR}}_{\mathrm{res}}}^2+{{\mathrm{PRE}}_{\mathrm{th}}}^2}\&times;\mathrm{\&alpha;}$

Confidence level based on hope is selected quality α.For example, use value 3 is obtained 95% the letter of putting, and use value 1 is used for 68% the letter of putting.

The another kind of method of using the WAPS system to position is included in and uses WAPS benchmark receiver in the differential scheme.As shown in " difference wide area positioning system " and in regularly synchronous context, discuss, can be with the benchmark receiver measured value of the latitude of WAPS signal tower and benchmark receiver, longitude, sea level elevation service band timestamp, determine the timing δ between the WAPS signal tower emission at special time stamp place.In case the timing δ between the known emitter then can be reduced to the scope equation and has single common time offset again.Then, the WAPS receiver can be avoided the WAPS data stream is carried out demodulation (for example extracting the correction of timing value from data stream).Can send WAPS receiver measured value to server, can perhaps alternatively, benchmark receiver measured value can be relayed to the WAPS receiver at server place calculating location then, and calculating location there.Latitude, longitude and the sea level elevation of supposing the WAPS signal tower known/can be obtained, to use in position calculation.Under the situation of WAPS data stream safety, this differential system can avoid for the purpose that obtains the correction of timing value extracting the needs of data from the data stream of safety.

The another kind of optional method that obtains the location from the WAPS system uses RSSI fingerprint identification technology (finger-printing technique).Based on the training measured value that needs in the positioned area, at given target area, set up the database of WAPS signal tower emissive power/place and RSSI level.Note, can also expand the RSSI database with the angle of arrival (AOA) information, so that solution is improved.Then, use WAPS receiver rssi measurement value (possible, AOA measured value), consult this database, to obtain the ground point estimate.Use the optional method of WAPS rssi measurement value will be to use propagation model (perhaps simple extrapolation/interpositioning) that measured value is transformed to the scope estimated value, use three polygon methods (tri-lateration) to determine the position then.Notice that the rssi measurement value in these fingerprint identification technologies can replace with any other measured value that can be transformed to scope.

Use the optional method of WAPS architecture calculating location to use the blind method that under the situation of not knowing WAPS signal tower place in advance, obtains the location from the WAPS system.In this method, determine that by in-site measurement the approximate place of WAPS signal tower is (for example by the many measurement of angle RSSI around the WAPS signal tower in the place of GNSS sign, use the weighted mean based on the RSSI in these places then, estimate WAPS signal tower place).Then, can use in the RSSI fingerprint identification method any one to determine position (for example as superincumbent paragraph described in).

Can use and utilize the optional method of WAPS architecture calculating location to come the calculated off-line position.This position calculation comprises randomly with apparent position and WAPS time tag stores sample fragment from the WAPS signal of WAPS receiver (for example Cun Chu data can be the I data at low IF place or the IQ data at base band place).Note, be enough to store enough samples so that can obtain signal.In the time after a while sample is handled, to search for, to obtain and calculate the scope of WAPS signal tower.This method can use off-line data to search signal tower place and correction of timing value information in the central database that may be stored on the server.This off-line position calculating method provides the ability of only supporting the WAPS location with the cost of the storer on the equipment.Other advantage of this method is that the time of storage WAPS IQ data cost is very short, make convenient needing to be used for mark position rapidly, but do not need the application of accurate position immediately.May use and to carry out GEOGRAPHICAL INDICATION for comparison film for one of this method.

The another kind of method of location is also used the carrier phase measurement value except the code phase measurement value of pointing out above.The carrier phase measurement value can be write:

φ _i(t ₀)=r _i(t ₀)+N _iλ+Δt

Can use various technology to come the integer Fuzzy N in the carrier phase measurement value _iFind the solution.Can use measured value and/or other method at code phase measurement value, a plurality of frequencies place, come to find the solution fuzzy.Subsequently, time t _kThe carrier phase measurement value at place can provide the accurate tracking to the position that begins from accurate initial position.Can be with the carrier phase measurement value writing of following time

φ _i(t _k)=r _i(t _k)+N _iλ+Δt

As long as the carrier phase measurement value does not have cycle slip (namely should pass through continuous phase locking tracking signal), then N _tDo not change, and can use the new place of least-squares calculation.Alternatively, can in Kalman filter, use these measured values, upgrade new location status.If the phase place loss of lock then needs to calculate new integer fuzzy value.

Another kind method is used aforesaid difference location with respect to the benchmark receiver.Can use code or carrier wave measured value or both combinations, carry out the difference location.As following formula, by from benchmark receiver r and receiver s, deducting the measured value of same signal tower, calculate single poor observed reading at code and carrier phase

Notice that any timing error in the transmitter does not appear in these observed readings, therefore instant asynchronous or not exclusively synchronously the time when system, also make it possible to try to achieve the position solution.In addition, because tropospheric delay may be relevant in the regional area of short baseline (for example distance between benchmark receiver r and the receiver s), so any tropospheric delay error in the measured value approaches counteracting.Use communication port from benchmark receiver r to receiver s range of transmission and the carrier wave measured value, to carry out position calculation.Perhaps alternatively, receiver s and receiver r need be sent to server with scope and carrier wave, to carry out position calculation.

At an arbitrary position in the method for solving, the height that can use layout on the topomap or air pressure sensing to determine receiver.Use the layout on the map, during carrying out trilateration, can be based on topographic database and the user's who determines height, with user's site limitation on a certain landform.User's limitation in height can also be arrived in this a certain height more than landform.For example, can be based on the high building in this zone, the above Maximum Elev of restriction landform.(for example by eliminating the fuzzy solution that often produces at the scope measured value that uses biasing) such restriction can improve the quality of highly separating (height solution).

In addition, if can obtain interior architecture figure, then can use this information (in company be associated, to the restriction of possible user locations together) come aided location to find the solution.For example, can use physical constraint to come the limited subscriber motion model, improve the quality of tracking card Germania position filtering device thus.Another purposes of architectural drawing is based on the physical environment from signal tower to indoor place, determines/estimate the quality of the scope measured value of signal specific tower.Can use the estimated value of better scope quality to come position calculation is weighted, to obtain better location estimation value.

When using baroceptor, can move up or down in sea level elevation along with receiver terminal, use the baroceptor measure differences in pressure of calibration.Calibration value or the mean value of the pressure on this and the different altitude height are compared, to determine the height of receiver.

When the calculating location solution, when the additional measurements that can obtain greater than required minimum three measured values of two-dimensional position, use based on the receiver globality to the conforming inspection of measured value to monitor, eliminate " isolating " measured value." isolate " measured value and may be since at the transmitter place synchronous lose or because such as the passage influence of multichannel regularly.

The method that is used for determining height above sea level (elevation) based on altitude gauge

The WAPS system of embodiment comprises that altitude gauge (pressure transducer) is with auxiliary determining user's height above sea level.Be atmospheric pressure at that time and measure the place from the obtainable unique information of pressure transducer.For this being transformed to the estimated value of the height above sea level of sensor, need a plurality of additional informations.Existence is based on the weight of air column, and the normalized form that pressure is relevant with height above sea level is as follows:

Wherein, z ₁And z ₂Be two height above sea level, P ₁And P ₂Be the pressure at these height above sea level places, T is the temperature (unit is K) of air.R=287.052m ²/ Ks ²Be gas law constant, g=9.80665m/s ²It is the acceleration that produces owing to gravity.Notice that this formula provides the relative information of determining the height above sea level difference at pressure differential.Usually at z ₂Use this formula under=0 the situation, thus P ₂It is sea-level pressure.Because the sea level air pressure is along with weather condition and with the touchdown point marked change, therefore the temperature and pressure in the place that will be determined except height above sea level, also need sea-level pressure.When using T=15C and P=101325Pa standard atmosphere condition, find that height above sea level increases by 1 meter corresponding to pressure reduction 12.01Pa.

Therefore, for the resolution with 1m is determined height above sea level, must know sea-level pressure with the obvious accuracy meticulousr than 36Pa.Also merit attention, because be that T measures in unit with absolute temperature scale (ATS) (Kelvin), therefore the temperature error of 3 ° of C (or K) is approximate corresponding to 1% height above sea level error.This may be when determining the significantly above height above sea level in sea level, and when trial is found the solution the higher floor in the skyscraper, become remarkable.Therefore, determine height above sea level for the resolution with 1m, need have the pressure transducer of pin-point accuracy and resolution.In order to cooperate mobile device, these sensors should have low cost, low-power and small size.Notice that commercial weather grade sensor does not provide other accuracy of this level and resolution, and do not upgrade with definite required speed of height above sea level.

The key that height above sea level is determined to the accuracy of 1m is to have enough parts and the enough systems of datum pressure information accurately of providing.Must be able to provide temperature near unknown place and distance and measured value around, to catch the weather condition of variation; Finally, must be enough accurate.Therefore, the height above sea level of embodiment determines that system is including, but not limited to following element: movable sensor, and it determines the pressure and temperature at place, unknown place with enough accuracy; The reference sensor array, it determines the pressure and temperature at known location place with enough accuracy, and enough near unknown place; Based on the algorithm for estimating of interpolation, it imports all reference sensor data, reference sensor place and other expansion information, and produces the accurate datum pressure estimation at the place, concern place in the WAPS network; Communication linkage between reference sensor and the movable sensor, be used for enough timely mode reference information is provided.Describe each in these elements below in detail.

Figure 27 is the block diagram of the benchmark height above sea level pressure system under the embodiment.Usually, benchmark height above sea level pressure system or baseline system comprise the reference sensor array, and the reference sensor array comprises at least one group of reference sensor unit.Every group of reference sensor unit comprises at least one the reference sensor unit that is positioned at known location.System also comprises remote receiver, and remote receiver comprises atmospheric sensor or be couple to atmospheric sensor that atmospheric sensor is collected the atmosphere data of the position of remote receiver.The position-location application of moving at processor is couple to the parts of remote receiver or remote receiver.Position-location application is used atmosphere data and from the reference data of the reference sensor unit of reference sensor array, is generated the datum pressure estimated value of the position of remote receiver.Position-location application is used the datum pressure estimated value, calculates the height above sea level of remote receiver.

More specifically, benchmark height above sea level pressure system comprises movable sensor, and movable sensor is determined the pressure and temperature that unknown place is located with enough accuracy, and movable sensor is the parts of remote receiver or is couple to remote receiver.System comprises the reference sensor array, and the reference sensor array comprises at least one reference sensor unit, and the reference sensor unit determines to be suitable for the pressure and temperature at known location place in the place of remote receiver exactly.Reference sensor unit and remote receiver and/or intermediate equipment (for example server, repeater etc.) (not shown) communicates, so that reference information to be provided.System comprises position-location application, in an embodiment, position-location application is based on the algorithm for estimating of interpolation, and it imports all reference sensor data, reference sensor place and other expansion information, and produces the datum pressure estimation at relatively accurate place, concern place.Position-location application can be the parts of remote receiver, can reside on remote server or other treatment facility, perhaps can be distributed between remote receiver and the teleprocessing equipment.

Figure 28 is the block diagram of the WAPS of the integrated benchmark height above sea level pressure system under the embodiment situation.As described herein, WAPS comprise sync beacon network, obtain and the acceptor unit (and randomly having the location calculations engine) of tracking beacon and/or GPS (GPS) satellite and the server that comprises the index, charge interface, dedicated encrypted algorithm (with location calculations engine randomly) of signal tower.System works in the working band of permission/not permission, and sends the special-purpose waveform that is used for location purpose and navigation purpose.Can be used in combination the WAPS system with other positioning system or sensing system, so that place solution more accurately to be provided.Note, can use the height above sea level that utilizes the remote receiver that the datum pressure estimated value calculates, clearly as the sea level elevation estimated value, perhaps at an arbitrary position in the location system in the dark aided location calculate.

Example system is integrated benchmark height above sea level pressure system and WAPS.Usually, integrated system comprises the terrestrial transmitters network, and the terrestrial transmitters network comprises the transmitter of broadcasting positioning signal, and positioning signal comprises distance measuring signal and positioning system information at least.Distance measuring signal comprises measuring the information of distance of the transmitter of this distance measuring signal of broadcasting.System comprises the reference sensor array, and the reference sensor array comprises that at least one is positioned at the reference sensor unit of known location.Remote receiver comprises or is couple to atmospheric sensor that atmospheric sensor is collected the atmosphere data of the position of remote receiver.The position-location application of moving at processor is couple to the parts of remote receiver or remote receiver.Position-location application is used atmosphere data and from the reference data of one group of reference sensor unit of reference sensor array, is generated the datum pressure estimated value of the position of remote receiver.Position-location application is used the datum pressure estimated value and according to positioning signal with as at least one information derived in the satellite-signal of the signal of satellite-based positioning system, the position of calculating the remote receiver that comprises height above sea level.

More specifically, this integrated system comprises movable sensor, and movable sensor is determined the pressure and temperature at place, unknown place with enough accuracy.Movable sensor is the parts of remote receiver or is couple to remote receiver, but is not limited thereto.System comprises the reference sensor array, and the reference sensor array comprises at least one reference sensor unit, and the reference sensor unit determines to be suitable for the pressure and temperature at known location place in the place of remote receiver exactly.Reference sensor unit and remote receiver and/or intermediate equipment (for example server, repeater etc.) (not shown) communicates, so that reference information to be provided.Can dispose one or more WAPS transmitter to the reference sensor unit, and/or the reference sensor unit can be positioned at other known location separately.System comprises position-location application, and in an embodiment, position-location application is based on the algorithm for estimating of interpolation, and it imports all reference sensor data, reference sensor place and other expansion information, and produces the datum pressure estimation of paying close attention to the place, place.Position-location application can be the parts of remote receiver, can reside on WAPS server or other treatment facility, perhaps can be distributed between remote receiver and the WAPS server.

As mentioned above, movable sensor should be to determine pressure than the remarkable meticulous resolution of 36Pa and accuracy, many pressure transducers have built-in temperature sensor, so that undesirable sensor performance is afforded redress, but because the spontaneous heating effect, these sensors can not provide enough measured values accurately of external air temperature.Even not obtaining if can obtain to have the sensor of enough resolution, also can to use them under the situation of sensor accurately on the market, be used for the purpose that other sea level elevation of floor-level is estimated.The movable sensor of embodiment is determined the datum pressure data with approximate less than 36 Pascals' resolution, and to be approximately equal to and to determine temperature data less than at least one the resolution in 3 degrees centigrade.

These sensors have intrinsic short-term and long term stability problem, and this can be by proofreading and correct such as the appropriate filtering technique that several samples are averaging.Each sensor also may have possibility along with the skew of temperature change, for example, need calibrate or compensate skew by look-up table.

By sufficient calibration, these sensors should provide the accuracy that needs.Some sensors also may be to the motion sensitive of two-forty.Can use some heuristic rules, in the use that identifies high-speed or acceleration time limit pressing pressure information.Yet seldom experience is high-speed in indoor environment.When advancing with high speed, GPS location and map datum generally will provide enough vertical position information.

Shall also be noted that should be to be exposed to sensor the mode sensor installation of (but not having wind, air-flow or other air movement) in the extraneous air.Should produce to the installation of general consumer products inside or location and can accept the result.Battery flat and connector provide extraneous air to arrive the non-direct-path of sensor, prevent any direct air movement simultaneously.Yet water proof equipment will need special setting, so that the access with the outside to be provided to sensor.

Reference sensor will be deployed in the much smaller volume and in special-purpose place, therefore can obtain relatively better accuracy in baseline system, make it possible to distribute most of global error budgets to movable sensor.The existing market of absolute pressure transducer (such as meteorology and airborne altimeter) does not have the pin-point accuracy requirement identical with the application of embodiment.In with reference to application, embodiment uses a plurality of sensors, is averaging the accuracy that is used for amount of redundancy and is used for improving by the measured value to them.In addition, can encapsulate sensor, with the temperature range of limit exposure sensor, and at this finite temperature scope sensor be carried out best alignment.

Baseline system should be averaging each measured value, perhaps otherwise carries out filtering, to use several seconds to the time scale raising accuracy of a few minutes level.The height of reference sensor should be measured ' centimetre ' horizontal accuracy; Should continuous coverage and the record external air temperature; Sensor should be exposed in the extraneous air, to measure air pressure, still must be without wind-engaging, air-flow or other tangible air movement (can use baffle plate or other encapsulation, along not being the path guiding air that directly arrives sensor); This sensor should be sealed in the waterproof case, because may hinder the measurement to external air pressure.The reference sensor of embodiment is determined the datum pressure data with approximate less than 36 Pascals' resolution, and to be approximately equal to and to determine temperature data less than at least one the resolution in 3 degrees centigrade.

The datum pressure that embodiment makes it possible to carry out based on interpolation is estimated.The pressure and temperature measured value at given each WAPS launcher signal tower place and signal tower place and other expansion information, embodiment predicts the sea-level atmosphere pressure at place, mobile subscriber place, as the reference value of user's Height Estimation.Therefore, generate atmospheric pressure surface gradient former, and with the sample data of the residing pressure measuring value in each signal tower field with the local correction that acts on model.Therefore, this algorithm for estimating is calibrated the comparable datum pressure accuracy at user locations place as the direct measured value of catching at the beacon tower place.

Description to the formulism of this interpolation is described below.In a WAPS network, the reference gas pressure sensor at given n launcher signal tower place, equivalent sea-level atmosphere pressure is estimated in output based on reference sensor.This carries out with two steps, but is not limited thereto.

As first step, the reference sensor height h that the sea level at given launcher signal tower i place is above _i(unit is rice) and the pressure p that reads from reference sensor _i(unit is Pascal) and temperature T _i(unit is absolute temperature scale (ATS)), the formula below using, calculating has latitude x _iWith longitude y _iThe equivalent sea-level atmosphere pressure P at the place, place of (unit is degree) _i(unit is Pascal):

$P_i=p_i{e}^{\frac{{\mathrm{gh}}_i}{{\mathrm{RT}}_i}}$

Wherein, g is the acceleration of gravity constant, and R is the specific gas constant of air.As second step, the equivalent sea-level atmosphere pressure at the place, all n transmitter places of calculating the WAPS network, and use WAPS to obtain user's latitude x ₀With longitude y ₀After the information, with following formula estimating user place P ₀The equivalent sea-level pressure at place:

${\mathrm{<figure-callout\; id="0"\; label="P"\; filenames="HDA00003182548700061.png,HDA00003182548700351.png"\; state="\{\{state\}\}">P</figure-callout>}}_0=\underset{i=1}{\overset{n}{\mathrm{\&Sigma;}}}{W}_i{P}_i$

Wherein, W _i=W _i(x ₀, y ₀, x _i, y _i) be the weighting function that depends on user locations and i place, benchmark place.

The communication linkage of embodiment provides the information of being used by movable sensor.Embodiment broadcasted a pressure every several seconds to a few minutes and upgrades, but was not limited thereto.

If baseline system is seldom broadcasted reference information, then mobile unit carries out at least one in the following operation: needing under the situation of information before the broadcasting, watch-keeping broadcasting is to receive and to store last information next time; Before calculating new height above sea level, wait for broadcasting next time; " pull (pull) " or inquire up-to-date information to baseline system when needed.The method that pulls of embodiment (rather than making the baseline system broadcast message) minimizes system bandwidth.Yet, pull between baseline system and portable terminal and use two-way communication, and owing to will use a plurality of reference field to be used for any mobile computing, so it needs portable terminal to determine which benchmark place it should inquire.The supervision that portable terminal is carried out is minimum, keep low postpone good compromise simultaneously is to make baseline system upgrade the time that measured value spends than it to broadcast its data more continually.

Embodiment comprises two kinds of possibility methods at the information content.First method makes portable terminal carry out all calculating, and in this case, the information that is sent by benchmark (reference) is including, but not limited to following: the datum location (latitude and longitude) with one meter accuracy; Height with reference sensor of 0.1-0.2m accuracy; The measurement temperature of the residing air of reference field (carrying out after some filtering); Gaging pressure (carrying out after filtering, sensor temperature compensation and any other the local calibration such as skew) with residing air of reference field of 1Pa accuracy; And the measured value of putting letter.

Alternatively, its temperature and pressure measured value can be used in the benchmark place, calculates equivalent sea-level pressure.If make in this way, then the tabulation of the information that will broadcast is including, but not limited to following: the datum location (latitude and longitude) with one meter accuracy; Height with reference sensor of 0.1-0.2m accuracy; The residing equivalent sea-level pressure that calculates of reference field (having the 1Pa accuracy); Put the measured value of letter.

Embodiment also reduces the bit of the data of transmission, but broadcasts each with respect to the data of some known constant.For example, the benchmark place is relatively near mobile place, and the branch that therefore can only send latitude and longitude is (fractional degree) several times, stays the integral part that will adopt.Similarly, though air pressure generally 10 ⁵Pascal's level, but air pressure begins only to change several thousand Pa from standard atmospheric pressure.Therefore, embodiment broadcasting is from the skew of normal atmospheric pressure, the bandwidth when reducing to broadcast absolute pressure.

Not particularly useful urban applications from latitude and the longitude of GPS or similar system acquisition.Instead, need be with latitude and the longitude mappings database to street address.Height above sea level has similar restriction at vertical latitude.Useful parameter is that the people is on which floor.If there is the access of database to the height of each floor in ground elevation and the building, then this can determine exactly according to altitude information.For the building that is low to moderate approximate 3 layers, know that from mapping or similar database ground elevation and floor estimator layer height may be just enough.For higher building, need be about the information more accurately of story height.

This has presented the chance that realizes the intelligence learning algorithm.For example, can suppose and between distance floor 1m and 2m, to carry cell phone.Therefore, the many cellular height above sea level in the building can be accumulated by the system of embodiment, and wherein, anticipatory data accumulates in apart from about 1.5 meters on each floor.Use enough data, can set up and put letter about the height on each floor in the building.Therefore, can be along with time study and refining data storehouse.This algorithm becomes more complicated in the building with the interlayer between ramp or the floor, but still can generate useful data at the great majority building.

Can calibrate sensor offset and other potential parameter during fabrication.This provides the known good sensor of reference information to make sensor cycle through the temperature and pressure of a scope by use, should be possible.Possible these calibration parameters will slowly drift about along with tenure of use.Therefore, embodiment uses the algorithm (for example, when sensor was fixed on known altitude, algorithm identified was also upgraded correction card under these conditions) that upgrades calibration value along with the time gradually.

Except the application in common definite people's place, embodiment can also comprise the more accurate relative altitude information of use and not need the specialized application of absolute altitude information.For example, find under construction that down and out fire fighter need accurately know down and out people with respect to rescue party's position, but absolute position no less important not.Additional accuracy in the relative positioning will be possible by have extra manual step when using beginning.For example, all fire fighters can be before it enters, at its tracker of known location initialization such as block entrance.Even absolute altitude is inaccurate, and can not full remuneration weather related pressure change, can determine quite exactly in section sometime that also they are with respect to this point and relative to each other position thus.Similarly, press the button at the known point place in the market by making the user, can realize need be than the shopping related application from the high precision of the obtainable precision of absolute measurement.Then, can determine that quite exactly they are with respect to the position of this point in the section sometime.

Alternatively, can utilize mobile beacon as local benchmark, more pin-point accuracy is provided in the locality.For example, shopping plaza may have its oneself reference sensor, so that higher accuracy to be provided in the market.Similarly, can be equipped with reference sensor to fire truck, so that local reference information to be provided in fire scenario.

The problem that low cost pressure sensor has is that they have the skew from correct reading.Experiment shows this skew quite stable on the time scale of several thoughtful some months.Yet this skew of possibility will be along with the time slowly drifts about on many months to the time period in several years.Though directly measure this skew, and during fabrication it compensated, can not product compensation throughout one's life all keep accurate.Therefore, the means that need calibrate again at the scene.

If the sensor of embodiment is in known elevation, and atmospheric pressure is known, then can calibrate again the sensor of embodiment.Embodiment distinguishes the practical situation that will be at the known elevation sensor.For example, if sensor in the equipment with GPS ability, and is receiving gps satellite with high signal intensity, then the sea level elevation derived of GPS should be quite accurate.Under the good signal condition, accumulation along with the time, with the departing from of GPS sea level elevation, the estimated value of the required corrected value of pick up calibration can be provided.

Similarly, sensing system can be learnt user's custom, and uses this information after a while calibration to be proofreaied and correct.For example, if the user is placed on the three unities with its phone at night always, then sensor perhaps can begin to follow the tracks of the sea level elevation at this place, place at the special time such as the late into the night.At first, will and store these values as the true sea level elevation accumulation in this place.After some months, when sensor is determined it in identical time at night during in identical place, it can begin to follow the tracks of and determine departing from of true sea level elevation a little earlier.Then, can accumulate these and depart from, to generate the corrected value to calibration lentamente.Because these methods are also used the knowledge of current atmospheric pressure, so the datum pressure measured value that is provided by the WAPS network is provided for they.

Determine that according to pressure reading the measured value that the standard treatments of sea level elevation contains the datum location place is converted to equivalent sea-level pressure, use it to determine the sea level elevation of unknown pressure transducer then.Normalized form is:

$z=-\frac{\mathrm{RT}}{g}\ln \left(\frac{P}{P_0}\right)$

Note, owing to traditionally as coming measuring height away from earth surface just mobile, therefore added negative sign.In addition, because this is natural logarithm, therefore this logarithm being proofreaied and correct is ' ln '.This formula makes atmospheric temperature (T) and pressure (P) and the following sea level air pressure (P of this point at the above height z in sea level and this some place ₀) relevant.

An accessory problem using this formula is, highly directly and temperature (measuring amount that out of true is known) directly proportional.This means that 1% temperature error will cause 1% height error.When using near the sea level, this will not be significant problem.Yet when in high building, when using this formula especially in such as the zone of the higher height above sea level of Denver (Denver), when attempting finding the solution floor rank height above sea level, 1% height error may be very obvious.For example, the height above sea level of Denver approximately is 1608m.Therefore, 1% temperature error will cause the height error of the above 16m in sea level.This almost is 5 floors.

Avoiding this a kind of mode to temperature accuracy sensitivity is to recognize that top formula is actually relative formula.That is to say, this formula can be extended to:

$z_1-z_2=-\frac{\mathrm{RT}}{g}\ln \left(\frac{P_1}{P_2}\right)$

Wherein, z ₁And z ₂Be any two height above sea level, P ₁And P ₂Be the pressure at these height above sea level places.With z ₂Be set to 0, thus P ₂Become sea-level pressure (this only is the agreement problem).

Replace using the sea level as reference point, can use arbitrarily height above sea level easily.For example, the mean sea level in city will be reasonably, and the mean sea level that perhaps is used for collecting the reference sensor of pressure data will be feasible.Keep the little benchmark height above sea level of difference in height as long as use, then the influence of temperature error will be inappreciable.The all devices that unique requirement is included in the system knows use what benchmark height above sea level.

There is the following height above sea level (z) of the above point in ground and atmospheric temperature (T) and the sea level air pressure (P below pressure (P) and this point of this point of making ₀) relevant normalized form,

$z=\frac{\mathrm{RT}}{g}\log \left(\frac{P}{P_0}\right)$

There is the air column that is in steady temperature in this formula hypothesis between sea level and focus.Therefore and since focus may be not near true sea level, therefore the sea-level pressure that uses is imaginary, and the true pressure on sea level not necessarily.

The standard processing of determining the height above sea level of object is to handle in two steps.At first, the temperature and pressure at the some place by measuring known elevation reverses this formula then with at P ₀Find the solution, determine sea-level pressure.Next, measure the temperature and pressure at the some place of unknown height above sea level, and use this formula, determine unknown height above sea level.

In this processing, imply the hypothesis that unique concern parameter is the height of other object more than the same horizontal place, as typical for the aircraft near the airport, used the measured value at place, airport for reference.Usually, pay close attention to be used near the cardinal principle that people that the height of other purpose determines expanded to this concept definite datum location and the height directly over it not.Do not change between this expansion hypothesis sea-level pressure nigh concern place and the datum location.

Therefore, in handling, this has three hypothesis.First hypothesis is that temperature is constant from the virtual sea planar point of datum location below it.Second hypothesis is that temperature is constant from the virtual sea planar point of focus below it.The 3rd hypothesis is that sea-level pressure is identical at datum location and focus place.Yet, because sea-level pressure depends on temperature, suppose that therefore sea-level pressure is identical at place, two places, implicit temperature is identical at this place, two places.Therefore, if measure different temperature at datum location with the focus place, then violated in these hypothesis.Measure to show that even through the distance of several kms, it is may significant temperature and pressure poor also to exist for height above sea level is determined.

The hypothesis that changes along with height above sea level in place, given place steady temperature is the part for the balance model of atmosphere, and may be necessary.Unique option will be the full dynamic model of atmosphere that comprises the influence of wind, surperficial heating, convection current and turbulent flow.Atmosphere data shows that on big range scale, the height above sea level place of steady temperature model below 1km is extraordinary approximate at least.Height above sea level place higher often uses the linear decrease rate.

Embodiment has loosened the constant hypothesis of sea-level pressure between datum location and focus.The first method of embodiment is got the sea-level pressure of the datum location of as above determining, but further use perfect gas law this is converted to the sea-level pressure at standard temperature place.Then, the sea-level pressure of supposing this standard temperature place at the focus place with identical.Then, will use the temperature at place, new place, this is converted to sea-level pressure at this place, the formula above using is then determined height above sea level.

The second method of embodiment is used the network of datum location, determines that in real time equivalent sea-level pressure is with respect to the variation in horizontal place.Then, with these a plurality of measured values combinations, with the best estimate of the sea-level pressure of determining the focus place.Exist at least two kinds of possible modes to determine best estimate: weighted average method, wherein, weight is the function from the special datum point to the horizontal range of focus; Least square fitting to create the second-order surface of the sea-level pressure at the datum location place of The Fitting Calculation best, can use its estimated value to the sea-level pressure at focus place to carry out interpolation then.

Can also be with above-mentioned two kinds of methods combination.That is to say that at each datum location place, the sea-level pressure at the temperature that settles the standard place, and one of technology above using these data of combination are with the best estimate of the sea-level pressure at the standard temperature place that generates the focus place.

In addition, when using altitude gauge, embodiment carries out in the hardware or software filter of computing place and altitude gauge data continuously by using the rank data are applied to, and identifies such as adjust and reform the unexpected movement that change state (for example connect etc.) or window are opened equal pressure in automobile hollow.

In addition, can use windage scale at the beacon place, to determine the direction of wind flow, believe that it is the indication of atmospheric pressure gradient.Can use windage scale with compass, with the accurate direction of determining wind flow and rank (it can be used for the variation of user's sensor is proofreaied and correct and/or filtering then).

Can determine each story height of given building by walking under construction by stair including, but not limited to the user and collecting the whole bag of tricks of the information in each floor, ramp etc.In addition, can also use electronic chart, determine the relative height of each floor.

When having estimated height based on WAPS or altitude gauge, can use such as the height of landform, building, the information such as height of surrounding buildings, come the maximum height limit solution.

In case known mean pressure at place, given place together in company with the historical datum pressure data of collecting from reference sensor through segment length's time period (several days, some months, several years), then can predictably determine height (not calibrating or user's input) based on the pressure at this place, place.

In one embodiment, can be by using the data from user's sensor, and with itself and data combination from reference sensor, calculate user's height at remote server.In this method, can also use the out of Memory such as architecture information, crowd's source-information etc., determine user's accurate sea level elevation.

Under the situation of user near another highly known user, can use this information to determine unknown subscriber's height.

In an embodiment of network, not necessarily need reference sensor and WAPS beacon to locate jointly.Meticulousr or thicker grid with the standalone sensor that connects to data in server can be used for datum pressure and measure.Central server can send datum pressure information to portable terminal, perhaps can need send to the data of portable terminal to the transmitter indication as the part of WAPS data stream.

In another embodiment, the additional simplification beacon (replenishing beacon) than the additional sensor information of the pressure in the zonule, temperature provide such as for example building is provided in the WAPS system.This transmission can with main WAPS beacon synchronization or asynchronous regularly.In addition, additional beacon can upload to central server with sensing data, from central server it is spread to mobile unit, perhaps can send data by the set of being carried out the predefined PRN code of demodulation by the WAPS mobile receiver.

Can optimize the datum pressure network based on accuracy requirement and the historical pressures delta data of given regional area.For example, under situation about must measure very accurately, can in this building or market, dispose reference sensor.

The WAPS beacon network forms the close-network of the accurate pressure and temperature measured value with very short time interval with the datum pressure data, can utilize it such as other application such as geodetic surveyings.

Can use and change speed from the pressure of the data of other sensor combination, determine vertical speed, can use vertical speed to determine whether the user moves by elevator then.This may be very useful in emergency situations and/or tracking application.

Have at sensor under the situation of the low resolution of the resolution more required than floor estimator layer height, under static condition, can use in time pressure measuring value is averaging, to obtain user's height based on reference data.

Mixed positioning and with the message exchange of other system

The system of embodiment can make up with any ' opportunity signal (signal of opportunity) ', so that the location to be provided.The example of opportunity signal is including, but not limited in following one or more: gps receiver; Galileo (Galileo); GLONASS (Glonass); Analog or digital TV signal; From the signal such as systems such as MediaFLO, Wi-Fi; The FM signal; WiMax; Honeycomb (UMTS, LTE, CDMA, GSM etc.); Bluetooth and LORAN and e-LORAN receiver.

Regardless of signal type, opportunity signal provides scope measurement or the representative (proxy) of measuring such as scopes such as signal intensities.Representative to scope is weighted, and suitably combination, to obtain the estimated value in place.Weighting can be used the signal to noise ratio (snr) of the signal that receives, perhaps use the tolerance (for example know city, suburb, rural environment according to assitance data, know that based on the input that comes self-application receiver is indoor or outdoor) of the environment of definition receiver alternatively.Generally unavailable or signal covers in those limited environment and carries out in the system of embodiment for this.When using SNR to be used for adding temporary at the particular measurement value, weight may simply be the inverse function (perhaps the signal with low SNR being provided any other function of low weight) of SNR, so that can make up WAPS measured value and other systematic survey value best, to obtain the position.Can make up by obtaining from the scope measured value in additional signal source and with WAPS scope measured value, and derive at the position of latitude, longitude and height and separate, perhaps by obtaining from the position measurements of additional source/equipment with from the position measurements of WAPS system, and use the combination of these place measured values to provide the optimization place to separate based on the position quality metric from different system, calculate final positioning solution.Use WAPS measured value/WAPS location estimation value has been shown in Figure 29, Figure 30 and Figure 31 has obtained to mix the various configurations of separating.Can divide according to the hardware and software of system, any one in the framework of selecting to describe below is for using.

Figure 29 is the block diagram that the use under the embodiment situation is estimated from the hybrid position of the scope measured value of each system.Use is from the scope measured value (with the scope quality metric that is associated) of GNSS and other positioning system, and by the hybrid position engine it made up in the solution of single optimum position.This framework is best using data available to come to obtain aspect the desired positions estimated value from them.

Figure 30 is the block diagram that the use under the embodiment situation is estimated from the hybrid position of the location estimation value of each system.Use independent position estimated value from different system with the position quality, to select to have an estimated value of best quality.Because different positioning systems are isolated well, the therefore the easiest realization of this framework and integrated.

Figure 31 is the block diagram that the use under the embodiment situation is estimated from the hybrid position of the combination of the scope of each system and location estimation value.For example, can with from the location estimation value of WLAN positioning system with compare from the location estimation value in the scope measured value of GNSS and WAPS system, to reach optimum solution.

Can use such as accelerometer and gyrostatic inertial navigation sensors (INS), such as the Magnetic Sensor of electronic compass, such as the pressure transducer of altitude gauge, provide place supplementary (being called loose coupling) or raw sensor measured value (being called tight coupling) to the WAPS system, in tracing mode, to use.

Can in the receiver of embodiment, use accelerometer, be identified for the frequency that the position message to server upgrades.Can the use location separate and the combination of the sequence of acceleration measuring value, detect static position, constant speed and/or other moves.Then, can use this to move data or information, determine the frequency of renewal, make for example when having irregular motion, the frequency that can upgrade is set to high relatively frequency, and be in constant speed or fixedly the time, reduce the frequency of upgrading in the section at the fixed time when receiver, to save electric power.

Can in position wave filter (such as Kalman filter), sensor or position measurements be combined in the solution of position.Two types tight coupling framework has been shown in Figure 32 and Figure 33, wherein, in WAPS hybrid position engine, with measurement value sensor and GNSS and the combination of WAPS measured value.Figure 32 is the process flow diagram of the definite hybrid position solution under the embodiment situation, wherein, when the quality of GNSS/WAPS position and/or velocity estimation value was good, feedback was from the location/velocity estimated value of WAPS/GNSS system, to help the drift biasing of calibration sensor frequently.This framework simplifies algorithmic formula by pick up calibration and the position calculation of algorithm are partly divided.Yet the shortcoming of this method is the complicacy that determines when to be to use the good chance that the WAPS/GNSS estimated value calibrates again to sensor.

Figure 33 is the process flow diagram of the definite hybrid position solution under the embodiment situation, wherein, under the situation that does not need clearly to feed back, as the part that the location/velocity in GNSS and/or the WAPS unit is calculated, come estimated sensor parameter (for example biasing, ratio and drift).For example, can comprise sensor parameters, as being used for the part of state vector of Kalman filter of location/velocity of tracking receiver.This framework provides optimum solution, because use information is upgraded position and sensor parameters in a composite filter.

In Figure 34 and Figure 35 loose coupling has been shown, wherein, selected cell is selected between the location estimation value from GNSS engine and WAPS engine.Notice that selected cell can be the part of WAPS or GNSS position units.Figure 34 is the process flow diagram of the definite hybrid position solution under the embodiment situation, wherein, pick up calibration is separated with each position calculation unit.Figure 35 is the process flow diagram of the definite hybrid position solution under the embodiment, wherein, carries out sensor parameters as the part of the state of each position calculation unit and estimates.

Owing to select only to use the information from a system, so the loose coupling method is poorer than the tight coupling method usually.In loose coupling or tight coupling method, in an optimum filter, to determine the method for position and sensor parameters, better during than independent calculating sensor parameter and position with raw sensor measured value usable range.Consequently, the method for optimizing from the angle of performance is the tightly coupled system that implicit sensor parameters is estimated.Yet, divide according to hardware/software platform, can easily realize in these methods one or more, and may be because this is former thereby select in these methods one or more.

Can also go up exchange message between WAPS system and other transceiver system in identical platform (for example cell phone, kneetop computer, PND).Transceiver system for example can be bluetooth transceiver, WLAN transceiver, FM receiver/transmitter, numeral or analog TV system, MediaFLO, such as the satellite communication system of XM radio/Iridium, such as GSM/UMTS/cdma2000 lx/EVDO or WiMax) the cellular modem transceiver.Figure 36 shows WAPS under the embodiment situation and the exchange of the information between other system.Message exchange between the system can improve the performance of any system.Because the WAPS system time is aimed at gps time, so the WAPS system can provide timing and the frequency estimation of good quality to any other system.The WAPS that time in the WAPS system and frequency estimation can reduce code and frequency obtains the search volume.In addition, the WAPS system can provide location information to other transceiver system.Similarly, if other system has spendable location information (for example the part position of sea level elevation or 2-D position or for example full location or original scope/pseudo-range/range differences such as 3-D position), then can under the situation that is with or without the place quality metric, provide this location information to the WAPS system.Should provide scope/pseudorange data together in company with the place of transmitter (perhaps be used for calculating from the transmitter place other device of the scope in any receiver place), so that can in mixing solution, use this range information.Should provide and two range differences that transmitter is corresponding with the place of two transmitters.The WAPS system will use this information to assist its position to separate.Alternatively, can provide location information with the form of the scope from the known emitter place to receiver apparatus (or pseudo-range).Will be by location algorithm with these scopes (or pseudo-range) and the combination of WAPS scope, to calculate hybrid position.

The example of the information that in Figure 37, Figure 38 and Figure 39, concrete system has been shown and can between them, have exchanged.

Figure 37 is the block diagram that the exchange of FM receiver under the embodiment situation and the place between the WAPS receiver, frequency and time estimated value is shown.Can provide ground point estimate from the WAPS system to the FM receiver.Then, can use this ground point estimate, for example determine the movable FM radio station in the local zone automatically.The FM signal can comprise that equally RDS (radio data service) sends.If the place at FM station (for example is included in the RDS/RBDS data stream, data about the transmitter place are provided, provide city and Status Name and place and navigation (LN) feature of DGPS navigation data are provided) in, then can use this information that the place of auxiliary WAPS receiver is provided.Can easily use the frequency estimation from the WAPS system, reduce the FM receiver tuning period at specific station.On other direction, the frequency quality of the estimated value in the FM receiver sends quality based on the FM radio station.Time estimated value in the WAPS system is based on gps time, and can be delivered to the FM receiver time, aims at auxiliary timing.Clock time (CT) feature that can use RDS/RBDS to send is determined the timing with respect to the RDS data stream, and can be with the CT features convey to the WAPS receiver.

Figure 38 is the block diagram that the exchange of WLAN/BT transceiver under the embodiment situation and place, time and frequency estimation between the WAPS receiver is shown.Usually, these WLAN/BT transceivers do not have frequency estimation accurately, and consequently, frequency estimation will be quite coarse, and therefore the transmission of this estimated value from the WLAN/BT transceiver to the WAPS receiver may have limited value.In the opposite direction, the WAPS frequency estimation can reduce the time that frequency on the wlan system is obtained cost.The timing information that can for example extract the timestamp from WLAN AP (access point) beacon to the transmission of WAPS system obtains with auxiliary WAPS.Note, need the WLAN timing with respect to some benchmark of gps time, so that this is useful to the WAPS system.Similarly, if the WLAN/BT system has available ground point estimate (for example the part position of sea level elevation or 2-D position or for example full location or original scope/pseudo-range such as 3-D position), then can under the situation that is with or without the place quality metric, provide this location information to the WAPS system.WLAN location estimation value can be the geographic location of AP services or near the AP that other " can be heard " simply.WLAN location estimation value can also be part, for example is based on the sea level elevation estimated value of the floor of problematic AP.The WLAN location information to the scope estimated value in known emitter AP place (for example can also be, wlan system can use round trip cycle (Round Trip Time) measured value, determines the scope estimated value) or two range differences estimated values that send between the AP.

Figure 39 is the block diagram that the exchange of cellular transceiver under the embodiment and place, time and frequency estimation between the WAPS receiver is shown.Can provide ground point estimate from cellular system (for example from TDOA, AFLT or other similarly based on the localization method of cellular signal FL or RL) (partly, complete or original scope/range differences) to the WAPS system, the WAPS system will use these measured values to obtain better location estimation value.Can provide frequency estimation from the frequency tracking loop of cellular modem to the WAPS system, to reduce frequency search space, improve WAPS acquisition time (being TTFF) thus.Can also provide time estimated value from cellular system to the WAPS system, to reduce the code search space, perhaps auxiliary position and frame be aimed at.For example, with can provide good time estimated value at the WAPS system such as the synchronous system of gps times such as cdma2000/lx EVDO, and can provide rough time estimated value such as asynchronous (with such as the inaccurate synchronous transmission of GPS equal time scale) cellular systems such as GSM/GPRS/EGPRS/UMTS.

Because the WAPS system time aims at gps time, even so not on identical platform, the WAPS system also can provide timing and the frequency estimation of good quality to any other system.For example, can use the WAPS system by such as with the periodicity hardware signal of the pps (per second pulse) of second boundary alignment of GPS or have the single pulse signal of the gps time that is associated, to slightly/Femto cell BTS provides timing information.

As mentioned above, the frequency spectrum of the WAPS system of embodiment use can comprise frequency band or the frequency of permission or not permission.Alternatively, the WAPS system can use " white space " frequency spectrum.White spatial frequency spectrum is defined as the WAPS system to sense or determines in the local zone idle (being not limited to TV white space) and send any frequency spectrum of place beacon in this frequency spectrum.The transmitter of embodiment can use the spectrum-sensing technology, detects untapped frequency spectrum and/or transmits geographic location (can easily obtain from the GPS timing receiver) to the central database of adjusting frequency spectrum.Receiver can comprise the spectrum-sensing technology to listen to these beacons, perhaps in another embodiment, can use communication media to carry out tuning frequency to the receiver notice to it.The WAPS system can adapt to dynamic white space availability or distribution (the needs transmitter broadcast to central database its geographic location, then central database in the duration that its needs send, divide be used in the frequency spectrum that sends and/or distribute under the situation of the duration that its needs send).As adjusting the control that service is carried out at frequency spectrum by central authorities, the WAPS system can broadcast in this frequency spectrum continuously, perhaps can share this frequency spectrum with other system.Can dynamically revise stock removal rate and the data rate of WAPS system unit, to match with accuracy requirement and/or signal power and the bandwidth availability of any preset time.Can be by receiver sensing system parameter, perhaps can be by communication media to receiver transfer system parameter.Transmitter can form localized network, perhaps under the available situation, can form contiguous network at frequency spectrum in wider geographic area.

The mode that the transmitter of embodiment can also be shared with the time and on the same emission coefficient other are network coexisted.For example, the mode that can share with the time between place and smart grid application is used same frequency spectrum.Transmitter is to use the broadcsting transmitter of maximum available power grade, and it can dynamically regulate its power grade based on spectrum-sensing or the request of adjusting server according to central authorities.Receiver can utilize spectrum-sensing, perhaps can be by the wake-up times of communication media (it also can be white spatial frequency spectrum) to receiver transfer system parameter and this time.

Based on spectrum availability, the WAPS system of embodiment can use a passage (6MHz bandwidth) in TV white space, if perhaps a plurality of passages can be used, then can use a plurality of frequency bands, to obtain better multichannel solution.If adjacent channel can be used, then can use passage binding (for example making up adjacent channel).Can use the bandwidth of increase, to obtain better multichannel solution, the higher stock removal rate etc. of pin-point accuracy more.Alternatively, can under FDMA, use available bandwidth, to help to solve near-far problem and/or multichannel solution.

The white space sending/receiving of the WAPS waveform in two or more white spatial frequency band can make it possible to obtain better and integer ambiguity faster at WAPS carrier phase measurement value.This single-point that will make it possible to use WAPS to realize relative pin-point accuracy (rank of＜1 wavelength) is located.

Also can and to find between the receiver of position at the benchmark receiver of investigating the place, place, use white spatial frequency band wide as the communication port among the WAPS (under the situation of using the benchmark receiver).

But when the WAPS system in the usage license frequency band in wide area network, can use the localized network based on white space of signal tower, the place accuracy of expanding the WAPS receiver.Receiver can be designed as and listens to two frequencies simultaneously, perhaps between licensed band and white spatial frequency band, switch, and be tuned to suitable frequency.

Can also use white spatial frequency band, auxiliary and other assistance information in place at the biasing of picture clock, satellite ephemeris etc. sends assistance information to WAPS, GPS or AGPS system.

Under the situation that can obtain to have a plurality of frequencies that frequency band separates, WAPS can be designed as the diversity of utilizing frequency, and better multichannel performance is provided.

Correlator is realized

In any CDMA receiver (perhaps using pseudo random code as the receiver of a part that sends bit stream), the signal that receives is absolutely necessary with the relevant of its PRN code.Can carry out and line correlation more many, the time of then obtaining passage is more fast.To figure 40 illustrates and use length be 1023 maximal-length sequence, carried out the signal of over-sampling with the input signal of 2x the brute force of parallel multiple correlation device framework realizes.Even number and odd samples are corresponding to 2x over-sampling data.Shift register obtains displacement with the speed of ' clk '.The PRN maker generates benchmark PRN, and obtains displacement with the speed of clk/2.Use following equation calculate the relevant of each circulation and

$\mathrm{corrsum}\left[n\right]=\underset{k=0}{\overset{2045}{\mathrm{\&Sigma;}}}\mathrm{gcref}\left[k\right]*x[k-n]$

Wherein, x[n] be compound input, gcref[k] be the PRN reference waveform, and corrsum[n] come the compound output of autocorrelator.Figure 37 shows even number and shares identical multiplier and an optimization of adder tree with odd samples

Need import multiplier and amass the totalizers of suing for peace to 1023 for a 2046*2*n input position trigger of shift register, 1023 1xn as the realization that illustrates above.As example, if the input bit wide is 2 sample, then need 1023 1x2 multipliers, and must be to these 1023 summations of multiplying each other in a clock period.May be heavy realization aspect this area at hardware, timing and the power.Especially, in FPGA realized, given Limited resources, the brute force of multiplier and adder structure realized it may being impossible realize.

Embodiment comprises the novel method at this realization, and it utilizes structure available under the FPGA state of the art.Modern FPGA comprises several configurable logic blocks (CLB) of realizing logic and memory element.Can also be the shift register that wherein carries out serial-shift with the look-up table reprogramming that forms the necessary part of CLB, but have the parallel random access to memory element.Can also be as calculating relevant high efficiency method and as the easy transplanting path that (is used for a large amount of batch process the in batches) from FPGA (being used for as prototype) to ASIC, in ASIC realizes, using this realization.

Forward shift register to and realize that specific FPGA has the shift register primitive that is mapped on the CLB.Some FPGA have 16 bit shift register, and some have the mapping of 32 bit shift register.Figure 41 shows 32 bit shift register that draw from two 16 bit shift register primitives with parallel random access reading capability and realizes.In this example implementation, use 16 bit shift register group primitives, set up 32 bit shift register.32 this 32 bit shift register series connection are formed a line, to form 1024 bit shift register.As shown in figure 42, carry out shifting function with ' clk ' speed, and carry out read operation with 32 times of clock rate.

Adder tree also can be compound, to realize 1023 * n position totalizer.Under the situation of specific FPGA, can use can be as 48 bit DSP sheets of 1023 * n bit sequence totalizer.Figure 43 illustrates the hardware configuration of this realization.To be separated to from 32 values of 32 groups of shift registers in 4 groups of 8 additions.In this example, use 2 inputs.Each No. 8 totalizer produces 10 outputs, will align in its 12 hytes in 48 totalizers then.Consideration at the space of growth.After 32 circulations, by with 4 groups of 12 summitors and one 14 and addition, obtain 1024 and.

Encrypt and safety

Can use cryptographic algorithm that the Overhead in the system of embodiment is encrypted.This makes the user can use this system, and charges to the user at the use of system, and the means of control information safety are provided.Can use key comes signal is decrypted.Can use PC, wireless network, hardware encipher dog to obtain key, perhaps can key be fired in the nonvolatile memory of equipment in the mode of any undesirable source inaccessible.

The encryption of embodiment provides data security and authenticates both.Using the critical component of encipherment protection is transmitter, receiver and server communication.The transmitter authentication comprises clearly distinguishes transmitter, thereby can resist the malice transmitter.The feasible only credible receiver of receiver authentication can use the information of transmission.The receiver mandate makes and should only allow to authorize receiver (credible receiver) work.Server communication is encrypted, makes between receiver and the server and the communication between transmitter and the server must be safe.Also protection is encrypted to user data, avoids unwarranted visit because place tracking customer data base needs protection.

The encryption method of embodiment can roughly be divided into two types: symmetric key cryptography and asymmetric-key encryption method.Symmetric key encryption provides authentication and encrypts both, and asymmetric-key encryption provides the possessory authentication of private key, because anyone can obtain public keys.The symmetric key encryption of data is given similar resource of the faster order of magnitude.3DES and AES are the examples of symmetric key cryptography.Use the combination of two kinds of methods, as the part of the encryption framework of embodiment.

Aerial (OTA) broadcast of downloading can comprise common broadcast message or system message.Common broadcast message comprises the data of each transmitter special use, for example location information, transmitter timer counter and make other relevant information of assisting receiver in the place of determining receiver.Use system message to constitute encryption key, make receiver effectively/receiver lost efficacy or be exchanged for target with the unidirectional specific information to specific receiver group.

The common format of the message of embodiment comprises: type of message (parity checking/ECC protection); Encrypting messages; And encrypting messages ECC.After message is encrypted, calculate the ECC of encrypting messages.

OTA broadcasting comprises periodically, may be the frame that per second sends.According to channel data rate, can be with message separation (cutting apart) to a plurality of frames.Each frame comprises frame type and frame data.Frame type (parity checking protection) indicates whether this is first frame of message, and perhaps whether it is successive frame; It can also indicate the low level format frame that can be used for other purposes.The message that frame data come down to cut apart or low-level data frame.

Based on the system message type, can the OTA system message be encrypted by session key or the private key by transmitter.As described herein, the session key that uses symmetric key algorithm to consult with transmitter and receiver process is encrypted OTA common broadcast message.This provides mutual authentication, and namely receiver can authenticate transmitter, and only can decode to OTA broadcasting through the receiver of authentication.Session key is known for all transmitters and receiver, and its periodic variation.Use several sessions key in the past that key is changed message and be encrypted, this makes and can be synchronized to the current sessions key at the unmovable receiver of special time period.

OTA broadcasting also comprises the periodic system message by the private key encryption of transmitter.Receiver can use the public keys that is associated, and clearly distinguishes the authenticity of transmitter.Under the situation that session key is revealed, this mechanism is guaranteed to realize unwarranted transmission.

Figure 44 is the block diagram that the session key under the embodiment is set.Each receiver is equipped with unique device id and device specific key.Figure 45 is the process flow diagram of the encryption under the embodiment.WAPS system data server keeps the right database of device id/device specific key.Use the data of receiver types special use to connect (GPRS/USB/ modulator-demodular unit etc.), make things convenient for the receiver initialization between receiver and the WAPS data server.After equipment picks out self with device id, use device specific key that this connection is encrypted.During this initialization, exchange current sessions key, transmitter public keys and license terms (being the duration that receiver is authorized to).Can when receiver has been lost current sessions key (first power supply), perhaps lose synchronously at its session key under the situation of (expansion shutdown), carry out the receiver initialization.Be updated periodically session key, use N previous key to be encrypted upgrading the new key of using.

For the unique mechanism that is used for receiver is authorized, the OTA data rate may be not enough.Yet the system message agreement of embodiment is supported the receiver mandate of specific based on device id for device id scope.

Session key is revealed needs all receivers to carry out initialization again.Therefore, to be stored in should be anti-tamper in the equipment to session key.The safe key of use equipment is encrypted the session key that is stored in outside, devices encrypt border (being the storage of adhering to of any kind).

Can't use the session key of leakage to pretend transmitter, because transmitter uses its private key periodically to send authentication information.Therefore, the private key of transmitter should be revealed never.

Among the optional embodiment shown in Figure 46, can pass through communication linkage directly to the receiver distributed key from the WAPS server, perhaps can use or service provider's route key by the third party.Key can have certain term of validity.Can based on client's contract according to each application or according to each equipment, key can be used.When position requests has been made in the application on each receiver or the application on the network, at retrieve position from the WAPS engine or before being used for the parameter of calculating location, check the validity of key.Specialized protocol be can use or by the standard agreement such as OMA SUPL, key and message exchange to the WAPS server carried out.

Can be used as the combination of Figure 44 and framework shown in Figure 46, realize the security architecture of system.

Parameter sensors can be integrated in the receiver of WAPS system, the measured value from sensor added the time label and/or to add location label.Only lift several examples, parameter sensors can be including, but not limited to the sensor of temperature sensor, humidity sensor, weight sensor and scanner type.For example, can use the X-ray check device, determine the receiver of following the tracks of or comprise whether the equipment of the receiver of tracking has passed through X-ray machine.Detecting device can tag to the time of X-ray event and the place of X-ray machine.In addition, other parameter sensors can be integrated in the WAPS system, so that the measured value from sensor is added time label and location label.

Can be at individual or assets, according to each use, to each application of equipment, per hour, every day, jede Woche, every month and annual, charge to the user at system.Can use communication protocol on the terminal any application or to the webserver, the place of transmitter-receiver unit and height.Alternatively, can send original scope measured value to network by communication protocol.Communication protocol can be on the terminal application or by standard or proprietary wireless protocol standard serial or other digital interface to server.The possible method that couples or be connected to server by standard agreement comprises and uses the SMS message that is connected to server or is connected to another phone of web (net) server alternatively by wireless data service.The information that sends comprises lat/lon, one or more in (if can obtain) and the timestamp highly.Application on server or the terminal unit can be initiated the location, position.Can be directly from server or transmit user's place by the application on the server.

Can use the WAPS autonomous system that is independent of gps receiver, determine the place of equipment.Can realize the WAPS system of WAPS system oneself or integrated WAPS and GPS and/or other positioning system, on media card, coexist with media store card (such as the SD card).Can realize the WAPS system of WAPS system oneself or integrated WAPS and gps system and/or other positioning system, on cell phone with the coexistence of subscriber's identification module (SIM) card, thereby can follow the tracks of SIM card.

Accurate location by carrier phase

To improve accuracy (up to＜1m) a kind of method, be to be achieved as follows the carrier-phase positioning system that face is described with further to expand the WAPS system performance.As common WAPS transmitter, set beacon.For this method, desirable (but optional) is not use tdma slot, so that continuous phase is followed the tracks of is.When not using TDMA, can overcome near-far problem by the Interference Cancellation in the receiver and the dynamic range of increase.Support the WAPS receiver of this method to measure code and carrier phase in a continuous manner at all visible satellites, and it is added timestamp.In addition, have the benchmark receiver in known investigation place, it also can similarly be measured code and carrier phase in a continuous manner.Can be with from the combination of the measured value of WAPS receiver and benchmark receiver, at calculating location on the equipment or on server.The configuration of this system is identical with difference WAPS system.

Carrier phase measurement is more accurate than code phase measurement, is called a fuzzy unknown integer carrier phase cycle of integer but comprise.Yet, have the mode that finds integer to blur that is called fuzzy solution.Here consider a kind of method, it uses the expansion of local minimization search algorithm, carries out iterative at user's receiver position, and uses the measured value in a plurality of periods to improve accuracy.

At first, the carrier phase measurement value at user's receiver place in following consideration single period.

${\mathrm{\&phi;}}_u^{\left(k\right)}={\mathrm{\&lambda;}}^{-1}\&CenterDot;r_u^{\left(k\right)}+N_u^{\left(k\right)}+f\&CenterDot;({\mathrm{dt}}_u-{\mathrm{dt}}^{\left(k\right)})+{\mathrm{\&epsiv;}}_u^{\left(k\right)}---\left(1\right)$

Wherein, φ, λ, f and N are respectively carrier phase, wavelength, frequency and number of cycles, and dt is the clock biasing, and r is scope, and ε is measuring error, and subscript u represents user's receiver, and k represents transmitter number.

According to user and receiver position p _uAnd p ^(k), provide scope as following formula

$r_u^{\left(k\right)}=\left|\right|p_u-p^{\left(k\right)}\left|\right|=\sqrt{{(p_{\mathrm{ux}}-p_x^{\left(k\right)})}^2+{(p_{\mathrm{uy}}-p_y^{\left(k\right)})}^2+{(p_{\mathrm{uz}}-p_z^{\left(k\right)})}^2}---\left(2\right)$

In order to eliminate the error in the knowing of transmitter clock biasing, use corresponding carrier phase equation, consider another receiver (being called the benchmark receiver) of known position

${\mathrm{\&phi;}}_r^{\left(k\right)}={\mathrm{\&lambda;}}^{-1}\&CenterDot;r_r^{\left(k\right)}+N_r^{\left(k\right)}+f\&CenterDot;({\mathrm{dt}}_r-{\mathrm{dt}}^{\left(k\right)})+{\mathrm{\&epsiv;}}_r^{\left(k\right)}---\left(3\right)$

Wherein, subscript r represents the benchmark receiver, deducts (2) and obtain from (1)

${\mathrm{\&phi;}}_u^{\left(k\right)}-{\mathrm{\&phi;}}_r^{\left(k\right)}={\mathrm{\&lambda;}}^{-1}\&CenterDot;(r_u^{\left(k\right)}-r_r^{\left(k\right)})+(N_u^{\left(k\right)}-N_r^{\left(k\right)})+f\&CenterDot;({\mathrm{dt}}_u-{\mathrm{dt}}_r)+({\mathrm{\&epsiv;}}_u^{\left(k\right)}-{\mathrm{\&epsiv;}}_r^{\left(k\right)})---\left(4\right)$

Its writing

${\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(k\right)}={\mathrm{\&lambda;}}^{-1}\&CenterDot;r_{\mathrm{ur}}^{\left(k\right)}+N_{\mathrm{ur}}^{\left(k\right)}+f\&CenterDot;{\mathrm{dt}}_{\mathrm{ur}}+{\mathrm{\&epsiv;}}_{\mathrm{ur}}^{\left(k\right)}---\left(5\right)$

Wherein, () _Ur=() _u-() _r

Owing to do not pay close attention to dt _uR, so it can be by asking difference to eliminate at the difference of index (k) to (5), to obtain so-called two difference observed reading equation

${\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(\mathrm{kl}\right)}={\mathrm{\&lambda;}}^{-1}\&CenterDot;r_{\mathrm{ur}}^{\left(\mathrm{kl}\right)}+N_{\mathrm{ur}}^{\left(\mathrm{kl}\right)}+{\mathrm{\&epsiv;}}_{\mathrm{ur}}^{\left(\mathrm{kl}\right)}---\left(6\right)$

Wherein, ${(\&CenterDot;)}_{\mathrm{ur}}^{\left(\mathrm{kl}\right)}={(\&CenterDot;)}_{\mathrm{ur}}^{\left(k\right)}-{(\&CenterDot;)}_{\mathrm{ur}}^{\left(l\right)}.$

Then, equation (6) be by Unknown subscriber position p _uIn equation, as follows

$r_{\mathrm{ur}}^{\left(\mathrm{kl}\right)}=(r_u^{\left(k\right)}-r_r^{\left(k\right)})-(r_u^{\left(l\right)}-r_r^{\left(l\right)})=\left|\right|p_u-p^{\left(k\right)}\left|\right|-\left|\right|p_u-p^{\left(l\right)}\left|\right|-{\mathrm{\&gamma;}}^{\left(\mathrm{kl}\right)}---\left(7\right)$

Wherein,

(8) γ ^(kl)=||p _r-p ^(k)||-||p _r-p ^(l)||

In general, the transmitter l that uses when asking two difference is in the transmitter, and for convenience it is labeled as 1 equation that produces following matrix form

$\left[\begin{array}{c}{\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(21\right)}\\ {\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(31\right)}\\ .\\ .\\ .\\ {\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(n\right)}\end{array}\right]={\mathrm{\&lambda;}}^{-1}\&CenterDot;\left[\begin{array}{c}\left|\right|p_u-p^{\left(2\right)}\left|\right|-\left|\right|p_u-p^{\left(1\right)}\left|\right|-{\mathrm{\&gamma;}}^{\left(21\right)}\\ \left|\right|p_u-p^{\left(3\right)}\left|\right|-\left|\right|p_u-p^{\left(1\right)}\left|\right|-{\mathrm{\&gamma;}}^{\left(31\right)}\\ .\\ .\\ .\\ \left|\right|p_u-p^{\left(n\right)}\left|\right|-\left|\right|p_u-p^{\left(1\right)}\left|\right|-{\mathrm{\&gamma;}}^{\left(n1\right)}\end{array}\right]+\left[\begin{array}{c}{N}_{\mathrm{ur}}^{\left(21\right)}\\ N_{\mathrm{ur}}^{\left(31\right)}\\ .\\ .\\ .\\ N_{\mathrm{ur}}^{\left(n1\right)}\end{array}\right]+\left[\begin{array}{c}{\mathrm{\&epsiv;}}_{\mathrm{ur}}^{\left(21\right)}\\ {\mathrm{\&epsiv;}}_{\mathrm{ur}}^{\left(31\right)}\\ .\\ .\\ .\\ {\mathrm{\&epsiv;}}_{\mathrm{ur}}^{\left(n1\right)}\end{array}\right].---\left(9\right)$ Perhaps

(lO) φ=λ ^-1·f(p _u)+N+ε

Equation (10) is unknown subscriber position p _uNonlinear equation.Local minimization search algorithm is worked at linear equation, and is therefore following with (10) linearization and find the solution iteratively.Be located at iteration m place, to p _uApproximately be

, wherein

$p_u=p_u^m+{\mathrm{\&Delta;p}}_u---\left(11\right)$

And

$f\left(p_u\right)=f(p_u^m+{\mathrm{\&Delta;p}}_u)\&ap;f\left(p_u^m\right)+\frac{\&PartialD;f}{\&PartialD;p_u}\left(p_u^m\right)\&CenterDot;{\mathrm{\&Delta;p}}_u---\left(12\right)$

Wherein,

$\frac{\&PartialD;f}{\&PartialD;p_u}\left(p_u\right)=\left[\begin{array}{c}{l}^{\left(2\right)}-l^{\left(1\right)}\\ l^{\left(3\right)}-l^{\left(1\right)}\\ .\\ .\\ .\\ l^{\left(n\right)}-l^{\left(1\right)}\end{array}\right],---\left(13\right)$ Wherein, l ^(k)It is sight line row vector $l^{\left(k\right)}=\frac{p_u-p^{\left(k\right)}}{\left|\right|p_u-p^{\left(k\right)}\left|\right|}$

Then, with equation (10) writing,

(13) y=Gx+N+ ε, wherein, $y=\mathrm{\&phi;}-{\mathrm{\&lambda;}}^{-1}\&CenterDot;f\left(p_u^m\right),$ $G={\mathrm{\&lambda;}}^{-1}\&CenterDot;\frac{\&PartialD;f}{\&PartialD;p_u}\left(p_u^m\right),$ And x=Δ p _u

Equation (13) is at x=Δ p _uThe time be linear, and use local minimization search algorithm given below at Δ p _uFind the solution.Use the Δ p that so obtains _uSolution, use equation (11) to obtain the p at iteration m place _u, use the p that so obtains then _uLocate as next iteration (m+1)

Carry out iteration continuously, up to Δ p _uThereby till the enough little decision convergence that becomes.When iteration begins, can from the solution based on code phases, obtain

Consider now equation (13) is found the solution.If Q _DdIt is the covariance matrix of two difference carrier phase error vectors.Its following acquisition.Single poor observed reading

The variance of error be Q _u+ Q _r, wherein, Q _uAnd Q _rIt is respectively the carrier phase error variance that hypothesis is independent of transmitter k. ${\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(\mathrm{kl}\right)}={\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(k\right)}-{\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(l\right)}$ Variance be 2 (Q _u+ Q _r), and ${\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(\mathrm{jl}\right)}={\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(j\right)}-{\mathrm{\&phi;}}_{\mathrm{ur}}^{\left(l\right)}$ With

, the intersection variance between j ≠ k is Q _u+ Q _r, it is common

Variance.Therefore,

(13) weighted least-squares solution is:

$\hat{x}=G^L\&CenterDot;(y-N),---\left(15\right)$ Wherein, G ^LBe the left inverse of G,

$G^L={(G^T\&CenterDot;Q_{\mathrm{dd}}^{-1}\&CenterDot;G)}^{-1}\&CenterDot;G^T\&CenterDot;Q_{\mathrm{dd}}^{-1}$

Then, the vector of residual error is

$(Y-N)-G\&CenterDot;\hat{x}=(y-N)-G\&CenterDot;G^L(y-N)=(I-G\&CenterDot;G^L)(y-N)=S(y-N)---\left(16\right)$

It is the function of N, and local minimum search is attempted at the weighted norm squared minimization of N with residual error, and is as follows

(17) min c (N)=(y-N) ^TW (y-N), wherein,

And S=I one GG ^L

For (17) are found the solution, consider at N it is under the restriction of integer, following formula is found the solution

(18) W·N≈W·y。

Then, W (y-N) ≈ 0, and

(y-N) ^TW ^TW (y-N)=(y-N) ^TW (y-N)=c (N) ≈ O is because the very important (W of W ^T=W and WW=W).Therefore, the search of N is confined to satisfy the N of (18).

In case tried to achieve N, then the estimated value that obtains from equation (15).The matrix G and the G that have dimension (n-1) * 3 and 3 * (n-1) respectively ^LHave grade 3 separately, because (n-1)＞3, therefore the matrix S of (n-1) * (n-1) and W will be than the congruence levels short 3 of (n-1).

Use QR to decompose (also can use LU to decompose) to the W on the equation (18),

(19) R·N=Q ^T·W·y

Wherein, Q is orthogonal matrix (Q ^-1=Q ^T), and R is upper triangular matrix, thereby

$\left[\begin{array}{cc}{R}_{11}& R_{12}\\ 0& 0\end{array}\right]\&CenterDot;\left[\begin{array}{c}{N}_1\\ N_2\end{array}\right]=\left[\begin{array}{c}{(Q^T\&CenterDot;W\&CenterDot;)}_{11}\\ \&ap;0\end{array}\right]---\left(20\right)$

Then,

${\mathrm{<figure-callout\; id="1"\; label="N"\; filenames="HDA00003182548700181.png,HDA00003182548700191.png"\; state="\{\{state\}\}">N</figure-callout>}}_1=\mathrm{round}\{R_{11}^{-1}\&CenterDot;({(Q^T\&CenterDot;W\&CenterDot;y)}_{11}-R_{12}\&CenterDot;N_2)\}---\left(21\right)$

Therefore, by search N in having integer-valued 3 dimension casees (box) ₂, obtain N from (21) ₁, and pick up this little N of c (N) that makes in (17), obtain $N=\left[\begin{array}{c}{N}_1\\ N_2\end{array}\right]$ Solution.Search N ₂With the N from last iteration ₂Value centered by.At zero degree iteration N ₂The time, as The latter half of the N that obtains of fraction part;

Be based on the solution of code phases.The size of 3 dimension search casees depends on the uncertainty based on the solution of code phases.This case can be divided into less sub-case, and the center of sub-case that can attempt each reduced size is as initial

Top method uses the measured value of single epoch (instantaneous) to determine the position.Following description explanation is to the expansion of list method epoch.Get many epoch of the measured value of time close enough, wherein, user's receiver moves and can ignore.In addition, the integer ambiguity of initial epoch keeps identical in epoch subsequently, makes not introduce new unknown integer ambiguity at place's epoch subsequently.Because the transmitter place is fixed, measure therefore many epoch and do not provide independent equation (be unlike under the GNSS situation, wherein, the motion of satellite launch vehicle changes sight line, therefore provides independent equation).Therefore, measure many epoch and when finding the solution at integer ambiguity as the floating-point blur level, not have help (under the GNSS situation the when quantity that is unlike in independent equation becomes and adds the quantity of three unknown coordinates greater than unknown blur level).Yet, measure many epoch and allow bigger carrier phase measurement error, and still allow successful ambiguity resolution.Under many epoch situations, equation (13) becomes

$y=\left[\begin{array}{c}{y}_1\\ y_2\\ .\\ .\\ .\\ y_m\end{array}\right]=\left[\begin{array}{c}G\\ G\\ .\\ .\\ .\\ G\end{array}\right]\&CenterDot;x+\left[\begin{array}{c}N\\ N\\ .\\ .\\ .\\ N\end{array}\right]+\left[\begin{array}{c}{\mathrm{\&epsiv;}}_1\\ {\mathrm{\&epsiv;}}_2\\ .\\ .\\ .\\ {\mathrm{\&epsiv;}}_m\end{array}\right]$

Follow as the expansion of top equation at list situation epoch, problem is reduced to seeks N, the problem that makes the following formula establishment

$\min c\left(N\right)={(y-\left[\begin{array}{c}N\\ N\\ .\\ .\\ .\\ N\end{array}\right])}^T\&CenterDot;\stackrel{\&OverBar;}{W}\&CenterDot;(y-\left[\begin{array}{c}N\\ N\\ .\\ .\\ .\\ N\end{array}\right])---\left(23\right)$

Wherein, $\stackrel{\&OverBar;}{W}={\stackrel{\&OverBar;}{S}}^T\&CenterDot;{\stackrel{\&OverBar;}{Q}}_{\mathrm{dd}}^{-1}\&CenterDot;\stackrel{\&OverBar;}{S},$ $\stackrel{\&OverBar;}{S}=I-\stackrel{\&OverBar;}{G}\&CenterDot;{\stackrel{\&OverBar;}{G}}^L,$ ${\stackrel{\&OverBar;}{G}}^L={({\stackrel{\&OverBar;}{G}}^T\&CenterDot;{\stackrel{\&OverBar;}{Q}}_{\mathrm{dd}}^{-1}\&CenterDot;\stackrel{\&OverBar;}{G})}^{-1}\&CenterDot;{\stackrel{\&OverBar;}{G}}^T\&CenterDot;{\stackrel{\&OverBar;}{Q}}_{\mathrm{dd}}^{-1}$

$\stackrel{\&OverBar;}{G}=\left[\begin{array}{c}G\\ G\\ .\\ .\\ .\\ G\end{array}\right]$

And, in order at N (23) to be found the solution, consider to use

QR decompose (also can use LU to decompose), and follow as top equation (19) to (21), following formula is found the solution

$\stackrel{\&OverBar;}{W}\&CenterDot;\stackrel{\&OverBar;}{I}\&CenterDot;N\&ap;\stackrel{\&OverBar;}{W}\&CenterDot;y,---\left(24\right)$ Wherein, $\stackrel{\&OverBar;}{I}=\left[\begin{array}{c}I\\ I\\ .\\ .\\ .\\ I\end{array}\right].$

Again, in case N is found the solution, then obtain x=Δ p from equation (15) _uEstimated value.If this x=Δ p _uEstimated value little, then stop the iteration in the equation (11), to obtain customer location p _uUsually, if the amplitude of each component of x less than le-6, is then declared convergence, and is stopped iteration.

Next step is the customer location p of checking convergence _uWhether be correct position.This is based on as mod (φ-λ ^-1F (p _u)-N, λ) residual error that obtains from (10) is carried out.If the maximal value of the absolute value of the residual error of each epoch (epoch) less than

Then accept the solution of convergence as solution, otherwise by selecting new sub-case, proceed search.Usually, the scale factor κ in the validation test can be chosen as 5.In case solution obtains checking, then above-mentioned difference WAPS system can realize approaching or being better than the accuracy of 1m.

This difference WAPS carrier phase system can be superimposed upon in the traditional WAP S system by increasing the benchmark receiver, perhaps can be independently.Can use this difference WAPS carrier phase system, in particular localization target area (for example market, warehouse etc.), send the pin-point accuracy location.

In the W-CDMA system, use two reception chains to improve the reception diversity.When WAPS and W-CDMA coexistence, can use one that receives in the chain temporarily, be used for the WAPS signal is received and handles.Under some situation of W-CDMA and CDMA framework, can the whole reception chain of recycling, by with receiver be tuned to the WAPS band, and the WAPS signal handled, suspend the W-CDMA/CDMA Signal Processing simultaneously temporarily, receive the WAPS signal.In some other embodiment that receives the multiplexing GSM reception of chain chain with W-CDMA, further the time is shared receiver, is used for WAPS and receives.

In case determine to use those signals from those signal towers, at WAPS or carry out the position arbitrarily in other tdma system and determine, then in order to save electric power, during not detecting arbitrary signal and/or not using the time slot that the signal that comes the signal tower of radiation in comfortable these time slots carries out determining the position, close the receiver of most embodiment.Detect that the position is moved or situation that change or signal conditioning change under, then in all time slots, connect the receiver of embodiment, to determine using which time slot, be used for next group position calculation.

The embodiments described herein comprises a kind of positioning system, comprising: the terrestrial transmitters network, comprise a plurality of transmitters, and described a plurality of transmitter broadcasting positioning signals, described positioning signal comprises distance measuring signal and positioning system information at least.Distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting.This system comprises: the reference sensor array comprises at least one the reference sensor unit that is positioned at known location.This system comprises: remote receiver, comprise atmospheric sensor, and described atmospheric sensor is collected the atmosphere data of the position of described remote receiver.This system comprises: position application, move and be couple to described remote receiver at processor.Described position application uses described atmosphere data, from the reference data of one group of reference sensor unit of described reference sensor array and at least one information derived from described positioning signal and satellite-signal, calculate the described position of described remote receiver, described satellite-signal is based on the signal of the positioning system of satellite.Described position comprises height above sea level.

The embodiments described herein comprises a kind of positioning system, comprise: the terrestrial transmitters network, comprise a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting; The reference sensor array comprises at least one the reference sensor unit that is positioned at known location; Remote receiver comprises atmospheric sensor, and described atmospheric sensor is collected the atmosphere data at the place, place of described remote receiver; And position application, move and be couple to described remote receiver at processor, wherein, described position application uses described atmosphere data, from the reference data of one group of reference sensor unit of described reference sensor array and at least one information derived from described positioning signal and satellite-signal, calculate the position of described remote receiver, described satellite-signal is based on the signal of the positioning system of satellite, and wherein, described position comprises height above sea level.

The embodiments described herein comprises a kind of positioning system, comprising: the terrestrial transmitters network, comprise a plurality of transmitters, and described a plurality of transmitter broadcasting positioning signals, described positioning signal comprises distance measuring signal and positioning system information at least.Distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting.This system comprises: the reference sensor array comprises at least one the reference sensor unit that is positioned at known location.This system comprises: remote receiver, comprise atmospheric sensor, and described atmospheric sensor is collected the atmosphere data of the position of described remote receiver.This system comprises: position application, move and be couple to described remote receiver at processor.Described position application is used described atmosphere data and from the reference data of one group of reference sensor unit of described reference sensor array, is generated the datum pressure estimated value of the described position of described remote receiver.Described position application is used described datum pressure estimated value and at least one information derived from described positioning signal and satellite-signal, the described position of calculating described remote receiver, and described satellite-signal is based on the signal of the positioning system of satellite.Described position comprises height above sea level.

The embodiments described herein comprises a kind of positioning system, comprise: the terrestrial transmitters network, comprise a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting; The reference sensor array comprises at least one the reference sensor unit that is positioned at known location; Remote receiver comprises atmospheric sensor, and described atmospheric sensor is collected the atmosphere data of the position of described remote receiver; And position application, move and be couple to described remote receiver at processor, wherein, described position application is used described atmosphere data and from the reference data of one group of reference sensor unit of described reference sensor array, generate the datum pressure estimated value of the described position of described remote receiver, wherein, described position application is used described datum pressure estimated value and at least one information derived from described positioning signal and satellite-signal, calculate the described position of described remote receiver, described satellite-signal is based on the signal of the positioning system of satellite, wherein, described position comprises height above sea level.

The position application of embodiment resides on the described remote receiver, and described remote receiver is calculated described position.

When described positioning signal be do not detect and can not use at least one the time, the remote receiver of embodiment is worked with electric power reduction state.

The remote receiver of embodiment is used and is determined the position from one group of positioning signal of one group of described a plurality of transmitter, wherein, when described one group of positioning signal be do not detect and can not use at least one the time, described remote receiver is worked with electric power reduction state.

The remote receiver of embodiment changes in response to the position of the motion that detects described remote receiver, described remote receiver and at least one in changing of the signal(l)ing condition of described positioning signal, reduces state-transition to full power state from described electric power.

The system of embodiment comprises the server that is couple to described remote receiver, and wherein, described position application resides on the described server, and described server calculates described position.

The system of embodiment comprises the server that is couple to described remote receiver, and wherein, described position application is distributed between described remote receiver and the described server.

First mode of operation of the remote receiver of embodiment comprises that described remote receiver calculates the location based on terminal of described position.

Second mode of operation of the remote receiver of embodiment comprises that described server calculates the based on network location of described position.

The known location of embodiment is the place of one group of transmitter in described a plurality of transmitter.

The position application of embodiment comprises the pressure surface gradient former, and described pressure surface gradient former uses the described reference data from described one group of reference sensor unit, generates the equivalent benchmark height above sea level pressure of the described position of described remote receiver.

The position application of embodiment is used described equivalent benchmark height above sea level pressure, as the reference value that generates described height above sea level.

The position application of embodiment is used the described reference data from each reference sensor unit, at each the reference sensor unit in described one group of reference sensor unit, generates equivalent benchmark height above sea level pressure.

The reference data of embodiment comprises pressure, temperature and the locality data of each the reference sensor unit in described one group of reference sensor unit, and wherein, described locality data comprises height above sea level.

The position application of embodiment is used the described equivalent benchmark height above sea level pressure of each the reference sensor unit in described one group of reference sensor unit and latitude and the longitude of described remote receiver, generates the described equivalent benchmark height above sea level pressure of the described position of described remote receiver.

The position application of embodiment is used described atmosphere data and the described equivalent benchmark height above sea level pressure of the described position of described remote receiver, generates the described height above sea level of described remote receiver.

At least one reference sensor unit of embodiment is distributed at least one transmitter in described a plurality of transmitter.

At least one reference sensor unit of embodiment comprises a plurality of reference sensors unit, wherein, to first group in the described a plurality of transmitters of first set of dispense in described a plurality of reference sensors unit, and in described a plurality of reference sensors unit second group is in the place different with the place of described a plurality of transmitters.

At least one reference sensor unit of embodiment is in the place different with the place of described a plurality of transmitters.

The atmospheric sensor of embodiment is collected the pressure and temperature of the described position of described remote receiver.

The atmospheric sensor of embodiment is determined pressure data to be similar to less than the resolution in 36 Pascals' the scope.

The change speed of the remote receiver detected pressures data of embodiment.

The position application of embodiment is used described change speed, determines the vertical speed of described remote receiver.

The temperature data of embodiment comprises the external air temperature of the described position of described remote receiver, and described atmospheric sensor is to be approximately equal to and less than at least one the resolution in 3 degrees centigrade, to determine described temperature data.

Each reference sensor unit of embodiment comprises at least one atmospheric reference sensor, and described atmospheric reference sensor is collected datum pressure and the reference temperature data at the known location place of atmospheric reference unit.

At least one atmospheric reference sensor of embodiment is determined described datum pressure data to be similar to the resolution in 2-36 Pascal's scope.

The reference temperature data of embodiment comprise the external air temperature at described known location place, and described atmospheric reference sensor is to be approximately equal to and less than at least one the resolution in 3 degrees centigrade, to determine described temperature data.

At the finite temperature scope atmospheric reference sensor of embodiment is calibrated, wherein, based on the temperature that described atmospheric reference sensor stands, determined described finite temperature scope.

Each atmospheric reference sensor of embodiment is collected datum pressure and the reference temperature data at described known location place continuously.

The atmospheric reference sensor of location embodiment is to collect static relatively airborne datum pressure and reference temperature.

The atmospheric reference sensor of embodiment carries out filtering to datum pressure and reference temperature data.

The atmospheric reference sensor of embodiment uses the auto-adaptive time scale, and described datum pressure and reference temperature data are carried out filtering.

Each reference sensor unit of embodiment comprises the wind detecting device that detects wind data, and wherein, described wind data comprises direction and the size of local wind.

The position application of embodiment is used described wind data, carries out the correction of the variable in the described atmospheric sensor and at least one in the filtering.

At least one reference sensor unit of embodiment comprises a plurality of atmospheric reference sensors.

The system of embodiment comprises the communication linkage that is coupled between described reference sensor array and the described remote receiver.

The reference sensor array broadcasting atmospheric reference data of embodiment.

The reference sensor array of embodiment is broadcasted the raw data of described atmospheric reference data.

The reference sensor array of embodiment is broadcasted the differential data of described reference data.

With respect at least one steady state value, derive the differential data of embodiment.

The differential data of embodiment comprises the differential pressure data of deriving as the off-set value of standard atmospheric pressure.

The remote receiver of embodiment is via the described reference data of described broadcast reception.

The reference sensor array of embodiment is broadcasted described reference data in per second mode repeatedly.

The reference sensor array of embodiment is broadcasted described reference data in each measurement mode repeatedly.

The definite one group of atmospheric reference sensor will inquiring of the remote receiver of embodiment is to extract (pull) described reference data via described communication linkage from described one group of atmospheric reference sensor.

The position application of embodiment is handled described reference data, and determines the equivalent benchmark height above sea level pressure of each the reference sensor unit in described one group of reference sensor unit.

The reference data of embodiment comprises the place of each atmospheric reference unit.

The place of embodiment comprises latitude and longitude.

The place of embodiment comprises height.

The reference data of embodiment comprises the external air temperature from the measurement of each atmospheric reference unit.

The reference data of embodiment comprises degree of confidence.

Each reference sensor unit of embodiment is handled the described reference data of this reference sensor unit, and determines the equivalent benchmark height above sea level pressure of described reference sensor unit.

The reference data of embodiment comprises the place of each atmospheric reference sensor.

The place of embodiment comprises latitude and longitude.

The place of embodiment comprises height.

The reference data of embodiment comprises described equivalent benchmark height above sea level pressure.

The reference data of embodiment comprises degree of confidence.

The height above sea level of embodiment comprises the height above sea level of the estimation of each floor at least one structure.

The system of embodiment comprises database, and described database is couple to a plurality of remote receiver that comprise described remote receiver, and wherein, described database comprises the height above sea level of the described estimation that receives from described a plurality of remote receiver.

The system of embodiment comprises the study application that is couple to described server, and wherein, described study is used the height above sea level of the described estimation of described a plurality of remote receiver is handled, and uses the height above sea level of described estimation to revise described database.

At least one reference sensor unit of embodiment comprises at least one local reference sensor unit, and described local reference sensor unit is local in place and the structure at least one.

The reference data of embodiment comprises the data of described at least one local reference sensor unit.

The system of embodiment comprises: use the reference data of the gathering on the fixed time section, automatically the described atmospheric sensor of described remote receiver is calibrated.

The system of embodiment comprises: by distinguishing when described remote receiver is in known location, accumulate departing from of the described atmosphere data corresponding with described known location, and according to the calibration of accumulating that generates after proofreading and correct that departs from, generate the reference data of described gathering.

The system of embodiment comprises: when the height above sea level of the described position of known described remote receiver and atmospheric pressure, automatically the described atmospheric sensor of described remote receiver is calibrated.

Use described satellite-signal to determine the described position of the remote receiver of embodiment.

The system of embodiment comprises: use benchmark height above sea level to determine described height above sea level.

Height above sea level difference minimum between the height above sea level of at least one calculating in the feasible described atmosphere data of use of the benchmark height above sea level of embodiment and the described reference data.

The benchmark height above sea level of embodiment comprises the mean sea level of described atmospheric reference unit.

The benchmark height above sea level of embodiment comprises the mean sea level in the zone at described remote receiver place.

The height above sea level of embodiment comprises the height above sea level of the estimation that the local restricting data of use is derived.

The local restricting data of embodiment comprises near the terrain data of the landform that the described position of described remote receiver is.

The local restricting data of embodiment comprises near the height of at least one structure that the described position of described remote receiver is.

The local restricting data of embodiment comprises near the height above sea level of at least one other remote receiver that the described position of described remote receiver is.

The position application of embodiment is used described atmosphere data, described reference data and described local restricting data, determines described height above sea level.

The system of embodiment comprises the database that is couple to described position application, wherein, described database is included in the historical data of measuring during certain time period, and wherein, described historical data comprises the described reference data of described reference sensor array and the atmosphere data of a plurality of remote receiver.

The position application of embodiment is used described historical data, determines described height above sea level.

The system of embodiment comprises: use described historical data, optimize described at least one reference sensor unit of described reference sensor array.

The system of embodiment comprises: the hypothesis of the constant equivalent benchmark height above sea level pressure between the datum location by loosening the reference sensor unit and the current location of described remote receiver, determine described height above sea level.

The system of embodiment comprises: the second equivalent benchmark height above sea level pressure that the first equivalent benchmark height above sea level pressure at described datum location place is converted to the standard temperature place.The system of embodiment comprises: determine the local temperature of described current position, and use described local temperature that the described second equivalent benchmark height above sea level pressure is converted to C grade effect benchmark height above sea level pressure.The system of embodiment comprises: use described C grade to imitate benchmark height above sea level pressure, determine the height above sea level of described current position.

The system of embodiment comprises: use the reference data at each place, reference sensor unit in described one group of reference sensor unit, determine that equivalent benchmark height above sea level pressure is with respect to the variation in horizontal place.The system of embodiment comprises: by making up the described equivalent benchmark height above sea level pressure of described one group of reference sensor unit, determine the best estimate of the benchmark height above sea level pressure of described current position.

The best estimate of the equivalent benchmark height above sea level pressure of embodiment comprises the use The weighted average technology, and wherein, weight is the place of reference sensor unit and the function of the horizontal range between the described current location.

The best estimate of the definite equivalent benchmark height above sea level pressure of embodiment comprises: use least square fitting, the second-order surface of the sea-level pressure at each place, reference sensor unit in, described one group of reference sensor unit that The Fitting Calculation best goes out to create; And use surface, n rank, the best estimate of the equivalent benchmark height above sea level pressure of described current position is carried out interpolation.

The system of embodiment comprises: with the first equivalent benchmark height above sea level pressure at each place, reference sensor unit in described one group of reference sensor unit, be converted to the second equivalent benchmark height above sea level pressure at standard temperature place.The system of embodiment comprises: by the described second equivalent benchmark height above sea level pressure of combination from each reference cell, determine the best estimate of the equivalent benchmark height above sea level pressure of described current position.

The best estimate of the definite equivalent benchmark height above sea level pressure of embodiment comprises the use The weighted average technology, and wherein, weight is the place of reference sensor unit and the function of the horizontal range between the described current location.

The best estimate of the definite equivalent benchmark height above sea level pressure of embodiment comprises: use least square fitting, the second-order surface of the equivalent benchmark height above sea level pressure at each place, reference sensor unit in, described one group of reference sensor unit that The Fitting Calculation best goes out to create; And use surface, n rank, the best estimate of the sea-level pressure of described current position is carried out interpolation.

The remote receiver of embodiment comprises high-frequency clock.

The remote receiver of embodiment receives the edge of a pulse from common time reference, and wherein, described remote receiver is used described high-frequency clock, determines the mistiming between the rising edge of the appearance of the described edge of a pulse and sample clock.

The remote receiver of embodiment is used estimated ranges based on the described mistiming and is proofreaied and correct, and wherein, described correction improves the accuracy of described estimated ranges.

The remote receiver of embodiment comprises the signal correlator relevant with pseudo random code that will receive, wherein, described correlator comprises first shift register, described first shift register comprises many groups of second shift registers of series connection, and described second shift register has parallel random access reading capability.

Every group of a plurality of shift register group primitives that comprise series connection in many groups of second shift registers of embodiment.

Each shift register group primitive of embodiment comprises n bit shift register group primitive.

Each shift register group primitive of embodiment comprises 16 bit shift register group primitives.

Each of embodiment is organized second shift register and is formed 32 bit shift registers.

Many groups of second shift registers of the series connection of embodiment comprise many group n bit shift registers.

Many groups of second shift registers of the series connection of embodiment comprise 32 group of second shift register, and wherein, described first shift register is 1024 bit shift registers.

The shifting function of first shift register of embodiment takes place with the clock rate of the clock that is couple to described correlator.

The read operation of first shift register of embodiment is with the speed generation of twice at least of described clock rate.

The read operation of first shift register of embodiment is with 32 times of generations of described clock rate.

The system of embodiment comprises a plurality of totalizers of series connection of the output of many groups of second shift registers that are couple to described series connection.

A plurality of totalizers of the series connection of embodiment comprise adder tree, and wherein, described adder tree comprises the totalizer primitive of wideer bit wide.

A plurality of totalizers of the series connection of embodiment comprise the totalizer that is couple to each group in described many group n bit shift registers.

A plurality of totalizers of the series connection of embodiment comprise the output that is couple to more than first group second shift register first adder, be couple to the output of second shift register of group more than second second adder, be couple to the 3rd totalizer of the output of organizing second shift register the 3rd more and be couple to the 4th totalizer of organizing the output of second shift register the 4th more.

The system of embodiment comprises the end totalizer of the output of a plurality of totalizers that are couple to described series connection.

The system of embodiment comprises: the output of a plurality of totalizers of the described series connection in a plurality of groups of the series connection in the described end totalizer of aliging.

In described end totalizer, the output of the first adder of alignment embodiment in first group, the output of alignment second adder in second group, the output of alignment the 3rd totalizer in the 3rd group, and the output of the 4th totalizer of in the 4th group, aliging.

The end totalizer of embodiment is passed through the content addition with a plurality of totalizers of described series connection, forms summation.

The remote receiver of embodiment is interim uses local reception chain in a plurality of local reception chains of described remote receiver, obtain in described positioning signal and the satellite-signal described at least one.

A plurality of local reception chains of embodiment comprise that improving the multifarious diversity of reception receives chain.

The remote receiver of embodiment comprises the wide bandwidth receiver.

The remote receiver of embodiment comprises wide bandwidth cellular band receiver.

The remote receiver of embodiment interim and permanent at least one ground use described diversity to receive chain, obtain described positioning signal.

104. positioning system according to claim 2 comprises at least one the communication system that is couple in described remote receiver and the described a plurality of transmitter, wherein, described communication system is cellular communication system.

A plurality of transmitters of embodiment are to be synchronized to, and wherein, each transmitter in described a plurality of transmitters sends the signal that comprises pseudo-random number sequence and assitance data.

The system time at the rising edge place of pulse waveform during the assitance data of embodiment comprises, the system time of the falling edge of pulse waveform, the geographic code data of described a plurality of transmitters, the geographic code data of the contiguous transmitter of contiguous described a plurality of transmitters, the index of the sequence that at least one transmitter of close described a plurality of transmitters uses, the clock correction of timing value of at least one transmitter, local atmospheric correction value, WAPS timing and GNSS relation regularly, in pseudo-range is found the solution in the indication of the home environment of auxiliary described remote receiver at least one and with the skew of the base index of one group of pseudo-random sequence, from the tabulation of the pseudo-random number sequence of one group of transmitter with use in the tabulation of transmitter of specific pseudo-random number sequence at least one.

The position application of embodiment is by being formulated as non-linear objective function with a prescription journey, and generates the best estimate of described position, the described position of calculating described remote receiver as the one group of location parameter that makes described objective function minimum.

The position application of embodiment is passed through one group of lienarized equation formulism, and uses least square that described one group of lienarized equation is found the solution, and calculates the described position of described remote receiver.

The position application of embodiment is used the approximate place of one group of transmitter in described a plurality of transmitter and the signal intensity that receives (RSS) data of described one group of transmitter, the described position of calculating described remote receiver.

The position application of embodiment is by the sample fragment of the described positioning signal of storage in described remote receiver, subsequently described sample fragment is handled to search for, obtain and calculate the scope of described a plurality of transmitters, the described position of calculating described remote receiver.

The position application of embodiment is used the signal strength data that receives of described remote receiver, calculates the described position of described remote receiver.

The position application of embodiment is used the carrier phase data of described positioning signal and at least one in the code phases data, the described position of calculating described remote receiver.

The position application of embodiment is used the difference location with respect at least one benchmark receiver, the described position of calculating described remote receiver.

The position application of embodiment is used from the representative of the scope measured value of opportunity signal and scope measured value at least one, calculate the described position of described remote receiver, wherein, from positioning system, Global Navigation Satellite System (GNSS), GPS (GPS), differential position system, radio signal, TV signal, Radio Network System, WiFi system, cellular system and Bluetooth system, receive described opportunity signal.

The position application of embodiment is used the scope measured value from least one additional signal source with the scope measured value combination of using described positioning signal to determine, calculate the final position of described remote receiver, wherein, described final position comprises at least one in latitude, longitude and the height.

The position application of embodiment is used the scope measured value from least one additional signal source with the scope measured value combination of using described positioning signal to determine, and from the position quality metric in described at least one additional signal source, calculate the optimization place of described remote receiver and separate.

The position application of embodiment is used mixed positioning, the described position of calculating described remote receiver, and described mixed positioning comprises from the measured value of described positioning signal with from the measured value of at least one additional source.

The positioning system information of embodiment comprises regularly synchronous and corresponding control information.

The embodiments described herein comprises a kind of baseline system, comprising: the reference sensor array comprises at least one group of reference sensor unit.Each group comprises at least one the reference sensor unit that is positioned at known location.This system comprises: remote receiver, comprise atmospheric sensor, and described atmospheric sensor is collected the atmosphere data of the position of described remote receiver.This system comprises: position application, move and be couple to described remote receiver at processor, wherein, described position application is used described atmosphere data and from the reference data of the described at least one group of reference sensor unit of described reference sensor array, is generated the datum pressure estimated value of the described position of described remote receiver.Described position application is used described datum pressure estimated value, calculates the height above sea level of described remote receiver.

The embodiments described herein comprises a kind of baseline system, comprising: the reference sensor array, comprise at least one group of reference sensor unit, and wherein, each group comprises at least one the reference sensor unit that is positioned at known location; Remote receiver comprises atmospheric sensor, and described atmospheric sensor is collected the atmosphere data of the position of described remote receiver; And position application, move and be couple to described remote receiver at processor, wherein, described position application is used described atmosphere data and from the reference data of the described at least one group of reference sensor unit of described reference sensor array, generate the datum pressure estimated value of the described position of described remote receiver, wherein, described position application is used described datum pressure estimated value, calculates the height above sea level of described remote receiver.

The embodiments described herein comprises a kind of positioning system, comprising: the terrestrial transmitters network, comprise a plurality of transmitters, and described a plurality of transmitter broadcasting positioning signals, described positioning signal comprises distance measuring signal and positioning system information at least.Distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting.This system comprises: remote receiver, obtain at least one in described positioning signal and the satellite-signal.Described satellite-signal is based on the signal of the positioning system of satellite.First mode of operation of described remote receiver comprises the location based on terminal, and in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, the position of calculating described remote receiver.Described remote receiver comprises correlator, and described correlator is relevant with pseudo random code with the signal that receives; And server, be couple to described remote receiver.Second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, the position of calculating described remote receiver.Described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

The embodiments described herein comprises a kind of positioning system, comprise: the terrestrial transmitters network, comprise a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting; Remote receiver, obtain at least one in described positioning signal and the satellite-signal, wherein, described satellite-signal is based on the signal of the positioning system of satellite, wherein, first mode of operation of described remote receiver comprises the location based on terminal, in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, calculate the position of described remote receiver, wherein, described remote receiver comprises correlator, and described correlator is relevant with pseudo random code with the signal that receives; And server, be couple to described remote receiver, wherein, second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, the position of calculating described remote receiver, wherein, described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

The correlator of embodiment comprises first shift register, and described first shift register comprises many groups of second shift registers of series connection, and described second shift register has parallel random access reading capability.

Every group of a plurality of shift register group primitives that comprise series connection in many groups of second shift registers of embodiment.

Each shift register group primitive of embodiment comprises n bit shift register group primitive.

Each shift register group primitive of embodiment comprises 16 bit shift register group primitives.

Each of embodiment is organized second shift register and is formed 32 bit shift registers.

Many groups of second shift registers of the series connection of embodiment comprise many group n bit shift registers.

Many groups of second shift registers of the series connection of embodiment comprise 32 group of second shift register, and wherein, described first shift register is 1024 bit shift registers.

The shifting function of first shift register of embodiment takes place with the clock rate that is couple to the described clock that is associated.

The read operation of first shift register of embodiment is with the speed generation of twice at least of described clock rate.

The read operation of first shift register of embodiment is with 32 times of generations of described clock rate.

The system of embodiment comprises a plurality of totalizers of series connection of the output of many groups of second shift registers that are couple to described series connection.

A plurality of totalizers of the series connection of embodiment comprise adder tree, and wherein, described adder tree comprises the totalizer primitive of wideer bit wide.

A plurality of totalizers of the series connection of embodiment comprise the totalizer that is couple to each group in described many group n bit shift registers.

A plurality of totalizers of the series connection of embodiment comprise the output that is couple to more than first group second shift register first adder, be couple to the output of second shift register of group more than second second adder, be couple to the 3rd totalizer of the output of organizing second shift register the 3rd more and be couple to the 4th totalizer of organizing the output of second shift register the 4th more.

The system of embodiment comprises the end totalizer of the output of a plurality of totalizers that are couple to described series connection.

The system of embodiment comprises: the output of a plurality of totalizers of the described series connection in a plurality of groups of the series connection in the described end totalizer of aliging.

In described end totalizer, the output of the first adder of alignment embodiment in first group, the output of alignment second adder in second group, the output of alignment the 3rd totalizer in the 3rd group, and the output of the 4th totalizer of in the 4th group, aliging.

The end totalizer of embodiment is passed through the content addition with a plurality of totalizers of described series connection, forms summation.

The embodiments described herein comprises a kind of positioning system, comprising: the terrestrial transmitters network, comprise a plurality of transmitters, and described a plurality of transmitter broadcasting positioning signals, described positioning signal comprises distance measuring signal and positioning system information at least.Distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting.This system comprises: remote receiver, obtain at least one in described positioning signal and the satellite-signal.Described satellite-signal is based on the signal of the positioning system of satellite.First mode of operation of described remote receiver comprises the location based on terminal, and in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, the position of calculating described remote receiver.When not detecting described positioning signal, described remote receiver is worked with electric power reduction state.This system comprises: server is couple to described remote receiver.Second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, the position of calculating described remote receiver.Described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

The embodiments described herein comprises a kind of positioning system, comprise: the terrestrial transmitters network, comprise a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting; Remote receiver, obtain at least one in described positioning signal and the satellite-signal, wherein, described satellite-signal is based on the signal of the positioning system of satellite, wherein, first mode of operation of described remote receiver comprises the location based on terminal, in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, calculate the position of described remote receiver, wherein, when not detecting described positioning signal, described remote receiver is worked with electric power reduction state; And server, be couple to described remote receiver, wherein, second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, the position of calculating described remote receiver, wherein, described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

The position application of embodiment resides on the described remote receiver, and described remote receiver is calculated described position.

When described positioning signal be do not detect and can not use at least one the time, the remote receiver of embodiment is worked with electric power reduction state.

The remote receiver of embodiment is used and is determined the position from one group of positioning signal of one group of described a plurality of transmitter, wherein, when described one group of positioning signal be do not detect and can not use at least one the time, described remote receiver is worked with electric power reduction state.

The remote receiver of embodiment changes in response to the position of the motion that detects described remote receiver, described remote receiver and at least one in changing of the signal(l)ing condition of described positioning signal, reduces state-transition to full power state from described electric power.

The embodiments described herein comprises a kind of positioning system, comprising: the terrestrial transmitters network, comprise a plurality of transmitters, and described a plurality of transmitter broadcasting positioning signals, described positioning signal comprises distance measuring signal and positioning system information at least.Distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting.This system comprises: remote receiver, obtain at least one in described positioning signal and the satellite-signal.Described satellite-signal is based on the signal of the positioning system of satellite.First mode of operation of described remote receiver comprises the location based on terminal, and in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, the position of calculating described remote receiver.Described remote receiver comprises high-frequency clock.This system comprises: server is couple to described remote receiver.Second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, the position of calculating described remote receiver.Described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

The embodiments described herein comprises a kind of positioning system, comprise: the terrestrial transmitters network, comprise a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting; Remote receiver, obtain at least one in described positioning signal and the satellite-signal, wherein, described satellite-signal is based on the signal of the positioning system of satellite, wherein, first mode of operation of described remote receiver comprises the location based on terminal, in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, the position of calculating described remote receiver, wherein, described remote receiver comprises high-frequency clock; And server, be couple to described remote receiver, wherein, second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, the position of calculating described remote receiver, wherein, described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

The remote receiver of embodiment receives the edge of a pulse from common time reference, and wherein, described remote receiver is used described high-frequency clock, determines the mistiming between the rising edge of the appearance of the described edge of a pulse and sample clock.

The remote receiver of embodiment is used estimated ranges based on the described mistiming and is proofreaied and correct, and wherein, described correction improves the accuracy of described estimated ranges.

The embodiments described herein comprises a kind of positioning system, comprising: the terrestrial transmitters network, comprise a plurality of transmitters, and described a plurality of transmitter broadcasting positioning signals, described positioning signal comprises distance measuring signal and positioning system information at least.Distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting.This system comprises: remote receiver, obtain at least one in described positioning signal and the satellite-signal.Described remote receiver is interim uses local reception chain in a plurality of local reception chains of described remote receiver, obtain in described positioning signal and the satellite-signal described at least one.Described satellite-signal is based on the signal of the positioning system of satellite.First mode of operation of described remote receiver comprises the location based on terminal, and in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, the position of calculating described remote receiver.This system comprises: server, be couple to described remote receiver, wherein, second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, the position of calculating described remote receiver.Described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

The embodiments described herein comprises a kind of positioning system, comprise: the terrestrial transmitters network, comprise a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting; Remote receiver, obtain at least one in described positioning signal and the satellite-signal, wherein, local reception chain in a plurality of local reception chains of the described remote receiver of the interim use of described remote receiver, obtain in described positioning signal and the satellite-signal described at least one, wherein, described satellite-signal is based on the signal of the positioning system of satellite, wherein, first mode of operation of described remote receiver comprises the location based on terminal, in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, the position of calculating described remote receiver; And server, be couple to described remote receiver, wherein, second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, the position of calculating described remote receiver, wherein, described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

The remote receiver of embodiment is interim uses local reception chain in a plurality of local reception chains of described remote receiver, obtain in described positioning signal and the satellite-signal described at least one.

A plurality of local reception chains of embodiment comprise that improvement receives multifarious various reception chain.

The remote receiver of embodiment comprises the wide bandwidth receiver.

The remote receiver of embodiment comprises wide bandwidth cellular band receiver.

The remote receiver of embodiment interim and permanent at least one ground use described various reception chain, obtain described positioning signal.

Described hereinly can in local and wide area, use in one or more in following application for the system that in position/timing accuracy, uses, but be not limited to following application: asset tracking; The people follows the tracks of; Pet is followed the tracks of; Security against fire; Moving advertising; The specific position that is used for public safety applications is determined (for example, one group of " movement " transmitter can be moved to place (for example fire place), and these transmitters will form localized network, to provide location information near one group of receiver it); Military Application (for example, can dispose transmitter with particular form on land or in air, to obtain accurate indoor location); Strong adaptability bandwidth for the application that the bandwidth that satisfies the accuracy needs can be provided; Container tracking and in indoor environment the vehicle of moving containers around; GEOGRAPHICAL INDICATION; The geographical restriction; E911 uses; Be used for medical applications and need the palette of other application of palette tracking to follow the tracks of; Femto cell; The timing base that is used for Femto cell, timing receiver; Based on both places of indoor and outdoors, provide the place through the Secure Application of authentication; Domestic. applications (for example, use WAPS to carry out pet/asset tracking, and use mobile phone to provide walking navigation to assets/pet).Can with WAPS system oneself or with the integrated WAPS system of other place technology, further be integrated in existing local and/or wide area asset tracking and/or the positioning system.

The embodiments described herein comprises a kind of positioning system, comprising: the transmitter network comprises a plurality of transmitters, described a plurality of transmitter broadcasting positioning signals; Remote receiver, obtain and follow the tracks of at least one in described positioning signal and the satellite-signal, wherein, described satellite-signal is based on the signal of the positioning system of satellite, wherein, first mode of operation of described remote receiver comprises the location based on terminal, in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, the position of calculating described remote receiver; And server, be couple to described remote receiver, wherein, second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according in described positioning signal and the described satellite-signal at least one, the position of calculating described remote receiver, wherein, described remote receiver receives and transmits in described positioning signal and the described satellite-signal at least one to described server.

The embodiments described herein comprises a kind of method of definite position, comprise: receive at least one in positioning signal and the satellite-signal at the remote receiver place, wherein, receive positioning signal from the transmitter network that comprises a plurality of transmitters, wherein, from satellite-based positioning system receiving satellite signal; And use based on one in the location of terminal and the based on network location, determine the position of remote receiver, wherein, location based on terminal comprises at least one that use in positioning signal and the satellite-signal, calculate the position of remote receiver at the remote receiver place, wherein, based on network location comprises at least one that use in positioning signal and the satellite-signal, calculates the position of remote receiver at the remote server place.

Can be with positioning parts described herein together or in separate locations.Communication path couples these parts, and communication path comprises for the arbitrary medium that transmits or transmit file between parts.Communication path comprises wireless connections, wired connection and hybrid wireless/wired connection.Communication path also is included in coupling of the network that comprises Local Area Network, Metropolitan Area Network (MAN) (MAN), wide area network (WAN), dedicated network, interoffice or back-end network and the Internet or is connected.In addition, communication path comprise that the movable fixed medium of picture floppy disk, hard drive and CD-ROM dish and flash RAM, USB (universal serial bus) (USB) are connected, RS-232 connection, telephone wire, bus and email message.

The each side of system and method described herein can be used as to be programmed into and comprises such as field programmable gate array (FPGA), programmable logic array (PAL) device, electrically programmable logic and memory device and based on the function in the various circuit of the programmable logic device (PLD) (PLD) of the device of standard cell element and special IC (ASIC) any one and realizing.Some of each side that realize system and method may comprise: have the microcontroller, embedded microprocessor, firmware, software of storer (for example Electrically Erasable Read Only Memory (EEPROM)) etc.In addition, in can the microprocessor that mixes arbitrarily in having circuit simulation based on software, discrete logic (order and combination), customization device, fuzzy (nerve) logic, quantum device and above-mentioned type of device, the each side of implementation system and method.Certainly, can be with various unit types, for example as mos field effect transistor (MOSFET) technology of complementary metal oxide semiconductor (CMOS) (CMOS), as emitter-base bandgap grading couple logic (ECL) bipolarity technology, polymer technology (for example silicon conjugated polymer and metal conjugated polymer-metal structure), mix analog-and digital-etc., the underlying device technology is provided.

Note, any system disclosed herein, method and/or other parts, can use area of computer aided that instrument is set describes, and as the data and/or the instruction that embed in the various computer-readable mediums, according to their behavior, register transfer, logical block, transistor, layout geometry and/or other characteristic, express (or expression).The computer-readable medium that can embed this formatted data and/or instruction is including, but not limited to various forms of non-volatile memories mediums (for example light, magnetic or semiconductor storage medium) and the carrier wave that can be used for transmitting this formatted data and/or instruction by wireless, light or wired signaling medium or its combination in any.Example by this formatted data of carrier-wave transmission and/or instruction is transmitted (uploading, download, send Email etc.) including, but not limited to via one or more Data Transport Protocol (for example HTTP, HTTPs, FTP, SMTP, WAP etc.) by the Internet and/or other computer network.When receiving in computer system via one or more computer-readable medium, processing entities (for example one or more processor) in the computer system can be handled this expression based on data and/or instruction of above-mentioned parts in conjunction with the execution of one or more other computer program.

Unless context is clearly requirement in addition, instructions and claim in full in, should with the adversative meaning that comprises of exclusive or limit; That is to say, with " including, but not limited to " meaning, explain that word " comprises ", " comprising " etc.Use the word of odd number or plural number also to comprise plural number or odd number respectively.In addition, when using in this application, word " here ", " hereinafter ", " top ", " following " and the word with similar meaning, REFERENCE TO RELATED as a whole, but not any specific part of REFERENCE TO RELATED.When using word " perhaps " in the tabulation of quoting two or more, this word covers all following explanations to this word: any one in the item in the tabulation, the combination in any of the item in all in the tabulation and the tabulation.

Above the description of the embodiment of system and method not being intended to is limit, perhaps system and method is confined to disclosed precise forms.Though in order to describe, described specific embodiment and the example of system and method here, various equivalent modifications will be recognized, can carry out various equivalent variations in the scope of system and method.The technology of the system and method that provides here not only can be used for above-described system and method, can also be applied to other system and method.Can make up element and the action of above-described each embodiment, so that other embodiment to be provided.Can carry out these and other change to system and method according to top detailed description.

Usually, in claims, should be with the terminological interpretation used for system and method not being confined to disclosed specific embodiment in instructions and claim, and it should be interpreted as being included in all system and methods of working under the claim.Correspondingly, the disclosure is restriction system and method not, but generation and will determine scope by claim is whole.Though the form that requires with specific rights has presented the particular aspects of system and method below, the inventor has imagined the various aspects of system and method with the form of the claim of any amount.Correspondingly, the inventor is retained in the right that submit applications increases accessory claim afterwards, to append these accessory claim forms at the other side of system and method.

Claims (162)

1. positioning system comprises:

The terrestrial transmitters network, described terrestrial transmitters network comprises a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting;

Reference sensor array, described reference sensor array comprise at least one the reference sensor unit that is positioned at known location;

Remote receiver, described remote receiver comprises atmospheric sensor, described atmospheric sensor is collected the atmosphere data at the place, place of described remote receiver; And

Position application, described position application is in the processor operation and be coupled to described remote receiver, wherein, described position application uses described atmosphere data, from the reference data of one group of reference sensor unit of described reference sensor array and according at least one information derived in described positioning signal and the satellite-signal, calculate the position of described remote receiver, described satellite-signal is based on the signal of the positioning system of satellite, and wherein, described position comprises height above sea level.

2. positioning system comprises:

The terrestrial transmitters network, described terrestrial transmitters network comprises a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting;

Reference sensor array, described reference sensor array comprise at least one the reference sensor unit that is positioned at known location;

Remote receiver, described remote receiver comprises atmospheric sensor, described atmospheric sensor is collected the atmosphere data at the place, place of described remote receiver; And

Position application, described position application is in the processor operation and be coupled to described remote receiver, wherein, described position application is used described atmosphere data and from the reference data of one group of reference sensor unit of described reference sensor array, generate the datum pressure estimated value of the position of described remote receiver, wherein, described position application is used described datum pressure estimated value and according at least one information derived in described positioning signal and the satellite-signal, calculate the position of described remote receiver, described satellite-signal is based on the signal of the positioning system of satellite, wherein, described position comprises height above sea level.

3. positioning system according to claim 2, wherein, described position application resides on the described remote receiver, and described remote receiver is calculated described position.

4. positioning system according to claim 3, wherein, when described positioning signal be not detected and can not use at least one the time, described remote receiver is operated in electric power and reduces state.

5. positioning system according to claim 4, wherein, described remote receiver is used and is determined the position from one group of positioning signal of one group of transmitter in described a plurality of transmitters, wherein, when described one group of positioning signal be not detected and can not use at least one the time, described remote receiver is operated in electric power and reduces state.

6. positioning system according to claim 5, wherein, described remote receiver changes in response to the position of the motion that detects described remote receiver, described remote receiver and at least one in changing of the signal(l)ing condition of described positioning signal, reduces state-transition to full power state from described electric power.

7. positioning system according to claim 2 comprises the server that is couple to described remote receiver, and wherein, described position application resides on the described server, and described server calculates described position.

8. positioning system according to claim 2 comprises the server that is couple to described remote receiver, and wherein, described position application is distributed between described remote receiver and the described server.

9. positioning system according to claim 8, wherein, first mode of operation of described remote receiver comprises that described remote receiver calculates the location based on terminal of described position.

10. positioning system according to claim 8, wherein, second mode of operation of described remote receiver comprises that described server calculates the based on network location of described position.

11. positioning system according to claim 2, wherein, described known location is the place of one group of transmitter in described a plurality of transmitter.

12. positioning system according to claim 2, wherein, described position application comprises the pressure surface gradient former, described pressure surface gradient former uses the described reference data from described one group of reference sensor unit, with the equivalent benchmark height above sea level pressure of the position that generates described remote receiver.

13. positioning system according to claim 12, wherein, described position application is used described equivalent benchmark height above sea level pressure, as the reference value that is used for generating described height above sea level.

14. positioning system according to claim 12, wherein, described position application is used the described reference data from each reference sensor unit, at each the reference sensor unit in described one group of reference sensor unit, generates equivalent benchmark height above sea level pressure.

15. positioning system according to claim 14, wherein, described reference data comprises pressure, temperature and the locality data of each the reference sensor unit in described one group of reference sensor unit, and wherein, described locality data comprises height above sea level.

16. positioning system according to claim 15, wherein, described position application is used the described equivalent benchmark height above sea level pressure of each the reference sensor unit that is used for described one group of reference sensor unit and latitude and the longitude of described remote receiver, generates the described equivalent benchmark height above sea level pressure of the position of described remote receiver.

17. positioning system according to claim 16, wherein, described position application is used described atmosphere data and the described equivalent benchmark height above sea level pressure of the position of described remote receiver, generates the height above sea level of described remote receiver.

18. positioning system according to claim 2 wherein, is distributed at least one transmitter in described a plurality of transmitter to described at least one reference sensor unit.

19. positioning system according to claim 2, wherein, described at least one reference sensor unit comprises a plurality of reference sensors unit, wherein, to first group of transmitter in the described a plurality of transmitters of first set of dispense in described a plurality of reference sensors unit, and in described a plurality of reference sensors unit second group is in the place different with the place of described a plurality of transmitters.

20. positioning system according to claim 2, wherein, described at least one reference sensor unit is in the place different with the place of described a plurality of transmitters.

21. positioning system according to claim 2, wherein, described atmospheric sensor is collected pressure data and the temperature data of the position of described remote receiver.

22. positioning system according to claim 21, wherein, described atmospheric sensor is determined pressure data to be similar to less than the resolution in 36 Pascals' the scope.

23. positioning system according to claim 21, wherein, described remote receiver detects the change speed of described pressure data.

24. positioning system according to claim 23, wherein, described position application is used described change speed, determines the vertical speed of described remote receiver.

25. positioning system according to claim 21, wherein, described temperature data comprises the external air temperature of the position of described remote receiver, and described atmospheric sensor is to be approximately equal to and less than at least one the resolution in 3 degrees centigrade, to determine described temperature data.

26. positioning system according to claim 2, wherein, each reference sensor unit comprises at least one atmospheric reference sensor, and described atmospheric reference sensor is collected in datum pressure data and the reference temperature data at the known location place of atmospheric reference unit.

27. positioning system according to claim 26, wherein, described at least one atmospheric reference sensor is determined described datum pressure data to be similar to the resolution in 2-36 Pascal's scope.

28. positioning system according to claim 26, wherein, described reference temperature data are included in the external air temperature at described known location place, and described atmospheric reference sensor is to be approximately equal to and less than at least one the resolution in 3 degrees centigrade, to determine described temperature data.

29. positioning system according to claim 26 wherein, is calibrated described atmospheric reference sensor at the finite temperature scope, wherein, based on the temperature that described atmospheric reference sensor stands, determines described finite temperature scope.

30. positioning system according to claim 26, wherein, each atmospheric reference sensor is collected in datum pressure data and the reference temperature data at described known location place continuously.

31. positioning system according to claim 26, wherein, described atmospheric reference sensor is positioned, to collect static relatively airborne datum pressure and reference temperature.

32. positioning system according to claim 26, wherein, described atmospheric reference sensor carries out filtering to described datum pressure data and reference temperature data.

33. positioning system according to claim 32, wherein, described atmospheric reference sensor uses the auto-adaptive time scale, and described datum pressure data and reference temperature data are carried out filtering.

34. positioning system according to claim 26, wherein, each reference sensor unit comprises that wherein, described wind data comprises direction and the size of local wind for the wind detecting device of determining wind data.

35. positioning system according to claim 34, wherein, described position application is used described wind data in the correction in the described atmospheric sensor and the filtering variable at least one.

36. positioning system according to claim 26, wherein, described at least one reference sensor unit comprises a plurality of atmospheric reference sensors.

37. positioning system according to claim 2 comprises the communication linkage that is coupled between described reference sensor array and the described remote receiver.

38. according to the described positioning system of claim 37, wherein, described reference sensor array broadcasting atmospheric reference data.

39. according to the described positioning system of claim 38, wherein, described reference sensor array is broadcasted the raw data of described atmospheric reference data.

40. according to the described positioning system of claim 38, wherein, described reference sensor array is broadcasted the differential data of described reference data.

41. according to the described positioning system of claim 40, wherein, with respect at least one steady state value, derive described differential data.

42. according to the described positioning system of claim 40, wherein, described differential data comprises the differential pressure data of deriving as the off-set value of standard atmospheric pressure.

43. according to the described positioning system of claim 38, wherein, described remote receiver is via the described reference data of described broadcast reception.

44. according to the described positioning system of claim 38, wherein, described reference sensor array is broadcasted described reference data in per second mode repeatedly.

45. according to the described positioning system of claim 38, wherein, described reference sensor array is broadcasted described reference data in each measurement mode repeatedly.

46. according to the described positioning system of claim 37, wherein, the definite one group of atmospheric reference sensor will inquiring of described remote receiver is to extract described reference data via described communication linkage from described one group of atmospheric reference sensor.

47. positioning system according to claim 2, wherein, described position application is handled described reference data, and determines the equivalent benchmark height above sea level pressure of each the reference sensor unit in described one group of reference sensor unit.

48. according to the described positioning system of claim 47, wherein, described reference data comprises the place of each atmospheric reference unit.

49. according to the described positioning system of claim 48, wherein, described place comprises latitude and longitude.

50. according to the described positioning system of claim 48, wherein, described place comprises height.

51. according to the described positioning system of claim 47, wherein, described reference data comprises the external air temperature of measuring from each atmospheric reference unit.

52. according to the described positioning system of claim 47, wherein, described reference data comprises degree of confidence.

53. positioning system according to claim 2, wherein, each reference sensor unit is handled the described reference data of this reference sensor unit, and determines the equivalent benchmark height above sea level pressure of described reference sensor unit.

54. according to the described positioning system of claim 53, wherein, described reference data comprises the place of each atmospheric reference sensor.

55. according to the described positioning system of claim 54, wherein, described place comprises latitude and longitude.

56. according to the described positioning system of claim 54, wherein, described place comprises height.

57. according to the described positioning system of claim 53, wherein, described reference data comprises described equivalent benchmark height above sea level pressure.

58. according to the described positioning system of claim 53, wherein, described reference data comprises degree of confidence.

59. positioning system according to claim 2, wherein, described height above sea level comprises the height above sea level that each floor at least one structure is estimated.

60. according to the described positioning system of claim 59, comprise database, described database is couple to a plurality of remote receiver that comprise described remote receiver, wherein, described database comprises the described height above sea level that estimates that receives from described a plurality of remote receiver.

61. according to the described positioning system of claim 60, comprise the study application that is couple to described server, wherein, described study is used the described height above sea level that estimates of described a plurality of remote receiver is handled, and uses the described height above sea level that estimates to revise described database.

62. positioning system according to claim 2, wherein, described at least one reference sensor unit comprises at least one local reference sensor unit, and described local reference sensor unit is local in place and the structure at least one.

63. according to the described positioning system of claim 62, wherein, described reference data comprises the data of described at least one local reference sensor unit.

64. positioning system according to claim 2 comprises: use the reference data of the gathering on the fixed time section, the described atmospheric sensor of described remote receiver is calibrated automatically.

65. according to the described positioning system of claim 64, comprise: by when described remote receiver is in known location, distinguishing, accumulate departing from of the described atmosphere data corresponding with described known location, and according to the calibration of accumulating that generates after proofreading and correct that departs from, generate the reference data of described gathering.

66. positioning system according to claim 2 comprises: when the height above sea level of the position of described remote receiver and atmospheric pressure are known, the described atmospheric sensor of described remote receiver is calibrated automatically.

67. according to the described positioning system of claim 66, wherein, use described satellite-signal to determine the position of described remote receiver.

68. positioning system according to claim 2 comprises: use benchmark height above sea level to determine described height above sea level.

69. according to the described positioning system of claim 68, wherein, the height above sea level difference minimum between feasible at least one height above sea level that calculates that uses in described atmosphere data and the described reference data of described benchmark height above sea level.

70. according to the described positioning system of claim 69, wherein, described benchmark height above sea level comprises the mean sea level of described atmospheric reference unit.

71. according to the described positioning system of claim 69, wherein, described benchmark height above sea level comprises the mean sea level in the zone at described remote receiver place.

72. positioning system according to claim 2, wherein, described height above sea level comprises the estimation height above sea level that uses local restricting data to derive.

73. according to the described positioning system of claim 72, wherein, described local restricting data is included near the terrain data of the landform the position of described remote receiver.

74. according to the described positioning system of claim 72, wherein, described local restricting data is included near the height of at least one structure the position of described remote receiver.

75. according to the described positioning system of claim 72, wherein, described local restricting data is included near the height above sea level of at least one other remote receiver the position of described remote receiver.

76. according to the described positioning system of claim 72, wherein, described position application is used described atmosphere data, described reference data and described local restricting data, determines described height above sea level.

77. positioning system according to claim 2, comprise the database that is couple to described position application, wherein, described database is included in the historical data of measuring during the time period, wherein, described historical data comprises the described reference data of described reference sensor array and the atmosphere data of a plurality of remote receiver.

78. according to the described positioning system of claim 77, wherein, described position application is used described historical data, determines described height above sea level.

79. according to the described positioning system of claim 77, comprising: use described historical data, described at least one reference sensor unit of described reference sensor array is optimized.

80. positioning system according to claim 2 comprises: the hypothesis of the constant equivalent benchmark height above sea level pressure between the datum location by loosening the reference sensor unit and the current location of described remote receiver, determine described height above sea level.

81. 0 described positioning system according to Claim 8 comprises:

The first equivalent benchmark height above sea level pressure at described datum location place is converted to the second equivalent benchmark height above sea level pressure at standard temperature place;

Determine the local temperature of described current position, and use described local temperature that the described second equivalent benchmark height above sea level pressure is converted to C grade effect benchmark height above sea level pressure; And

Use described C grade to imitate benchmark height above sea level pressure, determine the height above sea level of described current position.

82. 0 described positioning system according to Claim 8 comprises:

Use the reference data at each place, reference sensor unit in described one group of reference sensor unit, determine that equivalent benchmark height above sea level pressure is with respect to the variation in horizontal place; And

Make up by the described equivalent benchmark height above sea level pressure with described one group of reference sensor unit, determine the best estimate of the benchmark height above sea level pressure of described current position.

83. 2 described positioning systems wherein, determine that the best estimate of equivalent benchmark height above sea level pressure comprises the use The weighted average technology according to Claim 8, wherein, weight is the place of reference sensor unit and the function of the horizontal range between the described current location.

84. 2 described positioning systems according to Claim 8, wherein, the best estimate of determining equivalent benchmark height above sea level pressure comprises: use least square fitting, the second-order surface of the sea-level pressure at each place, reference sensor unit in, described one group of reference sensor unit that The Fitting Calculation best goes out to create; And use surface, n rank, the best estimate of the equivalent benchmark height above sea level pressure of described current position is carried out interpolation.

85. 0 described positioning system according to Claim 8 comprises:

With the first equivalent benchmark height above sea level pressure at each place, reference sensor unit in described one group of reference sensor unit, be converted to the second equivalent benchmark height above sea level pressure at standard temperature place; And

By making up from the described second equivalent benchmark height above sea level pressure of each reference cell, determine the best estimate of the equivalent benchmark height above sea level pressure of described current position.

86. 5 described positioning systems wherein, determine that the best estimate of equivalent benchmark height above sea level pressure comprises the use The weighted average technology according to Claim 8, wherein, weight is the place of reference sensor unit and the function of the horizontal range between the described current location.

87. 5 described positioning systems according to Claim 8, wherein, the best estimate of determining equivalent benchmark height above sea level pressure comprises the use least square fitting, the second-order surface of the equivalent benchmark height above sea level pressure at each place, reference sensor unit in, described one group of reference sensor unit that The Fitting Calculation best goes out to create; And use surface, n rank, the best estimate of the sea-level pressure of described current position is carried out interpolation.

88. positioning system according to claim 2, wherein, described remote receiver comprises high-frequency clock.

89. 8 described positioning systems according to Claim 8, wherein, described remote receiver receives the edge of a pulse from common time reference, wherein, described remote receiver is used described high-frequency clock, with the mistiming between the rising edge of the appearance of determining the described edge of a pulse and sample clock.

90. 9 described positioning systems according to Claim 8, wherein, described remote receiver is used estimated ranges based on the described mistiming and is proofreaied and correct, and wherein, described correction improves the accuracy of described estimated ranges.

91. positioning system according to claim 2, wherein, described remote receiver comprises the signal correlator relevant with pseudo random code that will receive, wherein, described correlator comprises first shift register, described first shift register comprises many groups of second shift registers of series connection, and described second shift register has parallel random access reading capability.

92. according to the described positioning system of claim 91, wherein, every group of a plurality of shift register group primitives that comprise series connection in described many group second shift registers.

93. according to the described positioning system of claim 92, wherein, each shift register group primitive comprises n bit shift register group primitive.

94. according to the described positioning system of claim 93, wherein, each shift register group primitive comprises 16 bit shift register group primitives.

95. according to the described positioning system of claim 92, wherein, each is organized second shift register and forms 32 bit shift registers.

96. according to the described positioning system of claim 92, wherein, many groups of second shift registers of described series connection comprise many group n bit shift registers.

97. according to the described positioning system of claim 96, wherein, many groups of second shift registers of described series connection comprise 32 group of second shift register, wherein, described first shift register is 1024 bit shift registers.

98. according to the described positioning system of claim 97, wherein, the shifting function of described first shift register takes place with the clock rate of the clock that is couple to described correlator.

99. according to the described positioning system of claim 98, wherein, the read operation of described first shift register is to be the speed generation of the twice at least of described clock rate.

100. according to the described positioning system of claim 99, wherein, the read operation of described first shift register is to be 32 times speed generation of described clock rate.

101. according to the described positioning system of claim 96, comprise a plurality of totalizers of series connection of the output of many groups of second shift registers that are couple to described series connection.

102. according to the described positioning system of claim 101, wherein, a plurality of totalizers of described series connection comprise adder tree, wherein, described adder tree comprises the totalizer primitive of wideer bit width.

103. according to the described positioning system of claim 101, wherein, a plurality of totalizers of described series connection comprise the totalizer that is couple to each group in described many group n bit shift registers.

104. according to the described positioning system of claim 103, wherein, a plurality of totalizers of described series connection comprise the output that is couple to more than first group second shift register first adder, be couple to the output of second shift register of group more than second second adder, be couple to the 3rd totalizer of the output of organizing second shift register the 3rd more and be couple to the 4th totalizer of organizing the output of second shift register the 4th more.

105. according to the described positioning system of claim 101, comprise the end totalizer of the output of a plurality of totalizers that are couple to described series connection.

106. according to the described positioning system of claim 105, comprising: with the output alignment of a plurality of totalizers of the described series connection in a plurality of groups of the series connection in the described end totalizer.

107. according to the described positioning system of claim 106, wherein, in described end totalizer, the output of alignment first adder in first group, the output of alignment second adder in second group, the output of alignment the 3rd totalizer in the 3rd group, and the output of the 4th totalizer of in the 4th group, aliging.

108. according to the described positioning system of claim 106, wherein, described end totalizer forms summation by a plurality of groups content addition with described series connection.

109. positioning system according to claim 2, wherein, described remote receiver is interim uses local reception chain in a plurality of local reception chains of described remote receiver, with obtain in described positioning signal and the satellite-signal described at least one.

110. according to the described positioning system of claim 109, wherein, described a plurality of local reception chains comprise that improving the multifarious diversity of reception receives chain.

111. according to the described positioning system of claim 110, wherein, described remote receiver comprises the wide bandwidth receiver.

112. according to the described positioning system of claim 111, wherein, described remote receiver comprises wide bandwidth cellular band receiver.

113. according to the described positioning system of claim 110, wherein, described remote receiver interim and permanent at least one ground use described diversity to receive chain, to obtain described positioning signal.

114. positioning system according to claim 2 comprises at least one the communication system that is couple in described a plurality of transmitter and the described remote receiver, wherein, described communication system is cellular communication system.

115. positioning system according to claim 2, wherein, described a plurality of transmitters are synchronous, and wherein, each transmitter in described a plurality of transmitters sends the signal that comprises pseudo-random number sequence and assitance data.

116. according to the described positioning system of claim 115, wherein, described assitance data comprises: the system time at the rising edge place of pulse waveform, the system time of the falling edge of pulse waveform, the geographic code data of described a plurality of transmitters, the geographic code data of the contiguous transmitter of contiguous described a plurality of transmitters, the index of the sequence that at least one transmitter of close described a plurality of transmitters uses, the clock correction of timing value of at least one transmitter, local atmospheric correction value, WAPS timing and GNSS time relation, in the pseudo-range solution in the indication of the home environment of auxiliary described remote receiver at least one, and with the skew of the base index of one group of pseudo-random sequence, from the tabulation of the pseudo-random number sequence of one group of transmitter with use in the tabulation of transmitter of specific pseudo-random number sequence at least one.

117. positioning system according to claim 2, wherein, described position application is by being formulated as non-linear objective function with a prescription journey, and the best estimate that generates described position is as the one group of location parameter that makes described objective function minimum, the position of calculating described remote receiver.

118. positioning system according to claim 2, wherein, described position application is passed through one group of lienarized equation formulism, and uses least square that described one group of lienarized equation is found the solution, and calculates the position of described remote receiver.

119. positioning system according to claim 2, wherein, described position application is used the approximate place of one group of transmitter in described a plurality of transmitter and the signal intensity that receives (RSS) data of described one group of transmitter, the position of calculating described remote receiver.

120. positioning system according to claim 2, wherein, described position application is by the sample fragment of the described positioning signal of storage in described remote receiver, and subsequently described sample fragment is handled to search for, obtain and calculate the scope of described a plurality of transmitters, the position of calculating described remote receiver.

121. positioning system according to claim 2, wherein, described position application is used the signal strength data that receives of described remote receiver, the position of calculating described remote receiver.

122. positioning system according to claim 2, wherein, described position application is used the carrier phase data of described positioning signal and at least one in the code phases data, the position of calculating described remote receiver.

123. positioning system according to claim 2, wherein, described position application is used the difference location with respect at least one benchmark receiver, the position of calculating described remote receiver.

124. positioning system according to claim 2, wherein, described position application is used from the representative of the scope measured value of opportunity signal and scope measured value at least one, calculate the position of described remote receiver, wherein, receive described opportunity signal from positioning system, Global Navigation Satellite System (GNSS), GPS (GPS), differential position system, radio signal, TV signal, Radio Network System, WiFi system, cellular system and Bluetooth system.

125. positioning system according to claim 2, wherein, described position application use with the scope measured value combination of using described positioning signal to determine, from the scope measured value at least one additional signal source, calculate the final position of described remote receiver, wherein, described final position comprises at least one in latitude, longitude and the height.

126. positioning system according to claim 2, wherein, described position application use with the scope measured value combination of using described positioning signal to determine, from the scope measured value at least one additional signal source, and from the position quality metric in described at least one additional signal source, calculate the optimization place of described remote receiver and separate.

127. positioning system according to claim 2, wherein, the position that described position application uses mixed positioning to calculate described remote receiver, described mixed positioning comprises from the measured value of described positioning signal with from the measured value of at least one additional source.

128. positioning system according to claim 2, wherein, described positioning system information comprises regularly synchronous and corresponding control information.

129. a baseline system comprises:

The reference sensor array, described reference sensor array comprises at least one group of reference sensor unit, wherein, each group comprises at least one the reference sensor unit that is positioned at known location;

Remote receiver, described remote receiver comprises atmospheric sensor, described atmospheric sensor is collected the atmosphere data of the position of described remote receiver; And

Position application, described position application is in the processor operation and be coupled to described remote receiver, wherein, described position application is used described atmosphere data and from the reference data of the described at least one group of reference sensor unit in the described reference sensor array, generate the datum pressure estimated value of the position of described remote receiver, wherein, described position application uses described datum pressure estimated value to calculate the height above sea level of described remote receiver.

130. a positioning system comprises:

The terrestrial transmitters network, described terrestrial transmitters network comprises a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting;

Remote receiver, described remote receiver is obtained at least one in described positioning signal and the satellite-signal, wherein, described satellite-signal is based on the signal of the positioning system of satellite, wherein, first mode of operation of described remote receiver comprises the location based on terminal, in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, calculate the position of described remote receiver, wherein, described remote receiver comprises correlator, and described correlator is relevant with pseudo random code with the signal that receives; And

Server, described server is coupled to described remote receiver, wherein, second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, calculate the position of described remote receiver, wherein, described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

131. according to the described positioning system of claim 130, wherein, described correlator comprises first shift register, described first shift register comprises many groups of second shift registers of series connection, and described second shift register has parallel random access reading capability.

132. according to the described positioning system of claim 131, wherein, every group of a plurality of shift register group primitives that comprise series connection in described many group second shift registers.

133. according to the described positioning system of claim 132, wherein, each shift register group primitive comprises n bit shift register group primitive.

134. according to the described positioning system of claim 133, wherein, each shift register group primitive comprises 16 bit shift register group primitives.

135. according to the described positioning system of claim 132, wherein, each is organized second shift register and forms 32 bit shift registers.

136. according to the described positioning system of claim 132, wherein, many groups of second shift registers of described series connection comprise many group n bit shift registers.

137. according to the described positioning system of claim 136, wherein, many groups of second shift registers of described series connection comprise 32 group of second shift register, wherein, described first shift register is 1024 bit shift registers.

138. according to the described positioning system of claim 137, wherein, the shifting function of described first shift register takes place with the clock rate of the clock that is couple to described correlator.

139. according to the described positioning system of claim 138, wherein, the read operation of described first shift register is to be the speed generation of twice at least of described clock rate.

140. according to the described positioning system of claim 139, wherein, the read operation of described first shift register is to be 32 times speed generation of described clock rate.

141. according to the described positioning system of claim 136, comprise a plurality of totalizers of series connection of the output of many groups of second shift registers that are couple to described series connection.

142. according to the described positioning system of claim 141, wherein, a plurality of totalizers of described series connection comprise adder tree, wherein, described adder tree comprises the totalizer primitive of wideer bit width.

143. according to the described positioning system of claim 141, wherein, a plurality of totalizers of described series connection comprise the totalizer that is couple to each group in described many group n bit shift registers.

144. according to the described positioning system of claim 143, wherein, a plurality of totalizers of described series connection comprise the output that is couple to more than first group second shift register first adder, be couple to the output of second shift register of group more than second second adder, be couple to the 3rd totalizer of the output of organizing second shift register the 3rd more and be couple to the 4th totalizer of organizing the output of second shift register the 4th more.

145. according to the described positioning system of claim 141, comprise the end totalizer of the output of a plurality of totalizers that are couple to described series connection.

146. according to the described positioning system of claim 145, comprising: with the output alignment of a plurality of totalizers of the described series connection in a plurality of groups of the series connection in the described end totalizer.

147. according to the described positioning system of claim 146, wherein, in described end totalizer, the output of alignment first adder in first group, the output of alignment second adder in second group, the output of alignment the 3rd totalizer in the 3rd group, and the output of the 4th totalizer of in the 4th group, aliging.

148. according to the described positioning system of claim 146, wherein, described end totalizer forms summation by a plurality of groups content addition with described series connection.

149. a positioning system comprises:

The terrestrial transmitters network, described terrestrial transmitters network comprises a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting;

Remote receiver, described remote receiver is obtained at least one in described positioning signal and the satellite-signal, wherein, described satellite-signal is based on the signal of the positioning system of satellite, wherein, first mode of operation of described remote receiver comprises the location based on terminal, in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, calculate the position of described remote receiver, wherein, when not detecting described positioning signal, described remote receiver is operated in electric power and reduces state; And

Server, described server is couple to described remote receiver, wherein, second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, calculate the position of described remote receiver, wherein, described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

150. according to the described positioning system of claim 149, wherein, position application resides on the described remote receiver, and described remote receiver is calculated described position.

151. according to the described positioning system of claim 150, wherein, when described positioning signal be do not detect and can not use at least one the time, described remote receiver is operated in the work of electric power reduction state.

152. according to the described positioning system of claim 151, wherein, described remote receiver is used and is determined the position from one group of positioning signal of one group of described a plurality of transmitter, wherein, when described one group of positioning signal was in not detecting and can not using at least one, described remote receiver was operated in electric power and reduces state.

153. according to the described positioning system of claim 152, wherein, described remote receiver changes in response to the position of the motion that detects described remote receiver, described remote receiver and at least one in changing of the signal(l)ing condition of described positioning signal, reduces state-transition to full power state from described electric power.

154. a positioning system comprises:

The terrestrial transmitters network, described terrestrial transmitters network comprises a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting;

Remote receiver, described remote receiver is obtained at least one in described positioning signal and the satellite-signal, wherein, described satellite-signal is based on the signal of the positioning system of satellite, wherein, first mode of operation of described remote receiver comprises the location based on terminal, in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, the position of calculating described remote receiver, wherein, described remote receiver comprises high-frequency clock; And

Server, described server is couple to described remote receiver, wherein, second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, calculate the position of described remote receiver, wherein, described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

155. according to the described positioning system of claim 154, wherein, described remote receiver receives the edge of a pulse from common time reference, wherein, described remote receiver is used described high-frequency clock, determines the mistiming between the rising edge of the appearance of the described edge of a pulse and sample clock.

156. according to the described positioning system of claim 155, wherein, described remote receiver is used estimated ranges based on the described mistiming and proofreaied and correct, wherein, described correction improves the accuracy of described estimated ranges.

157. a positioning system comprises:

The terrestrial transmitters network, described terrestrial transmitters network comprises a plurality of transmitters, described a plurality of transmitter broadcasting positioning signal, described positioning signal comprises distance measuring signal and positioning system information at least, wherein, distance measuring signal comprises the information be used to the distance of the transmitter that measures the described distance measuring signal of broadcasting;

Remote receiver, described remote receiver is obtained at least one in described positioning signal and the satellite-signal, wherein, local reception chain in a plurality of local reception chains of the described remote receiver of the interim use of described remote receiver, with obtain in described positioning signal and the satellite-signal described at least one, wherein, described satellite-signal is based on the signal of the positioning system of satellite, wherein, first mode of operation of described remote receiver comprises the location based on terminal, in described location based on terminal, described remote receiver is according in described positioning signal and the described satellite-signal at least one, the position of calculating described remote receiver; And

Server, described server is couple to described remote receiver, wherein, second mode of operation of described remote receiver comprises based on network location, in described based on network location, described server is according at least one information derived from described positioning signal and described satellite-signal, calculate the position of described remote receiver, wherein, described remote receiver receives and to described server transmission from described positioning signal with at least one information derived the described satellite-signal.

158. according to the described positioning system of claim 157, wherein, described remote receiver is interim uses local reception chain in a plurality of local reception chains of described remote receiver, with obtain in described positioning signal and the described satellite-signal described at least one.

159. according to the described positioning system of claim 158, wherein, described a plurality of local reception chains comprise that improving the multifarious diversity of reception receives chain.

160. according to the described positioning system of claim 159, wherein, described remote receiver comprises the wide bandwidth receiver.

161. according to the described positioning system of claim 160, wherein, described remote receiver comprises wide bandwidth cellular band receiver.

162. according to the described positioning system of claim 159, wherein, described remote receiver interim and permanent at least one ground use described diversity to receive chain, to obtain described positioning signal.

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