TW582143B - Wireless clock synchronization - Google Patents

Wireless clock synchronization Download PDF

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Publication number
TW582143B
TW582143B TW091110394A TW91110394A TW582143B TW 582143 B TW582143 B TW 582143B TW 091110394 A TW091110394 A TW 091110394A TW 91110394 A TW91110394 A TW 91110394A TW 582143 B TW582143 B TW 582143B
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TW
Taiwan
Prior art keywords
receiving
arrival time
receiving stations
time
arrival
Prior art date
Application number
TW091110394A
Other languages
English (en)
Inventor
Benjamin J Bekritsky
David Goren
William Sakoda
Raj Bridgelall
Original Assignee
Symbol Technologies Inc
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Publication date
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Application granted granted Critical
Publication of TW582143B publication Critical patent/TW582143B/zh

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    • H04L65/1043—Gateway controllers, e.g. media gateway control protocol [MGCP] controllers
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    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
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Description

582143 A7 B7 五、發明説明（！ 姐關專利之未昭 本申請主張2000年1 i月14曰所申請的美國臨時專利案號 60/248,357，及2001年2月20日所申請的美國臨時專利案號 6〇/270,254之優先權，其在此僅列出供參考。 發明蓺[f| 本發明係有關於用以使無線裝置的時脈同步之方法及系 統。更明確而言，本發明係有關使無線接收台的時脈同 步，以用來決定行動裝置的位置。 發明背景 在最近過去的無線裝置激增是特別的，而且包括可在彼 此之中及7或一中央位置，交換資料或語音信號的通訊及 計算裝置。這些裝置在電磁頻譜的專屬頻率或專屬區段上 典型可透過無線電波通信。這些無線電通信的範圍會改 變’而且裝置網路的中繼器、細胞式發射塔、或其他節點 可用來擴充此範圍。 一些裝置可以是細胞式電話，但是逐漸地，裝置具有多 重功能，例如具無線能力的可攜式或手持電腦、電子郵件 傳送與接收裝置、呼叫器、或雙向無線電通信裝置。透過 這些裝置傳送的信號亦可用來找出裝置，及使用裝置的 人。例如，細胞式電話可被修正，以便在緊急狀況正確指 不呼叫者的位置。在某些情況，無線電信標或定位器裝置 具有在危險情況保持追縱人員位置的特殊功能，例如消防 員或其他援救工人。 各種不同的方法已發展來決定傳輸一無線電信號的裝置 本纸張尺度適财S目家標準(CNS) A4規格(210X297公 -4 -
裝 訂
線 f 例如’二角測量 用來找出一發舢哭 /用兩或多個方向接收器而 他們必須可“定‘然而’接收詻必須是相當複雜，因為 她广1線電信號到達的方位或方向。 法是定;;!:接收台的内部時脈同步之方 封包。-第-到達二Γ:知位置上傳輸參考資料 的參考資料戈 弟—到達時間是一第-接收台 貝枓封包接收時間，而且該第二一 接收台的參考資料封包接收時間。^疋一 的到達時.間資料與第 …f夕頁式是以相關 % ^ 、 弟一到達時間的函數而計算。在 及弟二接收台上的資料封包 函數同步。 匕J達時間疋以線性多項式 定2=!’本發明是根據該到達的同步時間而用以 内邵時脈同步的一行動裝置、用以在接收 “上接收來自行動裝置的一資 每個接收台上決定f科封㈣㈣π止心在封對的 田難*始― 种封包到達的一同步時間、及透過使 又曲凃二邊形而計算行動裝置位置之方法。 麗式之簡單說明 圖1係根據本發明的-具體實施例而描述用來決定一行 動播線裝置位置的一雙曲線交集繪圖； 圖2係根據本發明的且轉余> 裝置的-範例設計；例而心傳輸與接收無線 圖3係根據本發明而顯示用以使接收台的時脈 — 582143 A7
方法具體實施例，其中該等接收台可用來找出一行動二 圖式之詳細說明 本發明用以使無線裝置内部時脈同步之方半 π久糸統。在 許多環境，決定一無線裝置的位置是想要的。此能力在义
急狀況是非常重要的，其中裝置的使用者必須定位。I 如，對於找出使用一細胞式電話的91丨呼 例 丁 1有疋很有用 的，即使呼叫者無能力或不能提供他的位 夏在其他情 況，知道一無線裝置的位置是很有用的，例如利用 802.U、IEEE 802.llb、IEEE 8〇2 Ua、Bluet〇〇th或與無 區域網路有關的任何進一步標準（整個稱為” 8 〇 2.11 x網路栌 準”)的-個人數位輔助’以便將位置敏感資訊提供心 精確找出傳輸信號的-裝置的關鍵是執行精確的時序操 作。可用來決定-行料元位置的_方法是執行雙曲線三 邊形。根冑此方時序資訊是映射到位置資㉝ 行動裝置能送出-封包、或包含例如描述發射器識別資料 的資訊傳輸。#包是透過具有一已知位置的許多接收器所 接收。接收器的位置是可固《’或接收器可移動。如果接 收器是可移動，他們的位置便必須由系統知道。 在任何兩接收器上的封包到達時間差允許沿著行動裝置 所在空間而計鼻唯'一曲線β ;泰彳ft名4» 开供田、果透過考慮在一額外對的兩接收 器上的封包到達時間m間曲線可沿著行動單元 所在位置計异。如此定義的兩雙曲線交集可決定行動裝置 的正確位置，線三邊形的一重要特徵是當封包接收 i紙張尺度適財@ Η ★標準(CNS) A4規格(21()Χ;^Γ 五、發明説明（ =只有在每對接收台上的相對封包到達時間需要知道 定包到達時間是已知，傳輸㈣裝置㈣置便可決 圖1係顯示上述方法的一闻一 由接收台a'b和C· —行動裝置卿傳輸能 對Α'、ΒΜ Γ 封包資料。封包接著由例如成 ^ ^ 、的至少兩對接收合接收。每對是f 裝置所位在的空間& # ^ ^ 呼奵疋/口者·仃動 C。斤著一雙曲、線，例如雙曲線Α-Β和Β- 座標。兩雙曲線的交集：斤：m置 中，行動裝置是位於二置的位置。在此範例 元。 "耆乂轴的33单元及沿著Y轴的22單 在=據本發明的定位系統中，每個接收 同 =置’且一時脈的執行是與其他接收台的時脈因 ㈣斤以每個時脈具有明確而非常 及其本身己的隨意開始時間。若要正確決定行 在所有接收台上的時脈必須同步。如果接 ::二或相當彼此靠近’所需的同步可透過 = 寺脈:起連接達成' 然而’如果接收台是在分開的戶外 位置，將接收器連接在一起的成本較高。 連ΓΓ1 具體實施例可提供—方法及系統以使不能實際 連接一起的接收台的時脈同步。在—具體實施例中，一益 =電=是在接收台地理中央點的—固定的已知位置上提 供。如圖2所示，無線電信標是位在接收台12、14、16 本紙張尺度適財g g家標準(CNS) A4規格(21GX297公董了 五、發明説明（ =:Γ整:_的設計可找出-行動傳輸裝置2。。 裝置。’、丁订力裝置2〇,但是系統可運用來找出超過- 的標1G可持續傳輸由每個接收單元12]8所接收 :二22。此參考封包22是根據802.1U網路標準而 ^ ’且疋透過在制路中料位置的存取輯傳輸。含 封時’㈣接收單元會將封包時間 ; 在與例如14和16的接收台對等距離，且這二: ::二時:是相同的一理想情況，這些接收器的封包：達 據^内:A)r將會是零’因為兩接收器之中每一者可根 據匕的内.邵時脈而以完全相同的時間接收封包。實際上， ::接收台14、16是與無線電信標1〇完全等距離，如果 兩時脈不同步，TDOΑ將不會是零。 —在根據本發明的所有接收台時脈同步方面，來自從盈線 廷信標⑽收的封包所計算的td〇a是強迫料零。若要 =脈=，所有接收器台12_18_為零， P使典線<^標1()是與所有接收台的距離不同 T_預期值是常數，因為無線電信標1〇與接收台12‘: 18的移動與彼此無關’所以由於強追td〇a為零的錯 會較大’且稍後可根據本發明的計算而補償。 0Β 根據本發明的-具體實施例，在例如接收心心 個和Β之間的TD〇A是透過從接收^的時脈時間 記紅減去接收台B的時脈時間記錄而計算出。換句話說’ TDOAA/B=tB-tA。在無線電信標丨〇與所有接收器是相等距 本紙張尺度適用中國國家標準(CNS) A4規格(2l〇V^7公爱) -8 · 582143 、發明説明（ 離的情況，到達時間差是零，1TD〇Aa/b=〇。如一第一步 驟’此假設是真的。當使用完全同步的時脈時，如果透過 任何兩接收器接收的一逵电刼4 Μ咕日日 關，接收器Α的時間記錄龛接二=錄是與彼此有 ^ Λ ΰ琛舁接收态B的時間記錄的比較圖 t會是斜率1的㈣。例如，如果透過時脈緖表示的到達 :間是在他們的y軸上緣出，且透過時脈崎表示的到達時 間是在X軸上繪出，該直線的方程式便會是y_"，或 y^x 〇 然而，如上述，該等接收台12_18之中每__者的時脈是 乂的’如此具有略微的頻率與開始時間差。因此，實際 上—的到達.時間緣圖絕不會是斜率i。或者，直線方程式是 y=mX+b。在此方程式中，m是直線的斜率，而且 ?切。直線的斜率是兩時脈頻率差的函數，而他們的截切 2在兩純_任意時脈開始時間差的函數。根據本發明 率：體貫施例，一線性多項式可用來從資料決定適當的斜 率與y截切。線性多項式可使用最小平方方法決定。 如果接收台八㈣對的時脈是完全同步，斜率<始奴等 而且截切b將始终等於卜實際上，斜率與截切可根 據本發明的具體實施例而持續計算及更新。在此 :中’該等接收台之中-者的時脈是當作-參考時： 用’而且其他接收台的所有時脈是被更正，以符入 脈的頻率與開始時間。既然只有資科到達的相對時間是重 2 ’而不是絕對時間，所以根據本發明具體實施例的參 考時脈可在接收台之中任意選取。 裝 訂 線 本纸狀度 ί4^Τ5ϋ^_)_·Α4_2^^^ -9- 、發明説明（7 接二發明的斜率與y軸截切的多項式係數決定， 口、、3零丁DOA可被補償。在接收台12_18之 -者與無線電信標10之間的已知距離差可用來 兩接收台組與之間實際伽A的偏向、或更正因辛、及ί 信標1〇與接收器12-18的已知位置計算的預期 只要根據本發明而採用更正步驟，該等時脈之中每一者 具有與它用來使時脈同步有關的3個數目。每個時脈具有 斜率m ’且通常具有由於頻率偏移而不同於1的值，由於 與該等接收台12·18之中每_者的不同距離，_y轴截 切b能從時脈的任意開始時間、及—偏向決定。 «過行動裝置2G傳送的封包24由該等接收台12]8之 中=者接收時，它便可由接收台的時脈做時間記錄。時間 記錄然後可調整以補償内部時脈的頻率偏移與任意開始時 間。透過使用來自行動裝置20的封包接收的調整時間，在 ㈣台對之間的TD0A然後可使用公式TDaw=tA七計 ^在決足TD〇Aa/b之後，偏向會增加，以補償與m及b的 〃十算有關非零TDOA ’且該等計算是在時脈同步步驟中實 施田土 ^兩對接收台的TDOA計算時，行動裝置2 〇的位 置便可使用雙曲線三邊形決定。 圖3係根據本發明的一具體實施例而顯示一流程圖，該 流私圖係描述用來使接收台的時脈同步及決定一行動裝置 位置的万法。雖然該方法可運用到具許多接收台的、行動 裝置、與典線電信標的其他建構，但是該方法是參考圖2 •10- 本纸張尺度適用中國國家標準(CNS) A4規格(210X297公爱y 582143
顯不的70件而描述。在步驟⑽，參考封包22是從無線電 =標10傳送，而且是透過接收台12_18接收。如上述，在 步驟102，斜率m&y軸截切b是在該等接收台之中每一者 計算，且假設在無線電信標10與該等接收台12_18之中每 一者的距離相等。 要斜率與y軸截切計算 阿從"i在步驟104的每< 接收台計算。如上述，偏向是從無線電信標10與接收 12-18的已知位置計算，步驟1〇〇、1〇2和1〇4是一部份的 步步驟，可用校準接收台的時脈，所以行動裝置2〇的定 可完成。在時脈同步之後’步驟106至112是針對行動裝 2 0的定位。 二在步驟106，一封包24是從可動裝置2〇傳送，且是接收 至t兩對接收台接收。接收台對的咖八是在步驟1〇8利用 先可使内部時脈同時計算的斜率與y軸截切而計算出。在 步银11G ’ TDOA的計算是使用在步驟1()4計算的值而更 正，、而且接收台對的TD0A更正值可用來沿著行動裝置2〇 的位置而計算雙曲線。如上述’ i少兩對接收台所計算的 曲線然後可使用在步驟112 ,以找出行動裝置2〇。 本發明描述的-具體實施例具有一行動裝置及四個固定 接收台n其他具體實施例的設計具有額外行動裝置 及/或額外無線電信標及/或額外或更少的接收台。因此， 各種不同的修改與變化可達成，而不㈣達背如附錄申請 專利中所描述本發明的廣泛精神與範圍。因此，說明書與 圖式只是說明而不是限制。 曰” -11- 本紙張尺度適时s S家^^1^：格(210><297公釐)
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  1. 、申請專利範園 1. -種用以使系統接收台之内 列步驟： ' 同步之方法，包含下 在一已知位置上，從一盔 包； ·…泉笔信標傳輸一參考資料封 將一第一到達時間盥一笛一 _ , ^ /、罘一到達時間相比較，以、本佘 -相關的到達時間.資料’該第 接： 第台的::::料封包的接收時間，該第二到達:間2 弟一接收口的該參考資料封包的接收時間； 到達時間資科與該等第—及第二到 的函數而計算一線性多項式；及 以該線性多項式函數而使第—及第二接收台的 資料封包的該等第一及第二到達時間同步。 Μ考 2·如申請專利㈣第丨項之方法，其中料算步 下列步驟： 假設在該無線電信標與該等第一及第二接收台之間的 距離相等，計算該相關到達時間資料的一斜率及一y軸 .截切；及 以在該無線電信標與該等第一及第二接收台之間的已 知距離差的函數而計算該相關到達時間資料的一偏向。 3·如申請專利範圍第2項之方法，其係進一步包含下列步 驟： . ° 重複該等第三及第四接收台的比較與計算步騾，以決 疋遠等弟二及第四接收台的一進一步斜率、一進一步乂 軸截切、及一進一步偏向。 本紙張尺度適用中國國家標準(CNS) A4規格(210 X 297公釐) 582143
    4·如申請專利範圍第2項之方法，其係進一步包含下列步 驟： 重複與該第一接收台有關的一弟二接收台的比較與計 算步驟，以決定該等第一及第三接收台的一進一步斜 率、一進一步y軸截切、及一進一步偏向。 5·如申請專利範圍第3項之方法，其係進一步包含下列步 驟： 以一行動裝置所傳送的一第一資料封包到達時間、及 第一及第二對接收台計算的一斜率、一 y軸截切、及一 偏向的函數而更正在第一及第二接收台與第三及第四接 收台之間的一到達時間差，該等第一及第二對之中每一 對係包括該等第-、第二、第三、及第四接收台之中的 任兩接收台，該第一對係包括不包含在第二對的至 接收台® 6.如申請專利範圍第2項之方法’其係進一步包含下列步 驟· 重複傳輸、比較、及辞罝击职 兮荽姐“一 十 便以一預定率更新 孩等接收口的内部時脈同步。 7· -種用以決定行動裝置位置之方法，包含下列步驟： 包在一已知位置上，從一無線電信標傳輸一參考資料封 - m ^ f 達時間與—第二到達時間相比較，以決定 關的：達時間資科，該第， 收台的該參考資料封包的接收時間，該第二到達 本紙張尺度適用t國國家標準 -2 一第二接收台的該參考資料封包的接收時間； 以該相關的到達時間資料與該等第一及第二到達時 的函數而計算一線性多項式，· 、 以該線性多項式函數而使第一及第二接收台的該參考 資料封包的該等第一及第二到達時間同步； 透過該等接收台的第一及第二接收台接收來自該行動 裝置的一資料封包； 決定在第一及第二接收台上的該資料封包的一同步到 達時間； 冲算在第一與罘二接收台之間的一到達時間差；及 以該同步到達時間函數而使用一對曲線三邊形來計算 該行動裝置的位置。 8. 如申請專利範圍第7項之方法，其係進一步包含下列步 驟： 決定至少第一及第二對接收台的一對應同步到達時 間，該等第一及第二對之中每一對係包括該第一接收 口、該第二接收台、一第三接收台及一第四接收台之中 任兩者，該第一對係包括不包含在第二對接收台中的至 少一接收台。 9. 如申請專利範圍第7項之方法，其係進一步包含下列步 驟： 決定至少第一、第二及第三對接收台的一對應同步到 達時間，該等第一、第二及第三對接收台係包括第一接 收台、第二接收台、第三接收台、第四接收台、一第五 -3-
    A B c D 接收台及一第二;H ι]4· ^1 不包含在第二-的任兩者’該第一對係包括 ° —弟二對的至少一接收台，該第二對包括 不包含在第三對中的至少一接收台。 k括 10. 如申清專利範圍第 下列步驟： …法，其中該同步步驟係包括 封，了已知的位置上傳輸來自無線電信標的-參考資料 將一第一到達時間與一第二到達時間相比較，以決定 —相關的到達時間資料，該第-到達時間是在該第—接 ，台士的Μ參考資料封包的接收時間，該第二到達 是孩第二接收台的參考資料封包的接收時間； ' ,以：關到達時間資料與第-及第二到達時間的一函數 而計算一線性多項式；及 以該線性多項式函數使在該等第—及第二接收台的 考資料封包的到達時間同步。 11. 一種用以使-行動裝置位置網路之内部時脈同步之 統，其係包含： 接收台’其具有該等内部時脈； 一處理器，其係連接到該等接收台；及 一無線電信標’其㈣—參考資料封包傳輸給該等接 收台，該無線電信標具有一已知位置， 其中該等接收台之中每—者可將該參考資料封包 達時間轉送給處理器’而且其中該處理器可計 間的-線性多項式，以使從—行動裝置接收的資料封、 參 系 包 -4
    本紙張尺度適财S國家職―）A4規格(210X297公复 1 582143 申請專利範圍 到達時間同步。 12•如申請專利範圍第U項之系統，其中該等接收台是 分開’而且其中至少兩對可用來找出行動裝置。 Π_如申請專利範圍第"項之系統’其中該處理器能 -及第二到達時間，該第—料時間是料接收台的— 第-接收台的參考資料封包接收時間，該第二到 Γ:Γ收虛台的一第二接收台的參考資料封包接收： 間，其中孩處理器是將該第_到達時間與該第 間相比較’以決相關的到達時間資料，其中該處理 益是以Μ等相關的料時間資料與第—及第二 的 的函數而計算-斜率及-趣，假設在無線電^ 與弟一及弟一接收台之間的距離相等，而且其中該處： 器可從在該無線電信標與該等第—及第二接收台 已知距離差而計算該相關到達時間資料的偏向。 其 14.-種用以使定位系統接收台之内部時脈同步之 係包含下列步驟： / 包 在-已知位置上從-無線電信標傳輸_參考資㈣ 在一第一對接收台之中每一者上 的—到達時間，以辦_到達 在該第一對接收台之中每一者上，以訪 間資料與到達時間的函數而計算_線性多嚷式、^達時 以線性多項式函數而使第一對接收台的該;參考 包的到達時間同步。 、 本紙張尺度適用中國國家標準(CNS) Α4規格(210X297公f 5- 582143 修正
    申請專利範圍 15·:申請專利範圍第“項之方法，其係進一步包含下列步 的收台之中每一者上比較該參考資科封包 j建時間，以決定該比較的到達時間資料； 次以在該第二對接收台之中每一者上的該比較 员料與到達時間的函數來計算一線性多項式；及 以該線性多項式函數而使第二對接收台的該參 封包的到達時間同步。 科 其中該等接收台之中一 對接收台。 其中該接收台的第一對 16·如申請專利範圍第1 5項之方法 第一者係包括在該等第一及第_ 17.如申請專利範圍第1 $項之方法 係。括第一及第二接收台’而且該第二對接收杠 第三及第四接收台。 本紙張尺度適用中國國家標準(CNS) A4規格(210X 297公釐) -6 - 582143 第091110394號專利申請案 * 中文圖式替換頁(93年1月） 盼ί· U修正 年力曰、ί、> 補无
    18 接收台 16 接收台
    圖2 -19-
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JP4226325B2 (ja) 2009-02-18
ATE506828T1 (de) 2011-05-15
WO2002041651A3 (en) 2003-02-06
JP2004514356A (ja) 2004-05-13
CA2419796A1 (en) 2002-05-23
KR100790041B1 (ko) 2007-12-31
WO2002041545A2 (en) 2002-05-23
JP2004514376A (ja) 2004-05-13
BR0107786A (pt) 2002-10-22
AU784463B2 (en) 2006-04-06
DE60142846D1 (de) 2010-09-30
CA2398781A1 (en) 2002-05-23
KR20020079734A (ko) 2002-10-19
BR0107383A (pt) 2002-11-05
CN1568599A (zh) 2005-01-19
US7250906B2 (en) 2007-07-31
AU2002226884B2 (en) 2006-06-01
JP4594585B2 (ja) 2010-12-08
US20060125690A1 (en) 2006-06-15
BRPI0107786B1 (pt) 2017-01-24
US20020098852A1 (en) 2002-07-25
CA2398779C (en) 2007-05-01
AU2692802A (en) 2002-05-27
CN1500323A (zh) 2004-05-26
ATE457619T1 (de) 2010-02-15
AU1978502A (en) 2002-05-27
US7069025B2 (en) 2006-06-27
EP1334578B1 (en) 2010-08-18
CN1311652C (zh) 2007-04-18
EP1334578A2 (en) 2003-08-13
ATE478481T1 (de) 2010-09-15
CA2419796C (en) 2010-03-30
WO2002041504A3 (en) 2003-03-06
KR20030066636A (ko) 2003-08-09
JP4717035B2 (ja) 2011-07-06
EP1336310A2 (en) 2003-08-20
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WO2002041545A9 (en) 2003-05-30

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