WO2012151932A1 - Procédé et dispositif de positionnement vertical - Google Patents

Procédé et dispositif de positionnement vertical Download PDF

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Publication number
WO2012151932A1
WO2012151932A1 PCT/CN2011/082571 CN2011082571W WO2012151932A1 WO 2012151932 A1 WO2012151932 A1 WO 2012151932A1 CN 2011082571 W CN2011082571 W CN 2011082571W WO 2012151932 A1 WO2012151932 A1 WO 2012151932A1
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WO
WIPO (PCT)
Prior art keywords
standard deviation
antenna
power sequence
power
calculate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2011/082571
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English (en)
Chinese (zh)
Inventor
张恺
曾祥希
李延波
金磊
吴明远
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ZTE Corp
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ZTE Corp
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Publication of WO2012151932A1 publication Critical patent/WO2012151932A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements

Definitions

  • the present invention relates to the field of communications, and in particular, to a method and apparatus for longitudinal positioning. Background technique
  • the free-flow electronic charging method is a method of automatically charging a vehicle that is free to travel on multiple lanes by using an electronic charging technology on a toll road without physical isolation equipment. In this way, the vehicle can travel freely and has high traffic capacity, which is the basic form of urban congestion charging.
  • the roadside device and the in-vehicle device are the core devices of the free flow system.
  • the roadside device communicates with the in-vehicle device, and the roadside device reads the information of the in-vehicle device to obtain the vehicle.
  • ID identity, identity
  • model license plate and other information
  • charge the legitimate vehicle etc.
  • the roadside equipment's linkage capture system captures the vehicle for subsequent fine inspection of illegal vehicles. Wait for the operation.
  • the free-flow system needs to solve is the following problem.
  • the free-flow system generally limits the width of the trading area of the roadside equipment. Considering the length of the vehicle body and the distance following the vehicle, the trading area is usually limited to 4 meters.
  • RSSI Receiveived Signal Strength Indication
  • Some algorithms can also calculate the azimuth. However, most of these methods are computationally intensive, the algorithm is complex, or the calculation takes a long time. A DSP (Digital Signal Processing) chip is also required. Summary of the invention
  • a method of longitudinal positioning comprising the steps of:
  • Step A setting a plurality of receiving antennas above the lateral measuring line for positioning the longitudinal distance of the moving object
  • Step B Calculate, according to a correspondence relationship between the standard deviation of the power sequence of the received signals and the longitudinal distance, calculate a power sequence standard deviation corresponding to different longitudinal distances, and establish and save each longitudinal distance and the calculated a standard deviation list of standard deviations of the respective power sequences;
  • Step C when longitudinally positioning the moving object, the plurality of receiving antennas receive a wireless signal transmitted by the moving object, and calculate a corresponding power sequence according to the wireless signal The standard deviation, and by looking up the standard deviation list, obtains a longitudinal distance corresponding to the standard deviation of the power sequence.
  • the longitudinal distance is a vertical distance of the moving object relative to the measuring line.
  • the step B includes: Step B1: Calculate antenna gain and spatial attenuation of each receiving antenna corresponding to different longitudinal distances;
  • Step B2 Calculate received power of each receiving antenna according to antenna gain and spatial attenuation of each receiving antenna
  • Step B3 normalize the received power of each receiving antenna and calculate a normalized power sequence standard deviation.
  • the step B further includes: before calculating the antenna gain and the spatial attenuation:
  • Step B01 establishing a standard deviation list
  • Step B02 Save the different longitudinal distances and their corresponding normalized power sequence standard deviations in the standard deviation list.
  • the step B1 includes:
  • the step C includes:
  • Step C1 when longitudinally positioning the moving object, the plurality of receiving antennas receive a wireless signal transmitted by the moving object, and calculate a received signal strength indicator RSSI;
  • Step C2 Convert the RSSI of each receiving antenna into power, and normalize the power of each receiving antenna, and calculate a standard deviation of the normalized power sequence;
  • Step C3 Search the standard deviation list according to the standard deviation of the normalized power sequence, and obtain a longitudinal distance corresponding to the standard deviation of the normalized power sequence.
  • a device for longitudinal positioning comprising: a plurality of receiving antennas disposed above a lateral measuring line for locating a longitudinal distance of a moving object for receiving the emitted object wireless signal;
  • a pre-setting module configured to utilize a power sequence of the plurality of receiving antennas with respect to receiving signals Corresponding relationship between the standard deviation and the longitudinal distance, pre-calculating the power sequence standard deviation corresponding to different longitudinal distances, and establishing a standard deviation list for storing the respective longitudinal distances and the calculated standard deviations of the respective power sequences;
  • a controller configured to calculate a power sequence standard deviation according to the wireless signal, and obtain a longitudinal distance corresponding to the standard deviation of the power sequence by searching the standard deviation list.
  • the pre-setting module includes:
  • a gain and attenuation calculation unit for calculating antenna gain and spatial attenuation of each receiving antenna corresponding to different longitudinal distances
  • a power calculation unit configured to calculate, according to antenna gain and spatial attenuation of each of the receiving antennas, a received power of each receiving antenna
  • the standard deviation calculation unit is configured to normalize the received power of each of the receiving antennas and calculate a normalized power sequence standard deviation.
  • the controller further includes:
  • a storage unit configured to store the different longitudinal distances and their corresponding normalized power sequence standard deviations.
  • the pre-setting module is further configured to calculate an angle between an object corresponding to different longitudinal distances and a center line of each receiving antenna, and query an antenna pattern according to the angle to obtain an antenna gain of each of the receiving antennas.
  • the algorithm for measuring the longitudinal distance is simple and the calculation amount is small.
  • FIG. 1 is a schematic diagram of a longitudinal positioning method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an initialization process provided by an embodiment of the present invention
  • 3 is a schematic diagram of a configuration of a longitudinal positioning system according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a distance positioning process according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of receiving power of an antenna array antenna according to an embodiment of the present invention.
  • FIG. 6 is a flowchart of calculating a standard deviation of different longitudinal distances according to an embodiment of the present invention
  • FIG. 7 is an L-S coordinate diagram provided by an embodiment of the present invention
  • FIG. 8 is a schematic structural diagram of a longitudinal positioning device according to an embodiment of the present invention. detailed description
  • FIG. 1 is a schematic diagram of a longitudinal positioning method according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:
  • Step S101 a plurality of receiving antennas are disposed above a lateral measuring line for positioning a longitudinal distance of the moving object;
  • Step S102 according to the correspondence relationship between the standard deviation of the power sequence of the received signal and the longitudinal distance of the plurality of receiving antennas, pre-calculate the power sequence standard deviation corresponding to different longitudinal distances, and establish and save each longitudinal distance and the calculated a standard deviation list of standard deviations of the respective power sequences;
  • Step S103 when longitudinally positioning the moving object, the plurality of receiving antennas receive a wireless signal transmitted by the moving object, and calculate a power sequence standard according to the wireless signal Poor, and by looking up the standard deviation list, obtain a longitudinal distance corresponding to the standard deviation of the power sequence.
  • the flow of the positioning vertical method provided by the embodiment of the invention is divided into two parts: an initialization process and a distance positioning process.
  • the initialization process includes the following steps:
  • Step S201 Initialize system parameters.
  • Initialize system parameters including antenna height h, antenna distance m, positioning accuracy, signal frequency f, where h is 6 meters, m is 0.95 meters, f is 5.8 GHz, the positioning accuracy is m/2, and the effective communication area is 5-8 meters in longitudinal direction.
  • each lane five receiving antennas R1, R2, R3, R4, and R5 are disposed in each lane. It is assumed that the source S is located at point A, and the abscissa X of A is closest to R3, that is, the offset k is less than or equal to m/. 2.
  • the projection of the center of the lane, that is, the projection of R3 on the ground, is taken as the origin, and the direction of travel of the lane is the vertical axis.
  • the line formed by the projection of the antenna on the ground is the horizontal axis, and the antennas R1, R2, R3, R4, and R5 are respectively disposed at -1.9m, -0.95m, 0m, 0.95m, 1.9m on the horizontal axis.
  • the longitudinal distance is the distance L between the source and the antenna array projected on the ground
  • the measurement line is the projection of the antenna array on the ground.
  • Step S202 calculating standard deviations corresponding to different longitudinal distances.
  • the power value Pn after receiving through the antenna P0 (Gn-Dn).
  • G is the gain of the receiving antenna and D is the attenuation of the signal in free space.
  • D is related to the signal frequency and the linear distance between the source and the antenna. Frequency, by calculating the linear distance between the antenna and the source, the attenuation of the signal in free space at this frequency is obtained. It can be seen that the received power Pn can be obtained by knowing the angle between the antenna and the source and the straight line distance.
  • the linear distance Ln between the antenna and the source is also only related to the longitudinal distance L.
  • the standard deviation of different longitudinal distances L is calculated.
  • Step S203 the obtained standard deviation is tabulated and stored in the memory of the controller.
  • the calculated standard deviation is made into a two-dimensional table related to k and longitudinal distance, that is, a standard deviation list, and the standard deviation list is stored in the controller's memory.
  • the distance location process includes the following steps:
  • Step S301 The antenna receives the source signal.
  • each receiving antenna receives the signal of the onboard unit and calculates the RSSI value.
  • Step S302 the antenna transmits the RSSI to the controller.
  • Step S303 the controller normalizes the power.
  • the controller After receiving the RSSI value calculated by each antenna, the controller converts the RSSI into a power value and performs normalization processing.
  • Step S304 the controller calculates a variance of the normalized power.
  • Step S305 the controller looks up the table to determine the longitudinal distance.
  • the controller compares the variance calculated in step S304 with the value in the standard deviation list, so that the longitudinal distance range of the onboard unit can be obtained.
  • FIG. 6 is a flow chart of calculating a standard deviation of different longitudinal distances according to an embodiment of the present invention. As shown in FIG. 6, the steps of calculating the standard deviation are as follows:
  • Step S401 calculating a linear distance between the tag and the antenna.
  • the linear distance between the tag and the antenna is calculated according to the calculation formula of Ln, wherein the label is assumed to be on the central axis, ie, the ordinate, the longitudinal distance is 1-12 meters, and the label step interval is 1 meter. According to Ln The calculated Ln is calculated as shown in the following table:
  • Step S402 calculating an angle between the label and the antenna center line.
  • Step S403 Query the antenna pattern to obtain the antenna gain at the current angle.
  • the corresponding antenna gain is searched in the antenna pattern.
  • the invention is applicable to both directional antennas and omnidirectional antennas.
  • the antenna gains corresponding to different angles are found in the antenna pattern of the antenna as follows: 1 -3.299293009 3.61351139 15.86802828 1.963864886 -6.598586017
  • Step S404 calculate the free space attenuation.
  • Equation 1 Equation 1
  • the gain of the channel from the source transmitting antenna to the receiving antenna is theoretically determined by the above-mentioned receiving antenna gain and free space attenuation.
  • Equation 1 Calculate the free space attenuation value according to Equation 1.
  • f is the set frequency of 5.8 GHz
  • Ln is the linear distance between the tag and the antenna calculated in step S401. The calculation results are shown in the following table:
  • Step S405 calculating a difference between the antenna gain and the spatial attenuation.
  • Step S406 the difference between the antenna gain and the spatial attenuation is converted from DB to a multiple.
  • Step S407 normalization processing.
  • the transmission power of the OBU On Board Unit
  • Gn(L) is the multiple calculated in step S406, and N is the number of antennas 5.
  • the calculation results of the normalized power are shown in the following table:
  • Step S408 Calculate the standard deviation of the data as an indication of the degree of data concentration.
  • the standard deviation is calculated according to the standard deviation formula ⁇ ⁇ / ⁇ ⁇ , where Pn(L) is the normalized power calculated in step S407, and N is the number of antennas 5.
  • the calculated standard deviations are shown in the table below:
  • the standard deviation result is made into the LS coordinate chart. As shown in Fig. 7, it can be seen that the curve is monotonically decreasing. It can be seen from the figure that when the standard deviation is in the range of 0.21 ⁇ 0.28, the longitudinal distance is 5-8 meters. The label can be considered to be within the valid range.
  • FIG. 8 is a schematic structural diagram of a longitudinal positioning device according to an embodiment of the present invention.
  • the device includes a preset module 1, a plurality of receiving antennas 2, and a controller 3.
  • the preset module 1 includes The gain and attenuation calculation unit 11, the power calculation unit 12, the standard deviation calculation unit 13, and the controller 3 include a storage unit 31.
  • the gain and attenuation calculation unit 11 is configured to calculate the antenna gain and the spatial attenuation of the respective receiving antennas corresponding to different longitudinal distances; the power calculating unit 12 is configured to calculate the receiving power of each receiving antenna according to the antenna gain and the spatial attenuation of the respective receiving antennas.
  • the standard deviation calculation unit 13 is configured to normalize the received power of each of the receiving antennas and calculate a normalized power sequence standard deviation.
  • the pre-setting module 1 pre-calculates and stores the standard deviation of the normalized power sequence.
  • the 4 ⁇ label is on the center axis with a step spacing of 1 meter.
  • the gain and attenuation calculation unit 11 first calculates the straight line distance Ln of the tag to the antenna Rn and the angle between the tag and the center line of the antenna Rn.
  • the antenna gain Gn is obtained by looking up the antenna pattern by the angle.
  • Let the frequency f 5.8 GHz and calculate the free space attenuation Dn by the free space attenuation formula.
  • the power calculation unit 12 calculates the received power Pn of the antenna based on the antenna gains Gn and Dn.
  • the standard deviation calculation unit 13 normalizes the received power sequence Pn, calculates the standard deviation of the normalized power sequence, and makes the standard deviation into a two-dimensional representation related to the offset k and the longitudinal distance -
  • the standard deviation list is stored in the storage unit 31 of the controller.
  • a plurality of receiving antennas 2 receive the source signal and pass the RSSI to the controller.
  • each receiving antenna 2 receives the signal of the onboard unit, calculates the RSSI value, and transmits it to the controller 3.
  • the controller 3 receives the wireless signal transmitted by the source radio frequency tag and determines the longitudinal distance based on the signal. After receiving the RSSI value calculated by each antenna 2, the controller 3 converts the RSSI into a power value, performs normalization processing, calculates the variance of the normalized power, and calculates the calculated variance and the standard in the storage unit 31. The values in the difference list are compared, that is, the longitudinal distance of the vehicle unit is obtained. Wai.
  • the present invention finds the feature quantity capable of characterizing the longitudinal distance, and forms the feature quantity into a table, and quickly obtains the result by the table lookup method, thereby solving the problem of large calculation amount and complicated algorithm when measuring the longitudinal distance.
  • the problem that takes a long time has the advantages of simple algorithm and small calculation amount.
  • the invention solves the problem that the vertical positioning calculation amount is large, the algorithm is complicated, and the required time is long, by calculating the standard deviation corresponding to different longitudinal distances in advance.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un procédé et un dispositif de positionnement vertical. Le procédé consiste à : disposer plusieurs antennes de réception au-dessus d'une ligne de mesure horizontale afin de positionner la distance verticale d'un objet mobile ; d'après la relation correspondante entre les écarts-types de la séquence d'alimentation par rapport à la réception de signaux des multiples antennes de récepteur et la distance verticale, précalculer les écarts-types de la séquence d'alimentation correspondant aux différentes distances verticales, et établir une liste d'écarts-types pour enregistrer chacune des distances verticales et chacun des écarts-types calculés de la séquence d'alimentation ; lors du positionnement vertical de l'objet mobile, recevoir, au moyen des multiples antennes de récepteur, un signal sans fil transmis par l'objet mobile, calculer ensuite un écart-type de la séquence d'alimentation associé d'après le signal sans fil, et en recherchant dans la liste d'écarts-types, acquérir la distance verticale correspondant à l'écart-type de la séquence d'alimentation. En précalculant les écarts-types correspondant aux différentes distances verticales, la présente invention permet de résoudre les problèmes liés au fait qu'un positionnement vertical comporte une grande quantité de calculs, un algorithme complexe, et qu'il nécessite une période prolongée.
PCT/CN2011/082571 2011-07-21 2011-11-21 Procédé et dispositif de positionnement vertical Ceased WO2012151932A1 (fr)

Applications Claiming Priority (2)

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CN201110205580.4 2011-07-21
CN201110205580.4A CN102891722B (zh) 2011-07-21 2011-07-21 一种纵向定位的方法及装置

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CN105891811A (zh) * 2015-10-16 2016-08-24 乐卡汽车智能科技（北京）有限公司 车联网中的车辆距离确定方法和装置
CN120812714B (zh) * 2025-07-18 2026-03-27 应急管理部国家自然灾害防治研究院 卫星终端自适应功率调节系统及方法

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CN1210590A (zh) * 1996-02-05 1999-03-10 艾利森公司 使用多波束确定终端位置
US6342844B1 (en) * 1997-11-04 2002-01-29 Alexander Rozin Two-way radio-based electronic toll collection method and system for highway
EP2184716A2 (fr) * 2008-11-05 2010-05-12 Robert Bosch GmbH Procédé de calcul automatisé d'un système d'inventaire de taxes ou de péage
CN102045122A (zh) * 2010-12-10 2011-05-04 北京快通高速路电子收费系统有限公司 多天线协同定位解决邻道干扰问题的方法
CN102110315A (zh) * 2010-12-20 2011-06-29 中兴通讯股份有限公司 一种用于不停车收费系统的通信系统及通信方法

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CN101561940B (zh) * 2008-04-18 2011-12-28 刘明豪 具有路径识别功能的电子不停车收费系统
CN101350109B (zh) * 2008-09-05 2010-08-25 交通部公路科学研究所 多车道自由流视频车辆定位和控制方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1210590A (zh) * 1996-02-05 1999-03-10 艾利森公司 使用多波束确定终端位置
US6342844B1 (en) * 1997-11-04 2002-01-29 Alexander Rozin Two-way radio-based electronic toll collection method and system for highway
EP2184716A2 (fr) * 2008-11-05 2010-05-12 Robert Bosch GmbH Procédé de calcul automatisé d'un système d'inventaire de taxes ou de péage
CN102045122A (zh) * 2010-12-10 2011-05-04 北京快通高速路电子收费系统有限公司 多天线协同定位解决邻道干扰问题的方法
CN102110315A (zh) * 2010-12-20 2011-06-29 中兴通讯股份有限公司 一种用于不停车收费系统的通信系统及通信方法

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CN102891722B (zh) 2016-03-02

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