CN1500323A - 无线时钟同步 - Google Patents

无线时钟同步 Download PDF

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Publication number
CN1500323A
CN1500323A CNA018037100A CN01803710A CN1500323A CN 1500323 A CN1500323 A CN 1500323A CN A018037100 A CNA018037100 A CN A018037100A CN 01803710 A CN01803710 A CN 01803710A CN 1500323 A CN1500323 A CN 1500323A
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base station
time
advent
receives
reception
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CN1311652C (zh
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Bj
B·J·贝里特斯基
D·哥登
�Ƴ�
W·萨科达
R·布里奇拉尔
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Symbol Technologies LLC
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Symbol Technologies LLC
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Abstract

描述了用于同步定位系统中的接收基站的内部时钟的一种系统和方法。信标站在一个已知的位置发射参考数据包。将第一到达时间和第二到达时间进行对比，以决定一个相关到达时间数据。第一到达时间是第一个接收基站接收到参考数据包的时间，第二接收时间是第二个接收基站接收到参考数据包的时间。线性多项式拟合作为相关到达时间数据，及第一与第二到达时间的函数。被计算出来。作为线性多项式拟合的函数的数据包到达第一和第二接收基站的时间被同步。

Description

无线时钟同步
相关申请参考
本申请要求2000年11月14日提交的美国临时申请序列号60/248357，以及2001年2月20日成文的美国临时申请序列号60/270254两份申请的利益，并在这里完整的引入作为参考。
发明领域
本发明涉及一种同步无线设备时钟的方法和系统。特别地，本发明涉及同步用于决定移动设备的位置的无线接收基站的时钟。
发明背景
近期无线设备的增长格外惊人，同时包括能够在相互间和/或与中央地点间交换数据或语音信号的通信和计算设备。这些设备典型地是用无线电波通过专用频率或专用电磁频谱段来通信。这些无线电通信的范围是不同的，可以利用中继器、蜂窝塔、或其他设备网络节点来扩展范围。
在这些设备中某些可能是蜂窝电话，但是逐渐地这些设备开始具备多种功能，例如具有无线能力的可携带式或掌上电脑，e-mail发送和接收设备，传呼机，或双向无线电通信设备。这些设备发送的信号也可以被用于定位该设备，以及定位设备的使用者。例如，在紧急情况下蜂窝电话可以被更改用于查明呼叫者的位置。在某些情况下，信标或定位设备可以具备在危险情况下跟踪人员位置的特定功能，这些人员如救火队员或其他救援工作者。
现在已经开发出不同的定位发射无线电信号的设备的方法。例如，通过采用两个或更多定向接收器可以利用三角测量来定位发射器。然而，接收器必需相当复杂，因为他们必须能够决定一个无线电信号到达的方位，或者方向。
发明概述
本发明是一种同步定位系统中接收基站的内部时钟的方法和系统。一个信标站在已知的位置发射参考数据包。将第一到达时间和第二到达时间进行对比，以决定一个相关到达时间数据。第一到达时间是第一个接收基站接收到参考数据包的时间，第二接收时间是第二个接收基站接收到参考数据包的时间。计算线性多项式拟合作为相关到达时间数据以及第一与第二到达时间函数。作为线性多项式拟合的函数的数据包到达第一和第二接收基站的时间被同步。
另一方面，本发明是一种定位移动设备的方法，包括同步接收基站的内部时钟，在一对接收基站从移动设备接收数据包，在该对接收基站中每个决定数据包到达的同步时间，以及根据步到达时间使用双曲三边测量术计算出移动设备的位置。
附图简述
图1是根据本发明的一个实施例构成的一幅曲线图，展示了用于确定移动无线设备位置的双曲线的交点；
图2是根据本发明的一个是实施例构成的一幅示范性布局图，显示了无线设备的发射和接收；及
图3显示了根据本发明构成的一个同步用于定位移动设备的接收基站的时钟的方法实施例。
详细描述
本发明是同步无线设备内部时钟的一种方法和系统。在很多情况下都十分需要确定一个无线设备的位置。这种能力在必须定位设备用户的紧急情况下可能是无价之宝。例如，定位一个使用蜂窝电话拨打911的呼叫者将会十分有用，即使呼叫者失去了行动能力，或是不能提供他所处的位置。在其他情况下，获悉无线设备的位置也可能非常有用，如个人数码助手(Personal Digital Assistant)可能采用IEEE 820.11，IEEE 802.11b，IEEE 802.11a，蓝牙或是任何有关于无线LAN的未来标准(合称为“802.11x网络标准”)，来提供位置敏感信息给该设备。
精确定位可以发射信号的设备的关键是进行精确的时间操作。确定移动单元位置的一种方法是使用双曲三角测量术。根据这种方案，时间信息可以被映射到位置信息。需要被定位的移动设备发送出一个包，即发射包含诸如描述发射器的标识符的数据的信息。这个包被一些已知位置的接收器接收到。接收器的位置可以是固定的，或者接收器是可移动的。如果接收器是可移动的，系统必须知道他们的位置。
数据包到达任何两个接收器的时间差允许一条唯一的空间双曲线的计算，移动设备沿着这条双曲线被定位。通过考虑另一对接收器上数据包的到达时间差，可以计算第二条空间双曲线，移动设备沿着这条双曲线被定位。这么定义的两条双曲线的交点确定了移动设备的实际位置，双曲三角测量术的一个重要特点就是只需要知道数据包到达每个接收基站对的相对时间，而不是到达的绝对时间，即接收到数据包的实际时间。一旦知道了数据包到达两个接收基站的相对时间，就可以确定发射移动设备的位置。
图1显示了上述方法的图形表示。一个移动设备M发射数据包，数据包能够被接收基站A、B、C接收。数据包被至少两对接收基站依次接收到。例如A、B对和B、C对。每一对都可以计算出一条定位移动设备的双曲线，如双曲线A-B和B-C。那些双曲线上的每一点都对应于一组位置坐标，如图1所示。两条双曲线的交点就定义了移动设备的位置。在这个例子中，移动设备位于X坐标轴上-33个单位和Y坐标轴上22个单位处。
在根据本发明构成的定位系统中，每个接收器都位于不同的位置，运行一个独立于其他接收基站的时钟。因为时钟不能做成完全一致，尽管有着非常相似的频率，每个时钟都有区别，以及自己的随机起始时间。为了准确的确定移动设备的位置，所有接收基站的时钟必需被同步。如果接收基站位于相同的地点，或相互之间相对接近，所要求的同步可以通过线路一起传输时钟来实现。然而，如果接收基站位于室外独立的地点，那么将接收器用线路连接在一起在开支上是不可行的。
本发明的实施例提供了一种为实际上无法用线路连接在一起的接收基站同步时钟的方法和系统。在一个实施例中，提供了一个固定的，已知位置的，接近接收基站的地理中心点的信标站。如图2所示，信标站10位于接收基站12、14、16、18的中心。整个系统被设计用于定位移动发射设备20。尽管只显示了一个移动设备20，但是该系统可以被应用于定位多于一个设备。
信标站10不停的发射参考数据包22，并被每个接收单元12-18接收到。这种参考包22可以基于802.11x网络标准生成，并由固定于网络中预先确定位置的接入点发射。每个接收单元在数据包到达时为它们打上时间标签。在信标站10位于和一对接收基站例如基站14和16等距离，以及那些接收基站的时钟完全相同的这种理想情况下，数据包在那些接收基站上的到达时间差异(TDOA)将是零，因为根据它的内部时钟，两个接收机中的每一个将在完全相同的时间接收到数据包。在实践中，如果两个时钟没有被同步，那末即使接收基站14、16和信标站10实际上是等距离的，TDOA也将不会是零。
在根据本发明同步所有接收基站时钟的过程中，从信标站10接收到的数据包计算得到的TDOA被强迫置为零。为了同步时钟所有接收基站12-18的TDOA被强迫置为零，即使信标站10可能不和所有接收基站等距。因为信标站10和接收基站12-18不会相对移动，因此TDOA的预期值是常数，而由于行TDOA强置为零所造成的不准确性并不大，并且还可能被后面根据本发明所进行的计算所弥补。
根据本发明的一个示范性实施例，两个接收站A、B间的TDOA是通过将基站B的时间标签减去基站A的时间标签来计算的，例如接收基站14和16。换句话说就是，TDOAA/B＝tB-tA。在信标站10和所有接收器等距的情况下，到达时间差异将是零，即TDOAA/B＝0。作为第一步，这被假设是正确的。如果任何两个接收站接收到的一系列数据包的时间标签相互关联，在使用完全同步的时钟时，接收站A的时间标签和接收站B的时间标签为坐标构成的图将是斜率为1的一条直线。例如，如果将时钟A指示的时间标签作为Y轴值，时钟B指示的时间标签作为X轴值，直线方程将是y-x＝0，即y＝x。
然而，正如上面所解释的，每一个接收基站12-18的时钟是独立的，这样就具有细微差别的频率和起始时间。实际的到达时间坐标图因此决不会是斜率为1的直线。而是根据等式y＝mx+b所作的直线。在该等式中，m是直线的斜率，b是y轴上的截距。直线的斜率是所考虑的两个时钟的频率差的函数，而y轴截距是两个接收站的随机起始时间差的函数。根据本发明的实施例，使用一个线性多项式拟合来从数据中确定适当的斜率和y轴截距。该线性多项式拟合可以用最小二乘法来确定。
如果接收基站A和B的时钟是完全同步的，斜率m将一直等于1，截距b将一直等于零。在实践中，根据本发明的一个示范性实施例，斜率和截距将不断的重新计算和更新。在该实施例中，其中一个接收基站的时钟被用来作为参考时钟，其他所有接收基站的时钟都按照参考时钟的频率和起始时间来校准。本发明的实施例的参考时钟可以在接收基站中任意选择，因为只有数据包的相对到达时间才是重要的，而不是绝对时间。
一旦本发明中的计算斜率和y轴截距的多项式系数被确定，接收基站对的非零TDOA将被补偿。每个接收基站12-18和信标站10间的已知的距离差别被用于确定偏置，即应用于由两个接收基站组成的不同小组间的实际TDOA的修正因子，并根据已知的信标站10和接收站12-18的位置计算出预期的TDOA。
一旦根据本发明开始修正步骤，每个时钟将有三个与之相关的，用于同步时钟的数字。每个时钟有一个斜率m，由于频率偏移，m通常将是和1不同的值；一个y轴截距b，它由时钟的随机起始时间决定；一个由于每个接收基站12-18的不同距离所产生的偏置。
当移动设备20发送的数据包24被接收基站12-18中的一个接收到时，它是被接收基站的时钟打上标签的时间。时间标签还回被调整以补充内部时钟的频率偏移和随机起始时间。然后使用公式TDOAA/B＝tA-tB和从移动设备20来的数据包的接收调整时间计算出接收基站对之间的TDOA。当TDOAA/B确定之后，还要加上偏置，以补偿和m及b的计算相关的非零TDOA，这在时钟同步过程中实现。在为至少两对接收基站对计算TDOA后，移动设备20的位置可以用双曲三角测量法来确定。
图3显示了描述根据本发明的实施例构成的方法的流程图，用于同步接收基站的时钟以及确定移动设备的位置。我们将参考图2中的组件来描述该方法，尽管该方法可以被应用于其他不同数目的接收基站、移动设备和信标站的配置。在步骤100中，参考数据包22从信标站10被发送出去，并被接收基站12-18接收到。正如上面所描述的，在步骤102中将为每个接收基站计算斜率m和y轴截距，并假设信标站10和每个接收基站12-18间的距离是相等的。
一旦计算出斜率和y轴截距，就要在步骤104中为每个接收基站计算偏置。如上所述，偏置是根据信标站10和接收基站12-18的已知位置来计算的。步骤100、102和104是同步步骤的一部分，用于校准接收基站的时钟，这样移动设备20的定位才能完成。在时钟被同步后，步骤106到112针对定位移动设备20。
在步骤106中一个数据包24从可移动设备20被发送出，并由至少两对接收基站接收到。在步骤108中利用前面为了同步内部时钟计算出的斜率和y轴截距，计算出多个接收基站对的TDOA。在步骤110中使用步骤104中计算出的偏置值来修正计算出的TDOA，多个接收基站对的修正TDOA值被用于计算移动设备20被定位的双曲线。如前所述，为至少两对接收基站计算出的双曲线可以被用于在步骤112中来定位移动设备20。
这里参考着由一个移动设备和四个固定接收基站构成的一个实施例描述了本发明。但是，也可以设计有额外移动设备和/或额外信标站和/或额外或更少接收基站的其他实施例。因此，在不离开后面权利要求中提出的本发明的最宽泛的内容和范围的情况下，可以对该实施例做出不同的修改和变化。因此，这里的说明和附图应该被看成是展示性的，而不是限制性的。

Claims (17)

1.一种用于同步一个系统中的接收基站的内部时钟的方法，其特征在于，该方法包括以下步骤：
在一已知位置从信标站发射参考数据包；
将第一到达时间和第二到达时间进行对比，以决定一个相关到达时间数据。第一到达时间是第一个接收基站接收到参考数据包的时间，第二到达时间是第二个接收基站接收到参考数据包的时间；
计算一个作为相关到达时间数据以及第一与第二到达时间的函数的线性多项式拟合；及
同步参考数据包到达第一和第二接收基站的第一和第二到达时间作为线性多项式拟合的函数。
2.如权利要求1所述的方法，其特征在于，计算步骤包括以下子步骤：
假设信标站和第一及第二接收基站间距离相等，计算相关到达时间数据的斜率和y轴截距；及
计算相关到达时间数据偏置，作为已知的信标站和和第一及第二接收基站间距离差值的函数。
3.如权利要求2所述的方法，其特征在于，进一步包括以下步骤：
对第三和第四接收基站重复比较和计算步骤，以确定第三和第四接收基站的另一斜率，另一y轴截距和另一偏置；
4.如权利要求2所述的方法，其特征在于，进一步包括以下步骤：
对第三和第一接收基站重复比较和计算步骤，以确定第三和第一接收基站的另一斜率，另一y轴截距和另一偏置；
5.如权利要求3所述的方法，其特征在于，进一步包括以下步骤：
作为移动设备发送的第一数据包的到达时间的函数，对第一和第二接收基站间及第三和第四接收基站间的到达时间差值作修正，计算第一和第二对接收基站的斜率，y轴截距和偏置，第一和第二接收基站对中的每一个包括第一、第二、第三和第四接收基站中的任意两个，第一对中包括至少一个第二对中不包括的接收基站。
6.如权利要求2所述的方法，其特征在于，进一步包括以下步骤：
重复发射、比较和计算步骤，以预先确定的速率更新接收基站的内部时钟的同步。
7.一种确定移动设备位置的方法，其特征在于，包括以下步骤：
同步接收基站的内部时钟；
接收基站中的第一和第二接收基站接收从移动设备来的数据包；
在第一和第二接收基站确定数据包的同步到达时间；
计算第一和第二接收基站间的到达时间差值；及
作为同步到达时间的函数，使用双曲三角测量法，计算出移动设备的位置。
8.如权利要求7所述的方法，其特征在于，进一步包括以下步骤：
为至少第一和第二对接收基站确定相应的同步到达时间，第一和第二接收基站对中的每一个包括第一接收基站、第二接收基站、第三接收基站和第四接收基站中的任意两个，第一对中包括至少一个第二对中不包括的接收基站。
9.如权利要求7所述的方法，其特征在于，进一步包括以下步骤：
为至少第一、第二和第三对接收基站确定相应的同步到达时间，第一、第二和第三接收基站对包括第一接收基站、第二接收基站、第三接收基站、第四接收基站、第五接收基站和第六接收基站中的任意两个，第一对中包括至少一个第二和第三对中不包括的接收基站，第二对中包括至少一个第三对中不包括的接收基站。
10.如权利要求7所述的方法，其特征在于，同步步骤包括以下子步骤：
在一已知位置从信标站发射参考数据包；
将第一到达时间和第二到达时间进行对比，以决定一个相关到达时间数据。第一到达时间是第一个接收基站接收到参考数据包的时间，第二接收时间是第二个接收基站接收到参考数据包的时间；
计算一个作为相关到达时间数据，及第一与第二到达时间的函数的线性多项式拟合；及
同步参考数据包到达第一和第二接收基站的到达时间作为线性多项式拟合的函数。
11.一种用于同步移动设备定位网络的内部时钟的系统，其特征在于，该系统包括：
具有内部时钟的接收基站；
连接到接收基站的处理器；及
适合于发射参考数据包到接收基站的信标站，信标站的位置已知，
每个接收基站被调整用于转发参考数据包的接收时间至处理器，处理器被调整用于计算一个到达时间的线性多项式拟合，来同步从移动设备接收的数据包的到达时间。
12.如权利要求11所述的系统，其特征在于，接收基站被成对分组，至少两对被用来定位移动设备。
13.如权利要求11所述的系统，其特征在于，处理器接收第一和第二到达时间，第一到达时间是第一个接收基站接收到参考数据包的时间，第二接收时间是第二个接收基站接收到参考数据包的时间；处理器将第一到达时间和第二到达时间进行对比，以决定一个相关到达时间数据；处理器计算出作为相关到达时间数据，及第一与第二到达时间的函数的斜率和y轴截距值，假设信标站和第一及第二接收基站间距离相等；处理器从已知的信标站和第一及第二接收基站间的距离差计算出相关到达时间的偏置。
14.一种用于同步定位系统中接收基站的内部时钟的方法，其特征在于，该方法包括以下步骤：
在一已知位置从信标站发射参考数据包；
将第一对接收基站每个基站上的参考数据包的到达时间进行对比，以确定经比较的到达时间数据；
计算一个作为比较到达时间数据以及第一对接收基站每个基站上的到达时间的函数的线性多项式拟合；及
同步作为线性多项式拟合的函数的，参考数据包在第一对接收基站上的到达时间。
15.如权利要求14所述的方法，其特征在于，进一步包括：
将第二对接收基站每个基站上的参考数据包的到达时间进行对比，以确定一个比较到达时间数据；
计算一个作为比较到达时间数据以及第二对接收基站每个基站上的到达时间的函数的线性多项式拟合；及
同步作为线性多项式拟合的函数的，参考数据包在第二对接收基站上的到达时间。
16.如权利要求15所述的方法，其特征在于，第一个接收基站中的一个同时被包括于第一和第二对接收基站中。
17.如权利要求15所述的方法，其特征在于，第一接收基站对包括第一接收基站和第二接收基站，第二接收基站对包括第三接收基站和第四接收基站。
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