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WO2008029812A1 - Dispositif de mesure de distance - Google Patents

Dispositif de mesure de distance Download PDF

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Publication number
WO2008029812A1
WO2008029812A1 PCT/JP2007/067235 JP2007067235W WO2008029812A1 WO 2008029812 A1 WO2008029812 A1 WO 2008029812A1 JP 2007067235 W JP2007067235 W JP 2007067235W WO 2008029812 A1 WO2008029812 A1 WO 2008029812A1
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WO
WIPO (PCT)
Prior art keywords
signal
frequency
phase
distance
signals
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/JP2007/067235
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English (en)
Japanese (ja)
Inventor
Minori Kawano
Yasunori Takeuchi
Hironori Kawano
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chugoku Electric Power Co Inc
Radio Communication Systems Ltd
Original Assignee
Chugoku Electric Power Co Inc
Radio Communication Systems Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Chugoku Electric Power Co Inc, Radio Communication Systems Ltd filed Critical Chugoku Electric Power Co Inc
Priority to JP2008533169A priority Critical patent/JPWO2008029812A1/ja
Priority to US12/439,962 priority patent/US20100207820A1/en
Publication of WO2008029812A1 publication Critical patent/WO2008029812A1/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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L7/00—Arrangements for synchronising receiver with transmitter
    • H04L7/02—Speed or phase control by the received code signals, the signals containing no special synchronisation information
    • H04L7/033—Speed or phase control by the received code signals, the signals containing no special synchronisation information using the transitions of the received signal to control the phase of the synchronising-signal-generating means, e.g. using a phase-locked loop

Definitions

  • a plurality of ultrasonic signals or high-frequency signals or optical signals having at least different frequencies are transmitted from a single signal transmitting means, and received by the single signal receiving means.
  • the present invention relates to a distance measuring device for measuring the distance between the means and the signal receiving means with high accuracy.
  • Patent Document 1 US Patent No. 4087816
  • Patent Document 2 Japanese Patent Laid-Open No. 2003-207557
  • Patent Document 3 Special Table 2004—507714
  • Patent Document 4 Japanese Patent Laid-Open No. 2006-023261
  • Patent Document 5 Japanese Patent Laid-Open No. 2006-0042201
  • FIG. 11 shows an example of a conventional “VLF band wireless position detection device” described in Patent Document 1!
  • VLF signal radio wave FSK between f0 and f0 + 50Hz in 20ms ec period
  • antenna 10 receives VLF signal from the US Navy VLF communication station
  • amplifier 11 receives VLF signal from the US Navy VLF communication station
  • the signal from the synthesizer 23 is mixed by the mixer 16 to generate an intermediate frequency signal, amplified by the intermediate frequency amplifier 12 and limited by the limiter 18, and then the VCX022 signal is divided into 1 / P by the frequency divider 24.
  • the result of the comparison is compared by the phase comparator 20 and the result is input to the loop filter 21.
  • the output of the loop filter 21 controls the oscillation frequency of VCX022.
  • the output of the limiter 18 is compared with the output of the frequency divider 24 at the timing when the output of the frequency divider 24 is divided by 20 by the frequency divider 27 by the delay time measuring device 25. The distance from the detected delay time to the communication station can be measured.
  • the frequency of the VLF signal varies between (f0 and f 0 + 50Hz). It is difficult to accurately detect the timing at the receiver side, resulting in an error, so that it is difficult to measure a relatively close distance within 300m with high accuracy if the force is as it is. There was a point.
  • the phase of the distance measurement signal of two different frequencies starts to change from the transmission start point 0 as a base point. It is important to know the timing of the transmission start point 0 in synchronization.
  • the first and second transponders are transferred from the first transponder to the second transponder.
  • the distance between the first and second transponders is determined by transmitting the first and second signals of the frequency and determining the phase difference between the two signals to the second tarance bonder! Is disclosed to be measurable.
  • the second transponder in order to determine the comparison between the two signals and the phase difference between them, the second transponder generates a reference signal that is phase-locked to the first signal and mixes it with the second signal. A mixed signal is generated, and the phase difference is determined by counting the number of nulls or peaks in the mixed signal in a counter. For this reason, the accuracy of distance measurement is governed by the occurrence interval of nulls or peaks. As described in (00 25), when 880 MHz is used for the first signal and 884 MHz is used for the second signal, nulls or peaks are detected. It occurs every 75m, and the distance measurement accuracy is ⁇ 37.5m.
  • (0026) describes a method for improving the distance measurement accuracy, in principle there is a limit to the accuracy improvement, and there is a problem that it is difficult to increase to the accuracy in centimeters.
  • a signal having a plurality of carrier frequencies that are synchronized with or orthogonal to a transmitting means or a relay means is a subcarrier frequency or a plurality of frequencies. It is disclosed to transmit an ultrasonic signal, a high-frequency signal, or an optical signal that is hopped or switched between a modulation frequency or a plurality of spreading code rates.
  • the receiving means detects the distance from the transmitting means or the relay means
  • specific means for realizing the transmitting means and the receiving means are described! /, NA! /, Problem There was a point.
  • the present invention provides a plurality of ultrasonic signals or high-frequency signals which are synchronized or orthogonal and have at least different frequencies, or an optical signal transmitted from a single signal transmitting means.
  • the apparatus for measuring the distance by receiving by the receiving means there are a plurality of ultrasonic signals transmitted from the signal transmitting means! /, A high frequency signal or an optical signal, and a common intermediate frequency signal or modulation in the signal receiving means.
  • the distance between the signal transmitting means and the signal receiving means is highly accurate. This is to realize a distance measuring device that can be measured at a low cost.
  • the distance measuring device comprises at least a single signal transmitting means, a single signal receiving means and a signal processing means,
  • a single signal transmission means transmits a plurality of ultrasonic signals that are synchronized or orthogonal and have at least different frequencies, and transmit a high-frequency signal or an optical signal.
  • a single signal receiving means a plurality of local oscillation signals that are synchronized or orthogonal and have at least different frequencies are generated, and a plurality of ultrasonic signals, high frequency signals, or optical signals received by using the plurality of local oscillation signals. Mix and convert to a common intermediate frequency signal, modulation signal or baseband signal
  • the phase and frequency detector for detecting the frequency and / or phase using the clock signal output from the synchronous oscillator force, and the clock signal output from the synchronous oscillator
  • the frequency is! /
  • the phase is! /
  • the delay time or a combination thereof is controlled to establish and maintain synchronization between the intermediate frequency signal, modulation signal or baseband signal and the clock signal.
  • the frequency and / or phase of the band signal is detected, and the distance between the signal transmitting means and the signal receiving means is measured with high accuracy from the detection result.
  • the frequency of the local oscillation signal is fixed in the receiving means, a plurality of intermediate frequency signals or modulation signals or baseband signals having different frequencies are output, and the clock output from the synchronous oscillator power in the signal processing means A similar effect can be realized by multiplying or dividing the frequency of the signal, and various applications are possible.
  • an ultrasonic signal, a high-frequency signal, or an optical signal is transmitted from a single signal transmitting means, and the reflected or retransmitted ultrasonic signal is transmitted from the object whose distance is to be measured. If there is a sound wave signal or high-frequency signal, the optical signal is transmitted to a single signal receiving means and the time until the signal is received to measure the distance is measured.
  • ⁇ VLF band radio position detector '' that measures the distance by receiving the FSK modulated high frequency signal from the signal transmitting means with a single signal receiving means and detecting the time delay between the carrier signal and the FSK modulated signal.
  • an ultrasonic signal, a high frequency signal or an optical signal transmitted from a single signal transmitting means is received by a single signal receiving means and reflected or retransmitted. It is a method that can measure the direct distance without using radiant waves, and it is possible to measure relatively close distances within 300m with high accuracy and force in real time. There are advantages such as being able to.
  • the distance measuring device includes a signal transmitting means 101, a signal receiving means 102, and a signal processing unit as shown in Fig. 1, Claim 1 and Claim 5 according to the first aspect of the present invention. Composed of stage 103.
  • the oscillation frequency of the voltage controlled oscillator 4 is generated in synchronization with the reference oscillator 7 by the phase locked loop composed of the frequency divider 6 and the phase comparator 5.
  • the local frequency signal generated at a fixed frequency and a plurality of orthogonal signals that are synchronized or orthogonal and have at least different frequencies are mixed by the mixer 3 and / or the local signal and the synchronous signal are modulated by the mixer 3.
  • a plurality of carrier signals or subcarrier signals are generated and amplified by the power amplifier 2 and radiated from the antenna 1 to the space as a high frequency signal.
  • the plurality of carrier signals or subcarrier signals can be simultaneously and / or time-series. Can be generated.
  • a first local oscillation signal having a fixed frequency is generated by a phase-locked loop composed of the frequency divider 32 and the phase comparator 33 with respect to the oscillation frequency of the reference oscillator 32, and the first local oscillation signal is generated.
  • the second intermediate frequency signal force is also detected by the synchronization signal detector 51 and the control timing of the control unit 54 is started.
  • the controller 54 Since a plurality of carrier signals or subcarrier signals are transmitted from the signal transmission means 101 using the synchronization signal as a timing reference, the controller 54 sets the frequency of the orthogonal signal transmitter 55 and waits.
  • the oscillation frequency of the direct signal generator 55 is controlled at a timing determined in advance by the control unit 54 and is supplied to the second mixer 35 to be transmitted to the first intermediate frequency signal. Mix and convert to multiple second intermediate frequency signals with the same frequency
  • the first second intermediate frequency signal corresponding to the carrier signal or subcarrier signal of the first frequency and the synchronous oscillator 54 While receiving the first carrier signal or subcarrier signal serving as the reference, the first second intermediate frequency signal corresponding to the carrier signal or subcarrier signal of the first frequency and the synchronous oscillator 54 generate At least the frequency at which the first and second intermediate frequency signals are detected by the phase 'frequency detector 52 and subsequently received. Of the second second intermediate frequency signal corresponding to the second carrier signal or subcarrier signal with different frequency and / or The phase is detected by the phase / frequency detector 52, and the distance between the signal transmitting means 101 and the signal receiving means 102 can be measured with high accuracy from the detection result.
  • the signal transmitting means 101 and / or the signal receiving means 102 are provided with a plurality of antennas or a plurality of transducers, By switching the plurality of antennas or the plurality of transducers by the switching means, the distance between the signal transmitting means 101 and the signal receiving means 102 is measured with high accuracy, and the signal transmitting means 101 and / or the signal is measured.
  • the direction in which the receiving means 102 is located can be measured, and thus the merit of being able to determine the current position of the signal receiving means 102 with high accuracy is added.
  • FIG. 1 is a configuration diagram of a distance measuring device according to the first embodiment of the present invention
  • FIG. 2 is a diagram showing an example of a signal flow.
  • 101 is a signal transmission means
  • 1 is an antenna
  • 2 is a power amplifier
  • 3 is a mixer
  • 4 is a voltage controlled oscillator
  • 5 is a phase comparator
  • 6 is a frequency divider
  • 7 is a reference oscillator
  • 8a is synchronous A signal generator
  • 8b is a quadrature signal generator
  • 9 is a control unit.
  • 102 is a signal receiving means
  • 10 is an antenna
  • 11 is a low noise amplifier
  • 16 is a first mixer
  • 17 is a first intermediate frequency amplifier
  • 31 is a voltage controlled oscillator
  • 32 is a frequency divider
  • 33 is a phase comparison
  • 34 is a reference oscillator
  • 35 is a second mixer.
  • Reference numeral 103 is a signal processing means
  • 51 is a synchronous signal detector
  • 52 is a phase / frequency detector
  • 53 is a synchronous oscillator
  • 54 is a control unit
  • 55 is a quadrature signal generator
  • 61, 62 and 63 are connection points. It is.
  • the voltage-controlled oscillator 4 has its oscillation frequency and phase as a reference oscillation by a phase-locked loop composed of the frequency divider 6 and the phase comparator 5. Locked to the frequency and phase of the generator 7 to generate a carrier signal or subcarrier signal, and mixed or modulated by the synchronization signal and / or quadrature signal generated by the synchronization signal generator 8a with the mixer 3, Amplified by the power amplifier 2 and radiated from the antenna 1 to the space as a high frequency signal.
  • At least the oscillation frequency of the quadrature signal generator 8b is periodically switched and controlled by the control unit 9, and the first quadrature signal set at the first control start point 203a shown in FIG. 2 and the second control start point 203b
  • the second quadrature signal 202 set in step 1 is generated synchronously or orthogonally and at least with a different frequency.
  • the header portion is modulated from the antenna 1 by the synchronization signal, and is synchronized or orthogonal at the timing strictly controlled by the control unit 9, and at least the frequency.
  • a high-frequency signal mixed or modulated by multiple orthogonal signals with different values is emitted in bursts!
  • the voltage controlled oscillator 31 has the oscillation frequency and phase of the frequency of the reference oscillator 34 by a phase-locked loop composed of the frequency divider 32 and the phase comparator 33. And a phase-locked signal, a local oscillation signal is generated, applied to the first mixer 16, mixed with the received signal received by the antenna 10 and amplified by the low-noise amplifier 11, so that the first intermediate frequency of a plurality of frequencies is obtained. Converted into a frequency signal, amplified by the first intermediate frequency amplifier 17, and mixed with a plurality of orthogonal signals of at least different frequencies supplied by the second mixer 35 via the connection point 63 to share at least the frequency band. The signal is converted into a second intermediate frequency signal and output to the signal processing means 103 via the connection point 61.
  • the signal processing means 103 supplies a quadrature signal to the synchronization signal detector 51 for detecting a synchronization signal from the second intermediate frequency signal output from the signal receiving means 102 and the second mixer. From a quadrature signal generator 55 for detecting the frequency and / or phase, a phase / frequency detector 52, a synchronous oscillator 53 for supplying a clock signal to the phase / frequency detector 52, and a control unit 54 Composed.
  • the synchronous oscillator 53 has a frequency and / or phase of the second intermediate frequency signal and a frequency and / or phase of the clock signal generated by the synchronous oscillator 53.
  • Synchronization establishment means for establishing synchronization and synchronized It is assumed that a synchronization detection means for detecting this and a synchronization holding means for holding synchronization are incorporated.
  • phase / frequency detector 52 converts the second intermediate frequency signal into a digital signal with a period of a clock signal, for example, as shown in FIG. 6, and provides a Sin and Cos look-up table.
  • the frequency and / or phase of the input signal is detected by a product-sum operation, fast Fourier transform, or by taking a zero beat after conversion to an IQ signal as shown in FIG.
  • the synchronization signal detector 51 of the signal processing means 103 detects the synchronization signal and activates the control timing.
  • the synchronous oscillator 53 incorporates that the clock signal output from the synchronous oscillator 53 is synchronized with the first second intermediate frequency signal corresponding to the first orthogonal signal transmitted from the signal transmitting means 101.
  • the frequency and / or phase of the clock signal is held by the synchronization holding means built in the synchronization oscillator 53.
  • the frequency and / or phase of the first second intermediate frequency signal is detected by the phase / frequency detector 52, and then the signal From the transmitting means 101, a second high-frequency signal is radiated into the space corresponding to a second orthogonal signal having at least a different frequency at the second control starting point.
  • the orthogonal signal generator 55 The frequency is switched by the control unit 54, and the second orthogonal signal is supplied to the second mixer 35 of the signal receiving means 102 via the connection point 63, and the frequency of the second second intermediate frequency signal is / is present!
  • the phase can be detected by the phase / frequency detector 52, and the distance between the signal transmission means 101 and the reception signal means 102 can be measured with high accuracy from the detection result.
  • the signal reception unit 102 receives the signal.
  • the first high-frequency signal and the second high-frequency signal transmitted from the signal transmission unit 101 are a Sin (2 flt) and aSin (2 f2t)
  • the signal reception unit 102 receives the signal.
  • the distance from the signal transmitting means 101 is D (m)
  • the first high-frequency signal and the second high-frequency signal are ASin ⁇ 2 ⁇ f lt + (2 ⁇ D / ⁇ 1) ⁇
  • ASin ⁇ 2 ⁇ f2t + (2 ⁇ D / ⁇ 2) ⁇ ASin ⁇ 2 ⁇ f2t + (2 ⁇ D / ⁇ 2) ⁇ .
  • ⁇ is the wavelength of the first high frequency signal
  • ⁇ 2 is the wavelength of the second high frequency signal.
  • the signal receiving means 102 converts the signal to a first intermediate frequency signal having a different frequency, and further mixes with a plurality of orthogonal signals having different frequencies supplied from the signal processing means 103 by a second mixer to obtain a second intermediate frequency signal.
  • the first orthogonal signal generated by the signal processing means 103 corresponding to the first high-frequency signal is BSin (2 fLlt + ⁇ ) and corresponds to the second high-frequency signal.
  • the second quadrature signal generated by the signal processing means 103 is BSin (2 fL2t + ⁇ )
  • the first second intermediate frequency signal is 883 ⁇ ⁇ 2 ⁇ 3 ⁇ 4 + (2 ⁇ 0 / 1)- ⁇
  • the second second intermediate frequency signal is expressed as ABSin ⁇ 2wfit + (2 ⁇ / ⁇ 2) ⁇ .
  • fi fl-fLl
  • fi f2-fL2.
  • the frequency is the same, but only the phase is different, and the first second intermediate frequency signal and the second second intermediate frequency signal are the same. If the second intermediate frequency signal can be received simultaneously, the phase difference can be measured regardless of the measurement timing.
  • the angle can be quickly determined by strictly controlling the interval between tl and t2 by the control unit 54.
  • the first second intermediate frequency signal and the second second intermediate frequency signal have the same frequency but correspond to the distance D (m).
  • the frequency shift of the delay locked loop oscillator 54 is A f
  • the frequency of a plurality of carrier signals or subcarrier signals transmitted from the signal transmitting means is changed in the order of fl ⁇ f2 ⁇ fl
  • a f corresponding to the frequency shift can be reduced.
  • the frequency of the plurality of carrier signals or subcarrier signals is changed in the order of fl ⁇ f2 ⁇ fl
  • the plurality of carrier signals! / Are equal in the interval between the control start points corresponding to the subcarrier signals.
  • the multiple carrier wave signals! / which are generated at intervals of the control starting points, are set to be an integer multiple or the same as the number of cycles of the subcarrier signal to ensure orthogonality or The advantage of being easy to maintain is obtained.
  • a carrier signal or subcarrier signal is generated by hopping the frequency, performing FSK modulation, or using a single modulation signal or baseband signal.
  • the same effect can be obtained even if amplitude modulation, double sideband modulation, or single sideband modulation is repeated up and down.
  • the same effect can be obtained even if the signal transmitting means 101 transmits the signal as a high-frequency ultrasonic signal or an optical signal as described in the case of transmitting as a high-frequency signal.
  • the internal oscillator of the synchronous oscillator 53 has a frequency as shown in FIG.
  • a phase comparator, synchronization establishing means, synchronization detecting means, and synchronization holding means are incorporated. ing.
  • the same effect can be obtained by providing the quadrature signal generator 55 in the signal receiving means 102 or providing the second mixer 35 in the signal processing means 103.
  • a plurality of high-frequency signals that are generated in the signal transmitting means 101 in synchronization or orthogonally and have at least different frequencies are composed of a change part (orthogonal signal) and a fixed part (local signal), and the signal receiving means
  • a plurality of local signals generated in 102, which are synchronized or orthogonal and have at least different frequencies, are composed of a change part (orthogonal signal) and a fixed part (local signal), and are generated by at least the signal transmission means 101. It is desirable that the changed portion and the changed portion generated by the signal receiving means 102 are the same, similar, or similar.
  • the frequency difference between the fixed portion of the signal transmitting means 101 and the fixed portion of the signal receiving means 102 is the same as the first intermediate frequency and / or the second intermediate frequency of the signal receiving means 102. .
  • FIG. 3 is a configuration diagram of a distance measuring device according to the second embodiment of the present invention.
  • 102 is a signal receiving means
  • 10 is an antenna
  • 11 is a low noise amplifier
  • 16 is a mixer
  • 17 is an intermediate frequency amplifier
  • 31 is a voltage controlled oscillator
  • 32 is a frequency divider
  • 33 is a phase comparator
  • 35 is a reference oscillator
  • 103 is a signal processing means
  • 51 is a synchronous signal detector
  • 52 is a phase / frequency detector
  • 53 is a synchronous oscillator
  • 54 is a control unit
  • 56 is a multiplier or frequency divider
  • 61, 62 is a connection point
  • the voltage controlled oscillator 31 has its oscillation frequency and phase locked to the frequency and phase of the reference oscillator 35 by a phase locked loop composed of the frequency divider 32 and the phase comparator 33. Is applied to the mixer 16 as a fixed local oscillation signal, mixed with the received signal received by the antenna 10 and amplified by the low-noise amplifier 11, and converted to an intermediate frequency signal having a different frequency. Amplified by 17 and output to the signal processing means 103 via the connection point 61.
  • the signal processing means 103 includes a synchronization signal detector 51 for detecting a synchronization signal from the intermediate frequency signal, and the frequency or phase of the intermediate frequency signal is! / ⁇ is a delay time!
  • phase and frequency detector 52 for detecting the combination of the two and the multiplication to divide the frequency to supply the phase and frequency detector 52 with a reference clock signal for measuring the frequency and / or phase.
  • Device 56 synchronous oscillator 53, and control unit 54.
  • the multiplier / divider 56 is set to a multiplier / divider number (X P1), and a high frequency radiated at the first timing of the signal transmission means 101 (not shown). Waiting for a signal.
  • the intermediate frequency signal is converted into a digital signal at the period of the clock signal, and the sum and product of the Sin and Cos look-up tables are added.
  • the frequency and / or phase of the input signal is detected by a method of calculation, a method of fast Fourier transform, or a method of taking a zero beat after conversion to an IQ signal as shown in Fig. 8.
  • the signal transmitting means 101 transmits a first high-frequency signal including a synchronization signal at a first timing
  • the synchronization signal detector 51 detects the synchronization signal
  • the control unit 53 determines the control timing. to start.
  • the first intermediate frequency signal corresponding to the first high frequency signal transmitted from the signal transmitting means 101 and the oscillation frequency or phase or delay time of the output signal of the clock signal oscillator 53 are! /
  • the synchronous detection means incorporated in the synchronous oscillator 53 detects the difference between the two and controls the frequency and / or phase of the synchronous oscillator 53 so that the frequency and / or phase of the two coincide.
  • the synchronization is detected by, and the synchronization is held by the synchronization holding means when the synchronization is detected.
  • the frequency and / or phase of the intermediate frequency signal is detected by the phase / frequency detector 52, and then the signal transmitting means 101 Then, a second high-frequency signal having at least a different frequency at the second timing is radiated to the space, and the frequency dividing number of the multiplier / divider 56 is set to the multiplication-division number (X P2) by the control means 54.
  • the frequency and / or phase of the second intermediate frequency signal that is switched and output from the receiving means 102 is at least different in frequency.
  • the distance between the signal transmission means 101 and the reception signal means 102 can be measured with high accuracy from the detection result detected by the detector 52.
  • the internal oscillator of the synchronous oscillator 53 includes a delay lock loop oscillator, a voltage controlled crystal oscillator, a phase locked loop oscillator, a numerically controlled oscillator, a frequency and It has a built-in digitally controlled oscillator that can control the phase and / or maintain the synchronized frequency and / or phase.
  • ⁇ modulation for the phase-locked loop oscillator.
  • a band pass filter is inserted on the input side of the phase / frequency detector 52, and the multiplier 56 It is necessary to switch the bandpass filter at the timing of switching the multiple.
  • FIG. 2 is a diagram showing a signal relationship in the first embodiment of the present invention.
  • 201 and 202 are the first and second orthogonal signals transmitted from the signal transmission means 101 (not shown), and 203a and 203b are the controls output from the control unit 9 (not shown).
  • 204a and 204b are the phase differences between the control starting points 203a and 203b of the signal oscillating means and the control starting points 210a and 210b of the signal receiving means 102 (not shown), and 205 is generated in the signal receiving means 102.
  • the first local oscillation signal is not necessarily synchronized with the control starting points 210a and 210b, and has a fixed frequency because the frequency dividing number of the signal frequency divider 24 is fixed.
  • Reference numerals 206 and 207 denote a first first intermediate frequency signal and a second first intermediate frequency signal output corresponding to the first orthogonal signal 201 and the second orthogonal signal 202 of the signal transmitting means 101, respectively.
  • 208, 209 are the first orthogonal signal and the second orthogonal signal generated in the signal receiving means 102 corresponding to the first orthogonal signal 201 and the second orthogonal signal 202 of the signal transmitting means 101
  • 212 and 213 are a first second intermediate frequency signal and a second second intermediate frequency signal output in correspondence with the first quadrature signal 201 and the second quadrature signal 202 of the signal transmission means 101
  • 211a, 21 lb is the phase of the first second intermediate frequency signal and the second second intermediate frequency signal
  • To 231 are the respective time axes.
  • the first orthogonal signal 201 and the second orthogonal signal 202 transmitted from the signal transmission means 101 are: Although the frequencies are different, the control starting points 203a and 203b output from the control unit 9 (not shown) of the signal transmitting means 101 are synchronized with a specific phase (in the figure, rising from zero voltage), and thus are mutually connected. Orthogonal to! /
  • the first local oscillation signal 205 generated by the signal receiving means 102 has a fixed frequency. Therefore, the first first intermediate frequency signal 206 output from the signal receiving means 102 and the second first signal The frequency between the intermediate frequency signals 207 is different, and it is difficult to measure the phase difference as it is.
  • the signal receiving means 102 is provided with a second mixer 35, which outputs a first second intermediate frequency signal 212 and a second second intermediate frequency signal 213, and outputs the phase from each of the phases 21 la and 21 lb.
  • the phase difference is calculated.
  • phase difference between 213 and 213 In order to measure the phase difference between 213 and 213, first, synchronization between the first second intermediate frequency and the clock signal output from the synchronous oscillator 53 is established, and the phase of the synchronized clock signal is detected. Measure the frequency and / or phase of the first second intermediate frequency signal 212 and supply the clock signal to the phase and frequency while maintaining synchronization with the first second intermediate frequency signal 208. The frequency is supplied to the detector 52, and the frequency and / or phase of the second second intermediate frequency signal 213 is measured.
  • the phases 211a and 21 lb of the first second intermediate frequency signal 212 and the second second intermediate frequency signal 213 can be measured, so that the distance between the signal transmitting means 101 and the signal receiving means 102 is increased. It becomes possible to measure with accuracy.
  • the control starting points 203a and 203b can generate force S at the same timing.
  • the signal receiving means 102 it becomes easy to measure the phase difference.
  • FIG. 4 is a diagram showing a signal relationship in the first embodiment of the present invention.
  • 201 and 202 are the first and second orthogonal signals transmitted from the signal transmission means 101 (not shown), and 203a and 203b are the controls output from the control unit 9 (not shown).
  • the starting points 204a and 204b are the control starting points 203a and 203b of the signal transmitting means 101 and the signal receiving means 102 (not shown).
  • the phase difference between the control starting points 210a and 210b, 205 is the first local signal generated by the signal receiving means 102, and has a fixed frequency because the frequency dividing number of the frequency divider 24 is fixed.
  • Reference numerals 206 and 207 denote first intermediate frequency signals and second intermediate frequency signals output corresponding to the first orthogonal signal 201 and the second orthogonal signal 202, and 208 and 209 denote the signal transmission means.
  • the first orthogonal signal 201 and the second orthogonal signal generated by the signal receiving means 102 corresponding to the first orthogonal signal 201 and the second orthogonal signal 202 of 101, and 212 and 213 are the signal transmitting means.
  • the first second intermediate frequency signal and the second second intermediate frequency signal output corresponding to the first quadrature signal 201 and the second quadrature signal 202 of 101, 211a, 211b are the first Phases of the second intermediate frequency signal and the second second intermediate frequency signal, 22;! To 231 are respective time axes.
  • the first orthogonal signal 201 and the second orthogonal signal 202 transmitted from the signal transmission means 101 are different in frequency, but are output from the control unit 9 (not shown) of the signal transmission means 101.
  • the starting points 203a and 203b are synchronized with a specific phase (in the figure, rising from a voltage of zero), and are thus orthogonal to each other!
  • the first local oscillation signal 205 generated by the signal receiving means 102 has a fixed frequency. Therefore, the first first intermediate frequency signal 206 output from the signal receiving means 102 and the second first signal The frequency between the intermediate frequency signals 207 is different, and it is difficult to measure the phase difference as it is.
  • the synchronization of the first intermediate frequency and the synchronous oscillator 53 is established, and the first clock
  • the signal 214 is supplied to the phase detector 52 to measure the frequency and / or phase of the first intermediate frequency signal 206, and while maintaining the synchronization with the first intermediate frequency signal 206,
  • the second clock signal 215 is supplied to the phase detector 52 to measure the frequency and / or phase of the second intermediate frequency signal.
  • the phase difference 211b between the first intermediate frequency signal 206 and the second intermediate frequency signal 207 can be measured. Therefore, the distance between the signal transmitting means 101 and the signal receiving means 102 can be measured with high accuracy. It becomes possible to measure.
  • the first high-frequency signal 201 and the second high-frequency signal 2 are sent from the signal transmitting means 101.
  • the control start points 203a and 203b have the same timing, so it is easy to measure the phase difference.
  • FIG. 5 is a diagram showing another example of signal flow in the third mode of the present invention.
  • 201 and 202 are the first and second orthogonal signals transmitted from the signal transmission means 101 (not shown), and 203a and 203b are the control unit 9 (not shown) of the signal transmission means 101.
  • 204a, 204b is the phase difference between the control starting points 203a, 203b of the signal oscillating means and the control starting points 210a, 210b of the signal receiving means 102 (not shown), 205
  • This is a first local signal generated by the signal receiving means 102 and does not necessarily need to be synchronized with the control starting points 210a and 210b, and therefore has a fixed frequency because the frequency dividing number of the signal divider 24 is fixed.
  • Reference numerals 206 and 207 denote a first first intermediate frequency signal and a second first intermediate frequency signal output corresponding to the first orthogonal signal 201 and the second orthogonal signal 202 of the signal transmission means 101.
  • 208, 209 are the first orthogonal signal and the second orthogonal signal generated in the signal receiving means 102 corresponding to the first orthogonal signal 201 and the second orthogonal signal 202 of the signal transmitting means 101
  • Reference numerals 212 and 213 denote zero beat outputs of the first second intermediate frequency signal and the second second intermediate frequency signal output corresponding to the first orthogonal signal 201 and the second orthogonal signal 202 of the signal transmitting means 101, respectively.
  • 211a, 21 lb are DC voltages corresponding to the phases of the first second intermediate frequency signal and the second second intermediate frequency signal, and 22;! -231 are respective time axes.
  • the first orthogonal signal 201 and the second orthogonal signal 202 transmitted from the signal transmission means 101 are different in frequency, but are output from the control unit 9 (not shown) of the signal transmission means 101.
  • the starting points 203a and 203b are synchronized with a specific phase (in the figure, rising from a voltage of zero), and are thus orthogonal to each other!
  • the first local oscillation signal 205 generated by the signal receiving means 102 has a fixed frequency. Therefore, the first first intermediate frequency signal 206 output from the signal receiving means 102 and the second first signal The frequency between the intermediate frequency signals 207 is different, and it is difficult to measure the phase difference as it is.
  • the signal receiving means 102 is provided with a second mixer 35, which outputs a first second intermediate frequency signal 212 and a second second intermediate frequency signal 213, and outputs the phase from each of the phases 21 la and 21 lb. Phase difference We will ask for it.
  • first control is performed so that a zero beat is obtained.
  • the second quadrature signal 209 is measured as the phase-frequency detector 52 while measuring the frequency and / or phase of the first second intermediate frequency signal 212 and holding the zero beat with the first second intermediate frequency signal 208. And the frequency and / or phase of the second second intermediate frequency signal 213 is measured.
  • the phases 211a and 21 lb of the first second intermediate frequency signal 212 and the second second intermediate frequency signal 213 can be measured, so that the distance between the signal transmitting means 101 and the signal receiving means 102 is increased. It becomes possible to measure with accuracy.
  • control is performed so that the frequency of the first first intermediate frequency signal and the frequency of the first orthogonal signal are the same. It is necessary to control the frequency of the first intermediate frequency signal and the frequency of the second orthogonal signal to be the same.
  • the same effect can be obtained by changing the sampling frequency when converting the intermediate frequency signal into a digital signal instead of taking the zero beat as described above.
  • FIG. 6 is a configuration diagram showing an example of the phase / frequency detector of the present invention.
  • Figure 6
  • 61, 64, and 65 are connection points
  • 521 is an analog-digital converter
  • 522a is a Sin product-sum calculator
  • 522b is a Cos product-sum calculator
  • 523 is an ArcTan calculator.
  • the intermediate frequency signal output from the signal receiving means 102 (not shown) is input via the connection point 61, converted into a digital signal by the analog-to-digital converter 521, and branched into two to be the Sin multiply-add calculator. Applied to 522a and Cos product-sum calculator 522b.
  • the reference clock signal for measuring frequency and / or phase is input via connection point 525, split into three, analog 'digital converter 521, Sin product-sum calculator 522a, and Cos product. Applied to the sum calculator 522b.
  • the lookup table of the Sin multiply-add calculator 522a uses "0, 1, 0, — 1" as a basic unit, and the lookup table of the Cos multiply-add calculator 522b uses "1, 0, - Ten] By using as a basic unit, the merit that the product-sum operation can be processed at high speed can be obtained.
  • phase 'frequency detector as a digital phase comparator built in the synchronous oscillator shown in FIG.
  • FIG. 7 is a block diagram showing another example of the phase / frequency detector of the present invention.
  • connections up to 61, 64, 65 ⁇ , 524a, 524bi mixer, 526a, 526bi low pass filter, 521a, 521b are analog-to-digital converters, 523 is ArcTan calculator, 525 is 90 ° phase shifter It is.
  • the intermediate frequency signal output from the signal receiving means 102 (not shown) is manually input via the connection point 61, branched into two, and applied to the mixers 524a and 524b.
  • a clock signal serving as a reference for detecting the frequency and / or phase is a connection point.
  • mixer 525 two branches, one is directly applied to mixer 524a as the first local oscillator signal, the other is 90 ° phase shifted by 90 ° phase shifter 525 and the second station is supplied to mixer 524b. Applied as an emission signal.
  • An I signal is output from the mixer 524a, harmonics are removed by the low-pass filter 526a, digitally converted by the analog-to-digital converter 521a, and input to the ArcTan calculator 523 as an I signal.
  • a Q signal is output from the mixer 524b, harmonics are removed by the low-pass filter 526b, digitally converted by the analog-digital converter 521b, and input to the ArcTan calculator 523 as the Q signal.
  • phase 'frequency detector can be used for a phase comparator built in a synchronous oscillator shown in FIG. 9 as an example.
  • FIG. 8 is a configuration diagram showing an example of the synchronous oscillator of the present invention.
  • 53 is a synchronous oscillator
  • 531 is a synchronization establishment / synchronization circuit
  • 532 is a digital phase comparator
  • 533 is a digitally controlled oscillator
  • 67, 68, 69 and 70 are connection points.
  • An intermediate frequency signal output from the signal receiving means 102 (not shown) is input as a synchronization input signal via the connection point 61 and connected to the digital phase comparator 532 via the synchronization establishment / holding circuit 531.
  • the phase between the synchronous input signal and the output signal of the digitally controlled oscillator 533 is compared, and the compared result is input as a control signal of the digitally controlled oscillator 533, and the frequency of the digitally controlled oscillator 533 is present.
  • ! / Controls the phase or delay time, or a combination of these, and is output as a synchronous output signal from node 68.
  • a synchronization detection signal is output from the connection point 70 to the control unit 54 (not shown), and the control unit A synchronization hold signal is input from 54 through the connection point 69 to the synchronization establishment / holding circuit 531 to hold the oscillation frequency and / or phase of the digitally controlled oscillator 533.
  • the synchronization establishment / holding circuit 531 is composed of, for example, an AND gate or an OR gate.
  • the output of the AND gate or OR gate is “ By setting the state where synchronization is established by fixing it to “0” or “1”, the output signal of the digital phase comparator 532 is held OFF, and the frequency and / or phase of the digitally controlled oscillator 533 is changed. Control to hold.
  • the oscillation frequency can be controlled by adding / subtracting the output signal of the digital phase comparator 532 to / from the frequency setting register of the digital control oscillator 533.
  • a voltage controlled oscillator controlled by a digital signal a numerically controlled oscillator, a frequency, a phase, a delay time, or a combination thereof can be controlled.
  • a digitally controlled oscillator that can be set and maintained for the delay time or a combination thereof can be used.
  • a numerically controlled oscillator is used as the digitally controlled oscillator 533, and the digitally controlled oscillator 533
  • the digital control signal output from the phase comparator 531 controls the oscillation frequency and / or phase of the numerically controlled oscillator to be in a synchronized state, and the digital signal is held to maintain the synchronized state, thereby oscillating. It is possible to realize a synchronous oscillator with high frequency stability, stable synchronization pull-in time, and stable synchronization establishment / maintenance control.
  • the voltage sero point of the output signal can be easily controlled.
  • FIG. 9 is a block diagram of a distance measuring apparatus according to the fourth embodiment of the present invention.
  • la and lb are a plurality of antennas connected to the signal transmitting means 101
  • lc is an antenna switching means for switching the plurality of antennas 1a and lb
  • 10a and 10b are connected to the signal receiving means 102.
  • a plurality of antennas, 10c is an antenna switching means for switching between the plurality of antennas 10a and 10b
  • 66 is a connection point between the control unit 54 and the antenna switch 10c, and the others are the same as in FIG.
  • the plurality of antennas la, lb and / or antennas 10a, 10b are arranged at intervals of one wavelength or less of the carrier signal or subcarrier signal of the high-frequency signal, and the signal transmission means 101 transmits the high-frequency signal.
  • the antenna switching means lc or 10c controlled by the control section 9 or the control section 54 is periodically switched.
  • the signal transmission means 101 is a base station of a mobile phone system and the signal reception means 102 is a mobile terminal.
  • a radio signal from a single base station is received. This makes it possible to determine the exact position (distance and direction) of the mobile terminal.
  • the signal transmission means 101 is installed at a plurality of locations, the distance and direction from the plurality of locations are measured, and the signal reception means 102 of the signal reception means 102 is measured by a method such as hyperbolic navigation or trigonometry. Accurate location can be determined.
  • the general direction can be measured by unifying the plurality of antennas la and lb in the sector.
  • the approximate position (distance is accurate) of the means 102 can be determined.
  • two directivity antennas la, lb or 10a, 10b are arranged in the signal transmitting means 101 and / or the signal receiving means 102 at intervals of one wavelength or less of the signal transmitted from the signal transmitting means 101.
  • the distance is required for the measurement, except that a plurality of antennas la, lb and / or 10a, 10b and antenna switch lc and / or 10c are added to the signal receiving means 102 and / or the signal transmitting means 101. Since the circuit configuration is the same, the rising cost for measuring the direction in addition to the distance measurement can be kept low.
  • FIG. 10 is a conceptual diagram when the position is determined from the distance measurement result by the distance measuring apparatus of the present invention.
  • 301 is a signal transmitting means or signal receiving means installed at a relatively high position
  • 302 is a signal transmitting means or signal receiving means installed or moved at a relatively low position
  • 303 is a ground or floor.
  • 311 is the distance (Lm) measured by the above measuring method
  • 312 is the difference between the relatively high position and the relatively low position (Hm)
  • 313 is the height of the relatively low position
  • etc. (Hm) and 314 are horizontal distances (Dm).
  • the transmitting means or signal receiving means 301 installed at a relatively high position is an example.
  • the signal transmitting means or the signal receiving means 302 that is installed on a pillar or a ceiling and is installed or moved at a relatively low position is carried by, for example, a pedestrian or attached to a moving body.
  • the signal transmitting means or the signal receiving means Location can be determined.
  • the phase is measured using a product-sum operation unit using force hardware that uses a digital phase comparator, or the FFT operation is performed by software using a DSP or a microcomputer. This can be achieved by measuring the phase or by using existing technology. Since computation time by software is slow and processing in real time becomes difficult, processing by hardware is advantageous in terms of processing time, current consumption, and cost.
  • an ultrasonic signal is transmitted from the signal transmitting means using an ultrasonic transducer or an ultrasonic transmitter, and the receiving means is configured to transmit an ultrasonic signal using an ultrasonic transducer or an ultrasonic receiver.
  • the same effect can be obtained by receiving a sound wave signal or transmitting an optical signal to the transmitting means using a light emitting diode or a laser diode and receiving the optical signal using a photodiode in the receiving means.
  • a modulation signal or a baseband signal synchronized with a reference oscillator is generated, or a plurality of orthogonal modulation signals or baseband signals are generated, and an ultrasonic signal or a high-frequency signal exists! /
  • the signal receiving means generates a local oscillation signal that is synchronized with a reference oscillator and mixes it with the received modulation signal or baseband signal in the signal receiving means. The same effect can be obtained by converting to a frequency modulation signal or baseband signal. can get.
  • the signal reception Means for generating a plurality of spectral spreading codes used for despreading the spread common carrier signal or subcarrier signal received by the means, and a plurality of synchronization signals having different chip rates.
  • it can be a baseband signal.
  • a plurality of antennas or transducers connected to the signal transmission means and / or reception means are periodically generated at a timing for generating a plurality of signals that are synchronized or orthogonal and at least different in frequency.
  • the measurement error caused by multipath or height pattern can be reduced by measuring the distance and direction between the signal transmitting means and the signal receiving means.
  • the signal transmitting means may use an ultra-wideband (UWB) spread spectrum code to convert an ultrasonic signal into a high-frequency signal or an optical signal and transmit the same. Effects can be obtained.
  • UWB ultra-wideband
  • the interval between the plurality of antennas or the plurality of transducers is equal to or less than the interval corresponding to the chip rate of the spread spectrum code.
  • the above distance measurement method can be generally applied to a mobile radio system including a mobile phone system or a surveying system such as a system that requires distance and direction orientation.
  • the result of the distance measurement between the signal transmitting unit and the signal receiving unit being performed a plurality of times is statistically processed, and an ultrasonic signal or a high frequency signal transmitted from the transmitting unit is present! /, Is an optical signal
  • the accuracy of distance measurement can be improved by estimating the distribution status of multiple propagation paths or the occurrence of multipath.
  • the force S for estimating the distribution status of the propagation path or the occurrence status of the multipath can be obtained.
  • the signal reception is performed.
  • the distance can be measured by gradually switching from a plurality of signals received by the transmission means to a long range force and a short range.
  • the present invention is configured as described above, a single signal transmission unit or a single signal reception unit is fixedly installed, so that the signal transmission unit and the signal reception unit are arranged in a fixed manner.
  • the distance can be measured with high accuracy, and when combined with the measurement in the direction or direction, the position can be determined with high accuracy.
  • the location can be determined with high accuracy, it can be used in a system that supports walking while guiding pedestrians not to deviate from the pedestrian crossing when crossing a pedestrian crossing such as an intersection.
  • the active tag is used as a signal transmission means and a plurality of base stations are connected as a reception means through a network, the exact position of the active tag can be detected. It can be used for traffic flow management, logistics management to improve the efficiency of moving and collecting cargo, or searching for lost children.
  • the active tag can be carried by livestock or wild animals to detect the exact position and used for biotelemetry.
  • the distance and direction can be measured with high accuracy.
  • real-time performance is not so required, so it is possible to increase the accuracy of surveying by increasing the number of data acquisitions over time.
  • the distance and direction between multiple navigating vessels, multiple flying aircraft, or multiple running vehicles can be accurately measured, so collision prevention or maintaining the distance between each other is possible. Can be used in the system.
  • the relative positional relationship with the moving object can be accurately measured by one-to-one communication between the moving object and the pilot, a remote control of the moving object can be realized with an inexpensive device.
  • the distance measurement technology of the present invention is a basic technology and can be expected to be applied in other fields.
  • FIG. 1 Configuration diagram of a distance measuring apparatus according to Embodiment 1
  • FIG. 2 is a diagram showing an example of signal flow in the first embodiment
  • FIG. 3 Configuration diagram of the distance measuring apparatus according to the second embodiment.
  • FIG. 4 is a diagram illustrating an example of signal flow in the second embodiment.
  • FIG. 5 shows another example of signal flow in the second embodiment.
  • FIG. 8 Configuration diagram showing an example of a synchronous oscillator
  • FIG. 9 Configuration diagram of the distance measuring apparatus according to the third embodiment.
  • FIG. 11 Configuration diagram showing a conventional example.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

La présente invention concerne un dispositif de mesure de distance comportant un moyen de transmission de signaux (101), un moyen de réception de signaux (102) et un moyen de traitement de signaux (103). Le moyen de transmission de signaux transmet un signal haute fréquence, dont les composantes sont une pluralité de signaux de mesure en synchronisation avec un signal de sortie de référence d'un oscillateur de référence (7). Le moyen de réception de signaux (102) génère un premier signal d'oscillation locale en synchronisation avec un signal de sortie de référence de l'oscillateur de référence (34), mélange le premier signal d'oscillation locale avec un signal reçu, convertit le signal mixte en de premiers signaux intermédiaires avec au moins une pluralité de fréquences différentes, mélange les premiers signaux intermédiaires correspondant aux signaux de mesure avec une pluralité de signaux d'oscillation locale avec au moins des fréquences différentes en synchronisation avec ou orthogonales à un signal de sortie d'un second mélangeur (35), et convertit le signal mixte en une pluralité de seconds signaux intermédiaires. Le moyen de traitement de signaux (103) détecte une différence de phase des seconds signaux intermédiaires et mesure la distance entre le moyen de transmission designaux (101) et le moyen de réception de signaux (102) avec une grande précision.
PCT/JP2007/067235 2006-09-05 2007-09-04 Dispositif de mesure de distance Ceased WO2008029812A1 (fr)

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JP2010002225A (ja) * 2008-06-18 2010-01-07 Toshiba Corp 可視光通信を利用した位置測定装置、位置測定システム、及び位置測定方法
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US10209342B2 (en) * 2009-01-30 2019-02-19 The United States Of America, As Represented By The Secretary Of The Navy Electromagnetic radiation source locating system
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US12155440B2 (en) 2021-02-09 2024-11-26 Kabushiki Kaisha Tokai Rika Denki Seisakusho Communication device, control device, storage medium, and system for estimating a positional relation between devices
CN116264504A (zh) * 2021-12-14 2023-06-16 芯科实验室有限公司 用于测距应用的接收机和发射机本机振荡器的同步

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