WO2008029812A1

WO2008029812A1 - Distance measuring device

Info

Publication number: WO2008029812A1
Application number: PCT/JP2007/067235
Authority: WO
Inventors: Minori Kawano; Yasunori Takeuchi; Hironori Kawano
Original assignee: Radio Communication Systems Ltd.; The Chugoku Electric Power Co., Inc.
Priority date: 2006-09-05
Filing date: 2007-09-04
Publication date: 2008-03-13
Also published as: JPWO2008029812A1

Abstract

A distance measuring device is comprised of a signal transmitting means (101), a signal receiving means (102) and a signal processing means (103). The signal transmitting means transmits a high frequency signal, the components of which are a plurality of measuring signals in synchronization with an output reference signal of a reference oscillator (7). The signal receiving means (102) generates a first local oscillating signal in synchronization with an output reference signal of a reference oscillator (34), mixes the first local oscillating signal with a received signal, converts the mixed signal to first intermediate signals with at least a plurality of different frequencies, mixes the first intermediate signals corresponding to the measuring signals with a plurality of second local oscillating signals with at least different frequencies in synchronization with or orthogonal to an output signal of a second mixer (35), and converts the mixed signal to a plurality of second intermediate signals. The signal processing means (103) detects a phase difference of the second intermediate signals and measures the distance between the signal transmitting means (101) and the signal receiving means (102) with high accuracy

Description

Specification

Distance measuring device

Technical field

[0001] In the present invention, 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.

Background art

[0002] Conventionally, a system for measuring a distance using a plurality of radio signals having different frequencies has been proposed. (For example, see Patent Documents 1 to 5)

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! In Fig. 11, VLF signal (radio wave FSK between f0 and f0 + 50Hz in 20ms ec period) received from the US Navy VLF communication station is received by antenna 10, amplified by amplifier 11, and synchronized with VCX022 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.

On the other hand, 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.

In the conventional technology shown in Fig. 11, 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.

[0005] In the conventional "mobile station and mobile communication system" described in Patent Document 2, two distance measurement signals with different frequencies that are wirelessly transmitted from a fixed station to a mobile terminal are transmitted to move the mobile station. The body terminal measures the distance between itself and the fixed station from the phase difference between the two distance measurement signals, and calculates the position of itself by performing these measurements with the three fixed stations.

As described in Patent Document 2 (0012), two different frequency hopping modulated distance measurement signals transmitted wirelessly from a fixed station are received, and the phase difference between the two distance measurement signals is measured. Figure 2 shows the specific phase difference measurement procedure.

In the above method, as shown in FIG. 2, 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.

However, since it is difficult to detect the transmission start point 0 with high accuracy from two distance measurement signals transmitted from one fixed station, the distance between the three fixed stations is synchronized with each other. Receiving measurement signals is an indispensable condition, and there is a restriction that it is necessary to synchronize between three fixed stations, and to be able to simultaneously receive signals from three base stations at a mobile terminal in a short time. There were problems such as.

[0007] In the conventional "distance / ranging based on RF phase delta determination" described in Patent Document 3, 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.

However, 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.

Although (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.

[0008] In the conventional "active tag device" described in Patent Document 4, 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.

However, although it is described that 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.

In the conventional “distance measurement system, distance measurement method and communication device” described in Patent Document 5, two carrier waves having different frequencies are transmitted from one mobile terminal, and the other mobile terminal It is said that the distance is calculated by detecting the phase difference ΔΦ between the two carrier waves.

However, as the basis for finding the distance! /, It is disclosed in (0067)! /, In Equations (6) and (7), the frequency differs between fl and f2, so ΔΦ changes with time. Therefore, the distance R disclosed in (00 71) varies with time.

It was necessary to synchronize the time on the transmitter side and the receiver side in some way, and this was a problem with this method.

Disclosure of the invention

Problems to be solved by the invention

[0010] 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. In 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. By converting to a signal or baseband signal and detecting the frequency and / or phase of the intermediate frequency signal, modulation signal or baseband signal, 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.

Means for solving the problem

[0011] The distance measuring device according to the present invention 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.

In 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

[0012] In the signal processing means, 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. · Provide holding means,

[0013] A first intermediate frequency signal, modulation signal, or baseband signal corresponding to an ultrasonic signal, a high frequency signal, or an optical signal of a first frequency serving as a reference by the phase, frequency detector, and synchronization establishing and holding means And the clock signal are in a synchronized state, and the synchronized state is maintained, and at least a second ultrasonic signal, a high frequency signal, or a second intermediate frequency signal, a modulated signal, or a burst signal corresponding to an optical signal having different frequencies. 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. As the above-mentioned application, 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.

The invention's effect

[0014] As a conventional device for measuring distance with high accuracy, 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 However, these are all expensive, or the distance measurement accuracy is low or the distance measurement takes time, especially the measurement accuracy at a relatively short distance within 300 m is low. There was a problem.

[0015] In contrast, in the distance measuring apparatus of the present invention, 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.

Furthermore, when combined with a means for detecting the direction or the direction in which it is heading, there is an advantage that the position of the moving body can be determined with high accuracy.

BEST MODE FOR CARRYING OUT THE INVENTION

[0016] The distance measuring device according to the present invention 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.

In the signal transmission means 101, 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.

[0017] By controlling the timing of mixing by the mixer 3 and the timing of switching at least the oscillation frequency of the quadrature signal generator 8b by the control unit 9, the plurality of carrier signals or subcarrier signals can be simultaneously and / or time-series. Can be generated. In the signal receiving means 102, 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. Is applied to the first mixer 16 and mixed with the received signal received by the antenna 10 and amplified by the low-noise amplifier 11 to convert the first intermediate-frequency signal into a plurality of frequencies, and the first intermediate-frequency signal is amplified by the amplifier. Amplified by 17, converted to a second intermediate frequency signal by the second mixer 35, and input to the signal processing means 103.

In the signal processing means 103, 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.

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.

When the synchronization signal is detected, at least 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

[0020] 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.

As shown in FIG. 3 and claim 3, instead of switching the frequency of the quadrature signal generator 55 of the signal receiving means 102, the output signal of the synchronous oscillator 53 of the signal processing means 103 is shown. A similar effect can be obtained by providing a multiplier 56 for multiplying or dividing the frequency. Also, by using a synchronous oscillator 53 having a circuit configuration shown in FIG. Has the effect of establishing synchronization and maintaining stable synchronization

Yes

In addition, as shown in FIG. 8 and claim 26 in the third mode of the present invention, 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.

[0023] (Embodiment 1)

FIG. 1 is a configuration diagram of a distance measuring device according to the first embodiment of the present invention, and FIG. 2 is a diagram showing an example of a signal flow. In FIG. 1, 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, and 9 is a control unit. On the other hand, 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, and 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.

[0024] In the signal transmission means 101, 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.

[0025] Since the signal transmission means 101 is configured as described above, 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!

On the other hand, in the signal receiving means 102, 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.

[0027] 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.

Here, as shown in FIG. 9, 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.

Further, the 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.

[0029] When the signal transmission means 101 transmits a first high-frequency signal corresponding to a first orthogonal signal including a synchronization signal at a first control starting point, the synchronization signal detector 51 of the signal processing means 103 The control unit 54 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. When detected by the synchronization detection means, the frequency and / or phase of the clock signal is held by the synchronization holding means built in the synchronization oscillator 53.

[0030] While the synchronous oscillator 53 is in a synchronized state, 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. In the signal processing means 103, 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.

[0031] When 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. Assuming that 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 π f lt + (2 π D / λ 1)}, ASin {2 π f2t + (2πD / λ2)}. Here, λΐ is the wavelength of the first high frequency signal, and λ 2 is the wavelength of the second high frequency signal.

[0032] 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. In the process of converting to a frequency signal, the first orthogonal signal generated by the signal processing means 103 corresponding to the first high-frequency signal is BSin (2 fLlt + φ) and corresponds to the second high-frequency signal. Assuming that the second quadrature signal generated by the signal processing means 103 is BSin (2 fL2t + φ), the first second intermediate frequency signal is 883 ^ {2 兀 ¾ + (2 兀 0 / 1)-}, the second second intermediate frequency signal is expressed as ABSin {2wfit + (2πϋ / λ2) −φ}. Here, fi = fl-fLl and fi = f2-fL2.

Comparing the first second intermediate frequency signal and the second second intermediate frequency signal, 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.

However, in reality, in order to simultaneously receive the first second intermediate frequency signal and the second second intermediate frequency signal, it is necessary to have two receivers. The measurement accuracy of the distance deteriorates due to the difference in characteristics between the first and second intermediate frequency signals, and it is necessary to measure the phase difference by alternately receiving the first second intermediate frequency signal and the second second intermediate frequency signal. .

Therefore, as a control starting point for measuring the phase difference between the first second intermediate frequency signal and the second second intermediate frequency signal, for the first second intermediate frequency signal, the second Assuming that the second intermediate frequency signal is t2, the angle can be quickly determined by strictly controlling the interval between tl and t2 by the control unit 54.

[0034] When the synchronization state is maintained, 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 phase difference Δ Φ is expressed as follows: Δ Φ = (2πϋ / λ 1) — (2πϋ / λ2) = 2πϋ {(ΐ / λ 1)-(1 / λ2)} = (D / C) {2 π (f 1− f2)}, and the distance D (m) between the signal transmitting means 101 and the signal receiving means 102 is D = (CX ΔΦ) / {2 π (f 1− f 2)} You can. Where C is the speed of light.

[0035] For example, if fl f2 = 5 MHz, when the distance between the signal transmitting means 101 and the signal receiving means 102 is 60 m, the first second intermediate frequency signal and the second second intermediate frequency signal Since the phase difference between them is 360 °, if the measurement accuracy of the phase difference is ± 0.5 °, the distance measurement accuracy is ± 8cm when the distance is 60m, which enables highly accurate distance measurement. Become

[0036] It should be noted that if the synchronization is not established and maintained, the distance measurement accuracy deteriorates.

Therefore, when the frequency shift of the delay locked loop oscillator 54 is A f, if 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, Since the detected phase difference is (fl f 2 + Δ ί) − (f 2 −fl + A f) = 2 (fl−f 2), A f corresponding to the frequency shift can be reduced. Here, when 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.

[0037] However, if the frequency deviation force cycle is exceeded during the measurement period, the phase difference will exceed 360 ° and the distance measurement will be indeterminate, so synchronization should be established so that it does not exceed one cycle during measurement. Need to hold.

As a method for generating a plurality of synchronized or orthogonal high-frequency signals, 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.

[0038] Further, 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.

In addition, the internal oscillator of the synchronous oscillator 53 has a frequency as shown in FIG. In addition to a signal oscillator whose phase can be controlled and held at a specific frequency and / or phase, 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.

[0039] Further, 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.

Further, it is desirable that 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. .

[0040] (Embodiment 3)

FIG. 3 is a configuration diagram of a distance measuring device according to the second embodiment of the present invention. In FIG. 3, 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

Yes

[0041] In the signal receiver 102, 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. [0042] 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! / ヽ is a delay time! / ヽ is these The 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.

[0043] In the standby state, 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.

In the main part of the phase / frequency detector 52, for example, as shown in FIG. 7, 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.

[0044] When 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, and 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.

[0045] While the synchronous oscillator 53 holds the synchronization state, 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.

As shown in FIG. 8, 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.

The same effect can be obtained by using Δ∑ modulation for the phase-locked loop oscillator. When transmitting a plurality of carrier signals or subcarrier signals in parallel from the signal transmitting means 101, 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. In FIG. 5, 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.

[0048] 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, and 22;! To 231 are the respective time axes.

[0049] 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! /

On the other hand, 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.

Therefore, 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.

[0050] The first second intermediate frequency signal 212 and the second second intermediate frequency signal of the signal receiving means 102

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.

Further, when the first orthogonal signal 201 and the second orthogonal signal 202 can be radiated simultaneously from the signal transmission means 101, the control starting points 203a and 203b can generate force S at the same timing. In 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. In FIG. 4, 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.

Yes

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.

[0053] 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!

[0054] In order to measure the phase difference between the first intermediate frequency signal 206 and the second intermediate frequency signal 207, first, 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.

[0055] 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.

Further, the first high-frequency signal 201 and the second high-frequency signal 2 are sent from the signal transmitting means 101. When 02 can be radiated simultaneously, 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. In FIG. 5, 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.

[0058] 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!

Therefore, 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.

[0059] The first second intermediate frequency signal 212 and the second second intermediate frequency signal of the signal receiving means 102.

In order to measure the phase difference between the first intermediate frequency 213 and the first intermediate signal 208, 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.

[0060] Here, in order to control to zero beat, 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.

Yes

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. In 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, and 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.

[0062] 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. The outputs of the product-sum calculators 522a and 522b are calculated by the ArcTan calculator 523 as the phase Φ = ArcTan (Sin / Cos), and the result is output to the controller 54 (not shown) via the connection point 64. The

Note that it is also possible to use the 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. In Fig. 7, connections up to 61, 64, 65ί, 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.

[0064] A clock signal serving as a reference for detecting the frequency and / or phase is a connection point.

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.

[0065] 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. The

The ArcTan computing unit 523 calculates the phase difference Φ = ArcTan (I / Q), and outputs the result to the control unit 54 (not shown) via the connection point 64.

[0066] It should be noted that the phase 'frequency detector can be used for a phase comparator built in a synchronous oscillator shown in FIG. 9 as an example.

In addition to setting the output frequency of both mixers 526a and 526b to zero beat (DC), the phase can be measured after conversion to a common arbitrary frequency. FIG. 8 is a configuration diagram showing an example of the synchronous oscillator of the present invention. In FIG. 8, 53 is a synchronous oscillator, 531 is a synchronization establishment / synchronization circuit, 532 is a digital phase comparator, 533 is a digitally controlled oscillator, and 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.

[0068] When the frequency and / or phase is synchronized between the synchronization input signal and the synchronization output signal, 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.

[0069] The synchronization establishment / holding circuit 531 is composed of, for example, an AND gate or an OR gate. When “0” or “1” is applied to the connection point 69, 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.

[0070] As an example of the digitally controlled 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.

[0071] Further, 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.

Further, by resetting the adder (accumulator) of the numerically controlled oscillator according to the control starting point, the voltage sero point of the output signal can be easily controlled.

[Embodiment 4]

FIG. 9 is a block diagram of a distance measuring apparatus according to the fourth embodiment of the present invention. In FIG. 9, 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, and 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.

[0073] 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. Alternatively, it is assumed that while the signal receiving means 102 receives 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.

[0074] With the above configuration, it becomes possible to measure the distance between the signal transmitting means 101 and the signal receiving means 102, and the direction in which the signal transmitting means 101 and / or the signal receiving means 102 is located and Since the direction in which the vehicle is heading can be measured with high accuracy, there is an advantage that the current position (distance and direction) of the signal receiving device 102 can be determined with high accuracy by installing the single signal transmitting device 101 fixedly. Alternatively, by fixing and installing the single signal receiving means 102, there is an advantage that the current position (distance and direction) of the signal transmission means 101 can be determined with high accuracy.

[0075] Here, for example, when 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. In addition, when 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.

In addition, instead of switching the plurality of antennas la and lb of the signal transmitting means 101 by the switching means lc, 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.

[0076] Further, 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. By connecting the two directional antennas horizontally or diagonally downward from the horizontal direction, the direction measurement error due to multipath can be reduced and the position (distance and direction) can be reduced. The distance that can be used for orientation can be expanded.

Also, only 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. In FIG. 10, 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, and 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).

[0078] When the distance (Lm) 31 1 measured by the above measuring method is obtained, the horizontal distance

(Dm) 314 can be easily calculated by the known triangle theorem.

The transmitting means or signal receiving means 301 installed at a relatively high position is an example. For 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.

[0079] Further, depending on the geography around the transmitting means or signal receiving means 301 installed at a relatively high position, more complicated calculation is required, so that the signal installed at the relatively high position is required. It is also effective to send information on the surrounding geography from the sending means or the signal receiving means 301.

In addition to the above, if the direction in which the signal transmitting means or the signal receiving means is installed, or the direction in which the signal transmitting means or the signal receiving means is heading, can be detected, the signal transmitting means or the signal receiving means Location can be determined.

[0080] In the above description, 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.

[0081] Further, 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. can get

[0082] Further, in the signal transmission 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.

[0083] Also, when the common carrier signal or subcarrier signal transmitted from the signal transmitting means is spread by a plurality of spread spectrum codes that are synchronized or orthogonal, at least with different chip rates, 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. Alternatively, it can be a baseband signal.

[0084] Further, in the signal transmission means, 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. Thus, 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.

[0085] In addition, 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. In this case, 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.

In addition, 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.

[0086] Further, 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.

In addition, by comparing the distribution of the results of the distance measurement performed a plurality of times with the distribution of the modeled distance measurement, the force S for estimating the distribution status of the propagation path or the occurrence status of the multipath can be obtained.

[0087] Further, by changing the frequency or chip rate of the plurality of signals transmitted from the signal transmission means stepwise from a small change to a large change, 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.

Industrial applicability

[0088] Since 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.

Since 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.

In addition, since the direction and distance can be measured between a single base station and a mobile terminal in a mobile radio system, a highly accurate car navigation system or pedestrian navigation system can be realized.

[0089] In addition, since 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.

In addition, the active tag can be carried by livestock or wild animals to detect the exact position and used for biotelemetry.

[0090] Further, by installing the signal receiving means on the transit side and the transmitting means on the pole side, the distance and direction can be measured with high accuracy. When used for surveying, 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.

In addition, 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.

[0091] Further, since 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. In addition, the distance measurement technology of the present invention is a basic technology and can be expected to be applied in other fields.

Brief Description of Drawings

[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.

[Figure 6] Configuration diagram showing an example of a phase / frequency detector

[Fig.7] Configuration diagram showing another example of phase / frequency detector

[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.10] Conceptual diagram for locating position from distance measurement results

[Fig. 11] Configuration diagram showing a conventional example.

Explanation of symbols

[0093] 1 antenna

la, lb multiple antennas

lc Antenna switching means

2 Power amplifier

3 Mixer

4 Voltage controlled oscillator

5 Phase comparator

6 divider

7 Reference oscillator

8a Sync signal generator

8b FSK signal generator

9 Control unit

10 Antenna a, 10b Multiple antennas

c Antenna switching means

Low noise amplifier

1st mixer

Intermediate frequency amplifier

From H! J soil control

Divider

Phase comparator

Reference oscillator

Second mixer

Sync signal detector

Phase / frequency detector

Synchronous oscillator

Control unit

Quadrature signal generator

遁 times

— 70 connection points

1 Signal transmission means

2 Signal receiving means

3 Signal processing means

1, 202 1st and 2nd quadrature signal

3a, 203b Control start point

4a, 204b Phase difference between transmission control start point and reception control start point 5 Reception first station signal

6, 207 First and second first intermediate frequency signals

8, 209 First and second quadrature signals

0a, 210b Control start point

1 a, 211b Phase difference between the first and second second intermediate frequency signals 212, 213 First and second second intermediate frequency signals

214, 215 First and second clock signals

22;! ~ 231 Time axis of each signal

301 Signal transmitting means or signal receiving means installed at a relatively high position

302 Signal transmitting means or signal receiving means installed or moved at a relatively low position

303 Ground or floor surface

31 1 Distance measured by the above measurement method (Lm)

312 Difference between the relatively high position and the relatively low position (Hm)

313 Height of relatively low position (hm)

314 Horizontal distance (Dm)

521, 521a Analog to digital converter

521b Analog 'digital converter'

522a Sin Multiply-Accumulator

522b Cos multiply-add calculator

523 ArcTan calculator

524a, 524b mixer

525 90 ° phase shifter

526a, 526b Low-pass filter

531 Digital phase comparator

532 Synchronization establishment

533 Digitally controlled oscillator

Claims

The scope of the claims

[1] In a system that measures distance using ultrasonic signals, high-frequency signals, or optical signals,

There are signal transmitting means for transmitting a plurality of measurement signals that are synchronized or orthogonal and have at least different frequencies, or a high-frequency signal or an optical signal, and an ultrasonic signal or a high-frequency signal transmitted from the signal transmitting means! /, Receives an optical signal, regenerates the plurality of measurement signals, and mixes or despreads the regenerated plurality of measurement signals with a plurality of local oscillation signals that are synchronized or orthogonal and have at least different frequencies. A signal receiving means for converting to an intermediate frequency signal, a modulation signal or a baseband signal having a common frequency;

Signal processing means for measuring the distance by processing the intermediate frequency signal, modulation signal or baseband signal output from the signal receiving means, and the signal processing means is a first measurement as a reference The first intermediate frequency signal or the modulation signal corresponding to the signal is detected, the frequency and / or the phase of the baseband signal is detected, and then the reference first measurement signal is at least the frequency The frequency and / or phase of the second intermediate frequency signal, modulation signal, or baseband signal corresponding to the second measurement signal with different values is detected, and the signal transmission means and the signal reception means are detected from the detection result. Distance measuring device characterized by measuring distance of

[2] The distance according to claim 1, wherein the measurement signal is a carrier signal or a subcarrier signal! / Is a spread spectrum code, a modulation signal, a baseband signal, or a combination thereof. measuring device

[3] The signal processing means has a frequency or phase! / Is a synchronous oscillator whose delay time or a combination thereof can be controlled, a clock signal output from the synchronous oscillator and the intermediate frequency signal or modulation signal Alternatively, the frequency of the intermediate frequency signal, the modulation signal, or the baseband signal is based on the synchronization establishment / holding means for establishing synchronization with the baseband signal and maintaining the synchronization, and the clock signal output from the synchronous oscillator. And / or have a phase / frequency detector to detect the phase,

The first measurement which becomes a reference by controlling the synchronous oscillator by the synchronization establishment / holding means The first intermediate frequency signal, modulation signal, or baseband signal corresponding to the signal is synchronized with the clock signal output from the synchronous oscillator force, and the first intermediate frequency signal, modulation signal, or baseband signal is established. The frequency and / or phase of the intermediate frequency signal, the modulation signal, or the baseband signal is detected in a state in which synchronization with the clock signal is maintained. Distance measuring device

[4] The frequency or phase of the local signal oscillator of the signal receiving means or the delay time or a combination thereof can be controlled,

A clock oscillator in which the local signal oscillator is controlled by the synchronization establishment / holding means and the reference first intermediate frequency signal, modulation signal, baseband signal, frequency, phase, delay time, or a combination thereof is fixed The second intermediate frequency signal or modulation is established in synchronization with the clock signal output from the first intermediate frequency signal, modulation signal or baseband signal and the clock signal. 2. The frequency and / or phase of a signal or baseband signal is detected, and the distance between the signal transmitting means and the signal receiving means is measured from the detection result. A distance measuring device that falls under any of the paragraphs 3

[5] In the signal receiving means, the reproduced plurality of measurement signals are mixed with a fixed or semi-fixed local oscillation signal to obtain a plurality of intermediate frequency signals, modulation signals, or baseband signals having different frequencies. Converted,

The frequency or phase of the synchronous oscillator of the signal processing means is! /, There is a delay time! /, A combination of these can be controlled,

The synchronization establishment / holding means controls the synchronization oscillator to establish synchronization between the reference first intermediate frequency signal, modulation signal, or baseband signal and the clock signal output from the synchronization oscillator, While the synchronization between the intermediate frequency signal of 1 and the modulation signal or baseband signal and the clock signal is maintained, the frequency and / or certain phase of the first intermediate frequency signal or modulation signal or baseband signal is detected. Subsequently, the clock signal is multiplied or divided to obtain the frequency. The second intermediate frequency signal, the modulation signal, or the clock signal corresponding to the baseband signal is converted, and the second intermediate frequency signal, the modulation signal, or the baseband signal frequency and / or 5. A distance corresponding to any one of claims 1 to 4, wherein a phase is detected and a distance between the signal transmitting means and the signal receiving means is measured from the detection result. measuring device

[6] In the signal receiving means, a plurality of first intermediate frequency signals or modulations having at least different frequencies by mixing with the reproduced plurality of measurement signals and a first local signal having a fixed or semi-fixed frequency. Signal or baseband signal,

The frequency, phase or delay time of the second local signal oscillator provided in the signal receiving means or signal processing means is controllable in combination, and a plurality of first intermediate points having different at least frequencies can be controlled. A frequency signal, a modulation signal, or a baseband signal and the second local oscillation signal are mixed and converted to a second intermediate frequency signal, a modulation signal, or a baseband signal that has at least the same frequency, and the signal processing means has a frequency ! / Is a phase! / Is a synchronous oscillator whose delay time or a combination thereof can be controlled, and a clock signal output from the synchronous oscillator and the second intermediate frequency signal, modulation signal or baseband signal. Synchronization establishment / holding means for establishing synchronization and maintaining synchronization and the clock signal output from the synchronous oscillator force And a phase / frequency detector for detecting the frequency and / or phase of the second intermediate frequency signal, modulation signal or baseband signal, and controlling the synchronous oscillator by the synchronization establishing / holding means. Establishing synchronization between the first second intermediate frequency signal or modulation signal or baseband signal corresponding to the reference first measurement signal and the clock signal output from the synchronous oscillator power, and the first second signal Detecting the frequency and / or phase of the second intermediate frequency signal, modulation signal, or baseband signal while maintaining synchronization of the intermediate frequency signal, modulation signal, baseband signal, and clock signal A distance measuring device corresponding to any one of claims 1 to 4.

[7] In the signal receiving means, the reproduced plurality of measurement signals have a chiplator or a phase! /, A spread code oscillation whose delay time or a combination thereof can be controlled The power is also mixed or modulated with the output spreading code to convert it into an intermediate frequency signal, modulation signal or baseband signal with a common frequency,

The spread code oscillator is controlled by the synchronization establishment / holding means to establish synchronization between the reference first spread code and the spread code output from the spread code oscillator, and the reproduced second code In the state where the synchronization with the spreading code of 1 is maintained, the frequency and / or certain phase of the reproduced first spreading code is detected, and then the first spreading code is detected in the spreading code oscillator. Oscillates at least a second spreading code different in chip rate and detects the frequency and / or phase of the reproduced second spreading code, and from the detection result, the signal transmitting means and the signal receiving means The distance measuring device according to claim 1 or 2, wherein a distance between the two is measured.

[8] The ultrasonic signal, the high-frequency signal, or the optical signal transmitted from the signal transmitting means is switched or hopped a plurality of times between a plurality of measurement signals that are synchronized or orthogonal and have at least different frequencies,

In the receiving means, the frequency difference and / or phase difference when switched or hopped a plurality of times, and / or there is /! Is the frequency difference between the first measurement signal and the second measurement signal and / or Alternatively, when the synchronization establishment / holding means is provided by calculating the phase difference and / or the frequency difference and / or phase difference between a plurality of measurement signals, the synchronization establishment error is calculated or the synchronization establishment / holding means is provided. If the frequency difference and the phase shift caused by the frequency difference between the reference oscillator of the transmitting means and the reference oscillator of the receiving means are calculated, the frequency difference between the plurality of measurement signals and A distance measuring device corresponding to any one of claims 1 to 7, wherein a phase difference calculation error is corrected.

[9] A plurality of measurement signals generated in the signal transmission means that are synchronized or orthogonal and at least different in frequency are composed of a change part and a fixed part, and are generated in the signal reception means in synchronization or orthogonal and at least A plurality of local signals having different frequencies are composed of a change part and a fixed part, and at least a change part of the measurement signal generated by the signal transmission means and a change part of the local signal generated by the signal reception means. Are the same, similar or similar, from claim 1 A distance measuring device that falls under any of items 7

[10] A plurality of antennas or transducers connected to the signal transmitting means and / or the receiving means corresponding to the generation of a plurality of measurement signals synchronized or orthogonal and different in frequency at least in the signal transmitting means. The distance measuring device according to any one of claims 1 to 7, characterized in that the distance and direction between the signal transmitting means and the signal receiving means are measured and switched.

[11] In order to generate a plurality of measurement signals that are orthogonal to each other and at least different in frequency from the signal transmitting means and / or the signal receiving means, the signal receiving means is synchronized with the signal receiving means. Multiple measurement signals are generated using phase, delay time, timing, or a combination of these as control starting points, or multiple spreading codes are generated by setting control starting points! / Is hopping between multiple frequencies ! /, Is a chirp modulation or frequency shift keying between multiple frequencies, or an amplitude modulation by an arbitrary modulation signal or baseband signal with a control starting point, or a double-sideband modulation The distance measuring device according to any one of claims 1 to 7, wherein single-sideband modulation is performed.

[12] When the plurality of measurement signals that are synchronized or orthogonal and have at least different frequencies are generated repeatedly, the intervals between the control start points corresponding to the plurality of measurement signals are the same or an integral multiple. 12. The distance corresponding to any one of claims 1 to 11, wherein the number of cycles of the plurality of measurement signals generated at the interval between the control starting points is an integer multiple or the same. measuring device

[13] The control starting point is a zero cross point or a specific point of a plurality of measurement signals having at least different frequencies, and the subsequent measurement signal is started or generated in synchronization with the zero cross point or the specific point of the immediately preceding measurement signal. 13. The distance measuring device according to claim 12, wherein the change from the immediately preceding measurement signal to the subsequent measurement signal is continuous and continuously performed.

[14] When spread by a plurality of measurement signal power spread spectrum codes synchronized or orthogonal to a reference oscillator transmitted from the signal transmission means, the plurality of the plurality of measurement signal power spread spectrum codes are despread or multiplied, 14. The measurement signal is reproduced as claimed in claims 1 to 13. Distance measuring device corresponding to any of

[15] The signal transmission means transmits an ultrasonic signal, a high-frequency signal, or an optical signal modulated by a plurality of modulation signals or baseband signals that are synchronized or orthogonal and have at least different frequencies,

The ultrasonic signal is! / Is received by the receiving means, receives a high-frequency signal or an optical signal, demodulates the plurality of modulation signals or baseband signals, and demodulates the plurality of demodulated modulation signals or base signals. 5. The method according to claim 1, wherein the band signal is converted to an intermediate frequency signal having a common frequency by mixing with a plurality of local signals synchronized or orthogonal and having at least different frequencies. Distance measuring device applicable to

[16] The local signal oscillator or the synchronous oscillator or both of them have a specific frequency or phase at the control start point! /, And start oscillating from a delay time or a combination thereof. Or it is set to a specific frequency or phase point or delay time or a combination of these! / Is reset or switched, or a certain signal frequency or phase is a delay time! /! Is a combination of these The distance measuring device according to any one of claims 1 to 15, wherein the distance measuring device is synchronized.

[17] The digital signal comparator or digital delay lock loop for detecting the phase difference between the plurality of measurement signals as a digital signal by the local oscillator, the synchronous oscillator, the spread code oscillator, or a combination thereof, A digital oscillator having a frequency or phase or delay time controlled by a digital signal and a digital oscillator controlled oscillator capable of controlling a combination thereof, establishes synchronization between a plurality of signals input to the phase comparator or the delay lock loop, The distance measuring device according to any one of claims 1 to 16, wherein the synchronization can be maintained.

[18] The distance measurement according to claim 17, wherein a register for setting an oscillation frequency and / or an oscillation phase of a numerically controlled oscillator is set or reset at the control start point! Equipment

[19] In the phase / frequency detector, in order to detect the frequency and / or phase of the intermediate frequency signal, the modulation signal, or the baseband signal, the intermediate frequency signal, the modulation signal, or the baseband signal is converted into an analog digital signal. converter Is converted into a digital signal, and 0, 1, 0, 1 is used as the unit for the Sin lookup table, and 1, 0, 1, 0 is used as the unit for the Cosin lookup table. The distance measuring device according to any one of claims 1 to 18, wherein

[20] In the phase / frequency detector, in order to detect the frequency and / or phase of the intermediate frequency signal, modulation signal, or baseband signal, the intermediate frequency signal, modulation signal, or baseband signal is directly converted. 1 / Q signal is output or an I / Q signal is output by taking a zero beat, and the I / Q signal is converted to a digital signal by an analog 'digital converter'. To a distance measuring device falling under any one of items 19

[21] In the signal processing means, a window frame function over a plurality of cycles of the intermediate frequency signal, modulation signal, or baseband signal is provided, and / or a clock corresponding to the intermediate frequency signal, modulation signal, or baseband signal A clock signal output from the signal oscillator is branched, divided, or multiplied to generate a plurality of reference clock signals, and the frequency of the intermediate frequency signal, modulation signal, or baseband signal and / or 21. The distance measuring device according to any one of claims 1 to 20, wherein the phase is calculated in real time.

[22] The signal processing means includes statistical processing means for statistically processing a result of performing the distance measurement between the signal transmitting means and the signal receiving means a plurality of times, and using the statistical processing means The ultrasonic signal transmitted from the transmitting means is! /, The distribution status of a high-frequency signal or optical signal propagation path, the height pattern or multipath generation status is estimated, and the accuracy of the distance measurement is estimated from the estimation result. The distance measuring device according to any one of claims 1 to 21, wherein

[23] In the statistical processing means, the distance measurement from a specific transmission means is continuously performed a plurality of times, or there are a plurality of antennas! /, The distance measurement is performed by switching the transducer, and the measurement result 23. The distance measuring device according to claim 22, wherein the distribution status of the propagation path or the occurrence status of multipaths is estimated by comparing the distribution of the distance and the distribution of the modeled distance measurement.

[24] In the statistical processing means, distance measurement from a specific transmission means is continuously performed a plurality of times, and / or distance measurement is performed for each individual antenna of the specific transmission means and / or reception means. The distance measuring device according to any one of claims 21 to 23, wherein a result obtained by measuring a relatively short distance is weighted and averaged or a moving average is obtained.

[25] The ultrasonic signal, the high-frequency signal, or the optical signal transmitted from the signal transmission unit includes a synchronization signal and / or an identification signal that can identify the signal transmission unit and / or information on the signal transmission unit. A distance measuring device corresponding to any one of claims 1 to 21

[26] The distance corresponding to any one of claims 1 to 21, wherein the plurality of measurement signals transmitted from the signal transmission means are multiplexed and / or transmitted in a time division manner. measuring device

[27] The signal transmission means and the signal reception means are installed at different heights, the difference in height is known, and the signal is obtained from the measurement result of the distance between the signal transmission means and the signal reception means. The distance measuring device according to any one of claims 1 to 21, wherein a distance in a horizontal direction between the signal transmitting means and the signal receiving means is obtained.

[28] The signal receiving means includes switching means for switching between a plurality of antennas or a plurality of transducers and the plurality of antennas or a plurality of transducers, and the signal receiving means and / or the signal transmitting means. And / or a distance between the signal receiving means and / or the signal transmitting means and / or a distance between the signal receiving means and the signal transmitting means. A distance measuring device that falls under any one of items 1 to 21

[29] Any one of [1] to [28], wherein the signal transmitting means is a base station of a portable radio system, and the signal receiving means is a portable terminal of a portable radio system. Distance measuring device applicable to

30. Any one of claims 1 to 29, wherein the signal receiving means is a base station of a portable radio system, and the signal transmission means is a portable terminal of a portable radio system. Distance measuring device applicable to

[31] The signal receiving means is fixedly installed on the reference point or transit side of the survey system, the signal transmitting means is installed on the survey point or pole side, and the distance to the survey point or pole side and the relevant The distance measuring device according to any one of claims 1 to 30, characterized in that the direction and / or height of the survey point or pole side is measured.

[32] The signal receiving means are discretely installed at intervals, and the signal transmitting means is mounted on a mobile body, or the mobile body is carried or fixed at an observation point, and the position of the signal transmitting means is A distance measuring device corresponding to any one of claims 1 to 30, wherein a change in position is determined.

[33] The signal transmitting means are discretely installed at intervals, and the signal receiving means is attached to the mobile body, or the mobile body is carried or fixed to the observation point, and the position of the signal receiving means or The distance measuring device according to any one of claims 1 to 30, wherein a change in position is determined.

[34] The distance measurement according to any one of claims 1 to 30, wherein the signal transmitting means and the receiving means are attached to or carried by the same or different moving body. Equipment

[35] The signal transmission means includes a signal reception means, and receives a transmission request transmitted from a signal transmission means other than its own station, whereby a plurality of carrier signals that are synchronized or orthogonal and have at least different frequencies are provided. 35. The distance measuring device according to any one of claims 1 to 34, which transmits an ultrasonic signal including a subcarrier signal, a high frequency signal, or an optical signal.

[36] A plurality of signals received by the signal receiving means by stepwise switching a change in frequency or a change in chip rate between a plurality of signals transmitted from the signal transmitting means from a small change to a large change. The distance measuring device according to any one of claims 1 to 35, wherein the distance is measured by gradually switching from a long range force to a short range.