CN105277935A - Distance measuring device, measuring method thereof and actual distance measuring method - Google Patents

Abstract

The invention discloses a distance measuring device, a measuring method thereof and an actual distance measuring method. The device comprises an interrogator and a responder. The interrogator and the responder individually comprises a T/R assembly, a modulation-demodulation module, a baseband signal acquisition module, a baseband signal generation module, a controller and a memory connected with the controller. The modulation-demodulation module is connected with the T/R assembly. The baseband signal acquisition module and the baseband signal generation module are respectively connected between the modulation-demodulation module and the controller. The responder further comprises an envelope detector. An input end of the envelope detector is connected with the modulation-demodulation module, and an output end is connected with the controller. The controller of the responder is provided with a delay time preset module. In the distance measuring process, a clock synchronization problem of the interrogator and the responder is avoided, and the precision of distance measurement is high; in addition, the time delay length for signal forwarding of the responder can be flexibly controlled, different responders are distinguished by different time delays, and the high dynamic performance is easily maintained under the condition of a larger number of responders.

Description

A kind of distance-measuring device and measuring method thereof and actual range measuring method

Technical field

The present invention relates to distance measurement technique, particularly based on the distance-measuring device of active response and measuring method thereof and actual range measuring method.

Background technology

Distance measurement technique is a basic measurement technology, is widely used in mankind's daily life, and its measuring accuracy is very important index, particularly in Geological Hazards Monitoring fields such as slope failure, landslide, rubble flow, often requires that range measurement accuracy is high.Although the Optical Range Instrumentation such as total powerstation, spirit-leveling instrument distance accuracy is very high, but large-scale application is not among Geological Hazards Monitoring, reason is because these optical instruments cannot normally use in bad weather circumstances on the one hand, these instrument cost are higher on the other hand, and can not realize Automated condtrol measurement.Not yet there is at present ripe geological disaster monitoring system, mainly measuring accuracy be high because prior art all can not be taken into account simultaneously, operating distance far away, three large key elements of the Geological Hazards Monitoring equipment such as normal operation under terrible weather environment.

US Patent No. 7, 504, 992B2 discloses a kind of micro-displacement measuring device for landslide monitoring and method, measurement mechanism is divided into inquisitor and answering machine, their structure is identical, but be operated in different mode of operations, wherein first inquisitor launches one section of continuous wave signal to answering machine, answering machine utilizes amplifier and radio-frequency delay line to feed back to inquisitor by after the signal lag received, and the relative distance that inquisitor is obtained between the two by the radiofrequency signal phase place change of measuring and compare answering machine forwarding changes, in the method, answering machine does not comprise clock source, therefore the clock synchronization issue in active response range measurement system has been avoided, but realize Forwarding Latency owing to adopting radio-frequency delay line, realize the volume that large delay will increase answering machine, and the size of time delay is fixing, can not arrange flexibly.

US Patent No. 8, 644, distance-finding method and device between two nodes that 768B2 discloses a kind of radio net, in that patent, distance measuring equipment is made up of inquisitor and answering machine, in inquisitor and answering machine, there is independently reference clock generator and phaselocked loop respectively, the radiofrequency signal that both sides' phaselocked loop produces in one-shot measurement has fixing difference on the frequency, first inquisitor sends radiofrequency signal to answering machine, answering machine Received signal strength also obtains the fixing difference frequency signal of frequency with the signal mixing that local phaselocked loop exports, answering machine measures the phase place of difference frequency signal according to local reference clock, then role is exchanged, answering machine emitting radio frequency signal, the phase place of the difference frequency signal after Received signal strength down conversion process measured by inquisitor, both sides respectively record a phase value changes respective local phaselocked loop later simultaneously output frequency by fixed frequency step value, the process of pre-test two phase values of repetition obtains two phase values again, stepping emission signal frequency value like this, record one group of phase value to resolve the distance between inquisitor and answering machine.Distance-finding method disclosed in this patent needs back and forth to launch repeatedly distance measuring signal, and therefore the time of the method range finding needs is longer, and the dynamic property of measurement is very poor.

US Patent No. 8,094,061B2 discloses the method for a kind of microwave phase range finding, main equipment adopts orthogonal modulation produce with the radiofrequency signal of local source fixed skew and launch, after quadrature demodulation, the phase differential of Received signal strength and local source is measured from equipment received RF signal, then role is exchanged, produce from equipment and launch to main equipment with the radiofrequency signal of local source fixed skew, main equipment received RF signal measure a phase differential again, utilizes four phase values and radio frequency signal frequency to calculate distance between two equipment.This method master and slave two the devices exchange phase differential of needs and frequency data resolve distance between the two, therefore need extra communication channel.

In above-mentioned existing binode active response formula ranging technology, the transmitting-receiving stationary problem of two equipment rooms have employed fixed delay line or two equipment rooms and replaces that transmit-receive technology solves, and also exists that equipment volume is large or ranging time long, the problem of bad dynamic performance.

Summary of the invention

Object of the present invention is just the shortcoming and defect overcoming above-mentioned prior art, provides a kind of distance-measuring device, utilizes this device high-acruracy survey can go out actual range between answering machine and inquisitor.Present invention also offers the distance measurement method and actual range measuring method that utilize this device.

The present invention's adopted technical scheme that solves the problem is:

A kind of distance-measuring device, comprise inquisitor and answering machine, described inquisitor comprises: T/R assembly A, modulation /demodulation modules A, baseband signal acquisition module A, baseband signal generation module A, controller A and the storer A be connected with controller A;

T/R assembly A is used for receiving and sending radiofrequency signal; Modulation /demodulation modules A is used for received RF signal from T/R assembly A and is demodulated to I, Q two-way analog baseband signal and sends to baseband signal acquisition module A, and from baseband signal generation module A, receives I, Q two-way analog baseband signal and be modulated into radiofrequency signal and send to T/R assembly A; I, Q two-way analog baseband signal that baseband signal acquisition module A is used for modulation /demodulation modules A exports is converted into I, Q two-way digital baseband signal and sends to controller A; I, Q two-way digital baseband signal that baseband signal generation module A is used for controller A sends converts I, Q two-way analog baseband signal to and sends to modulation /demodulation modules A; Controller A is used for I, Q two-way digital baseband signal stored in storer A to send to baseband signal generation module A, receive I, Q two-way digital baseband signal from baseband signal acquisition module A, and calculate the distance of answering machine and inquisitor according to the digital baseband signal received and the digital baseband signal read from storer A;

Described answering machine comprises: T/R assembly B, modulation /demodulation module B, baseband signal acquisition module B, baseband signal generation module B, envelope detector, controller B and the storer B be connected with controller B; Described controller B has delay time presetting module, and delay time presetting module is for arranging the signal forward delay interval time of answering machine;

T/R assembly B is used for receiving and sending radiofrequency signal; Modulation /demodulation module B is used for received RF signal from T/R assembly B and is demodulated to I, Q two-way analog baseband signal and sends to baseband signal acquisition module B, and from baseband signal generation module B, receives I, Q two-way analog baseband signal and be modulated into radiofrequency signal and send to T/R assembly B; I, Q two-way analog baseband signal that baseband signal acquisition module B is used for modulation /demodulation module B exports is converted into I, Q two-way digital baseband signal and sends to controller B; I, Q two-way digital baseband signal that baseband signal generation module B is used for controller B sends converts I, Q two-way analog baseband signal to and sends to modulation /demodulation module B; Controller B is used for receiving I, Q two-way digital baseband signal from baseband signal acquisition module B and is stored into storer B, and I, Q two-way digital baseband signal read in storer B sends to baseband signal generation module B after arrival delay time; The input end of described envelope detector connects modulation /demodulation module B, output terminal connection control device B, whether arrive for detecting inquisitor signal, and produce a trigger pip at inquisitor signal temporarily and export controller B to, trigger controller B starts baseband signal acquisition module B and starts to gather analog baseband signal; Collection analog baseband signal described herein just refers to that I, Q two-way analog baseband signal that modulation /demodulation module B exports by baseband signal acquisition module B is converted into I, Q two-way digital baseband signal and sends to controller B, and this process is exactly the process that baseband signal acquisition module B gathers analog baseband signal.In the technical program, distance-measuring device can control the delay time length of the forward signal of answering machine by parameter preset, delay time can be arranged flexibly, different delayed time can also be adopted to distinguish different answering machine, therefore, it is possible to keep high dynamic under a large amount of answering machine situation, high-acruracy survey distance between answering machine and inquisitor can be gone out.

As a further improvement on the present invention, described T/R assembly B is identical with the structure of T/R assembly A, includes antenna, transmit-receive switch, low noise amplifier, power amplifier and 2 bandpass filter; Transmit-receive switch is connected with antenna, for controlling the switching of emitting radio frequency signal and received RF signal, a bandpass filter is connected between the output terminal of transmit-receive switch and the input end of low noise amplifier, and power amplifier is connected between the output terminal of another bandpass filter and the input end of transmit-receive switch.

As another improvement of the present invention, described modulation /demodulation modules A comprises local oscillator FS1,0/90 ° of power splitter G1, quadrature demodulator A and quadrature modulator A; The input end of 0/90 ° of power splitter G1 connects the output terminal of local oscillator FS1;

Quadrature demodulator A comprises frequency mixer H11, Q road, I road frequency mixer H12, I road bandpass filter BPF13, Q road bandpass filter BPF14, amplifier F11, Q road, I road amplifier F12, the signal input part of frequency mixer H11, Q road, I road frequency mixer H12 is all connected with the output terminal of T/R assembly A, the local oscillator input end of I road frequency mixer H11 connects 0 ° of straight-through port of 0/90 ° of power splitter G1, and the local oscillator input end of Q road frequency mixer H12 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G1; The input end of I road bandpass filter BPF13 connects the output terminal of I road frequency mixer H11, the input end of output terminal connection I road amplifier F11; The input end of Q road bandpass filter BPF14 connects the output terminal of Q road frequency mixer H12, the input end of output terminal connection Q road amplifier F12;

Quadrature modulator A comprises frequency mixer H13, Q road, I road frequency mixer H14, totalizer A1, the signal input part of frequency mixer H13, Q road, I road frequency mixer H14 is connected with the output terminal of baseband signal generation module A, the local oscillator input end of I road frequency mixer H13 connects 0 ° of straight-through port of 0/90 ° of power splitter G1, and the local oscillator input end of Q road frequency mixer H14 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G1; The output terminal of frequency mixer H13, Q road, I road frequency mixer H14 respectively connects an input end of totalizer A1, and the output terminal of totalizer A1 directly connects the input end of T/R assembly A;

Described modulation /demodulation module B comprises local oscillator FS2,0/90 ° of power splitter G2, quadrature demodulator B and quadrature modulator B; The input end of 0/90 ° of power splitter G2 connects the output terminal of local oscillator FS2;

Quadrature demodulator B comprises frequency mixer H21, Q road, I road frequency mixer H22, I road bandpass filter BPF23, Q road bandpass filter BPF24, amplifier F21, Q road, I road amplifier F22, the signal input part of frequency mixer H21, Q road, I road frequency mixer H22 is all connected with the output terminal of T/R assembly B, the local oscillator input end of I road frequency mixer H21 connects 0 ° of straight-through port of 0/90 ° of power splitter G2, and the local oscillator input end of Q road frequency mixer H22 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G2; The input end of I road bandpass filter BPF23 connects the output terminal of I road frequency mixer H21, the input end of output terminal connection I road amplifier F21; The input end of Q road bandpass filter BPF24 connects the output terminal of Q road frequency mixer H22, the input end of output terminal connection Q road amplifier F22;

Quadrature modulator B comprises frequency mixer H23, Q road, I road frequency mixer H24, totalizer A2, the signal input part of frequency mixer H23, Q road, I road frequency mixer H24 is all connected with the output terminal of baseband signal generation module B, the local oscillator input end of I road frequency mixer H23 connects 0 ° of straight-through port of 0/90 ° of power splitter G2, and the local oscillator input end of Q road frequency mixer H24 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G2; The output terminal of frequency mixer H23, Q road, I road frequency mixer H24 respectively connects an input end of totalizer A2, and the output terminal of totalizer A2 directly connects the input end of T/R assembly B.

Further, described baseband signal acquisition module A is identical with the change over clock of baseband signal generation module A, and with the local oscillator FS1 homology in modulation /demodulation modules A or directly obtained by local oscillator FS1 frequency division; Baseband signal acquisition module B is identical with the change over clock of baseband signal generation module B, and with the local oscillator FS2 homology in modulation /demodulation module B, or directly to be obtained by local oscillator FS2 frequency division.In the technical program, quadrature demodulation and the same local oscillator of modulation in answering machine, and the digital-to-analog conversion of baseband signal, analog to digital conversion clock and local oscillator are concerned with, the Received signal strength of answering machine is through quadrature demodulation, gather and store, time delay, extract and recover, the forward signal of answering machine is transformed to after this series of processes of orthogonal modulation, this forward signal and Received signal strength only exist phase place to be changed, both phase differential are only relevant with default delay time with propagation delay, and the clock synchronous error between inquisitor and answering machine has nothing to do, and local clock does not affect signal coherency, therefore distance accuracy is high.

Further, described controller A and controller B all has two baseband signal input ports and two baseband signal output ports;

Described baseband signal acquisition module A is identical with baseband signal acquisition module B structure, includes the A/D converter of two-way synchronized sampling; The input end of two A/D converters of baseband signal acquisition module A connects output terminal, the output terminal connection control device A of modulation /demodulation modules A, transfers to controller A after I, Q two-way analog baseband signal that modulation /demodulation modules A exports is separately converted to I, Q two-way digital baseband signal; The input end of two A/D converters of baseband signal acquisition module B connects the output terminal of modulation /demodulation module B, output terminal connection control device B, transfers to controller B after I, Q two-way analog baseband signal that modulation /demodulation module B exports is separately converted to I, Q two-way digital baseband signal;

Described baseband signal generation module A is identical with baseband signal generation module B structure, includes D/A converter and two bandpass filter that two-way synchronously changes; The input end connection control device A of the two-way D/A converter of baseband signal generation module A and be respectively connected on a baseband signal output port, output terminal respectively connects modulation /demodulation modules A by a bandpass filter, convert I, Q two-way digital baseband signal that controller A sends to I, Q two-way analog baseband signal respectively, and be sent in modulation /demodulation modules A; The input end connection control device B of the two-way D/A converter of baseband signal generation module B and be respectively connected on a baseband signal output port, output terminal respectively connects modulation /demodulation module B by a bandpass filter, convert I, Q two-way digital baseband signal that controller B sends to I, Q two-way analog baseband signal respectively, and be sent in modulation /demodulation module B.

A measuring method for distance-measuring device, comprises the following steps:

Step 1. inquisitor is set up with answering machine and is communicated, and inquisitor enters emission state, and answering machine enters accepting state;

Step 2. inquisitor reads I, Q two-way digital baseband signal stored in storer A, I, Q two-way digital baseband signal carries out digital-to-analog conversion by baseband signal generation module A, modulation /demodulation modules A is converted to radiofrequency signal after carrying out orthogonal modulation, and radiofrequency signal is launched through T/R assembly A;

Step 3. answering machine is by T/R assembly B Received signal strength, and I, Q two-way analog baseband signal is become after modulation /demodulation module B quadrature demodulation, envelope detector carries out detection to the analog baseband signal after demodulation, when detecting that inquisitor transmits interim, controller B starts baseband signal acquisition module B and I, Q two-way analog baseband signal is converted into I, Q two-way digital baseband signal, then is stored in storer B by controller B by I, Q two-way digital baseband signal;

When step 4. answering machine reaches delay time N, I, Q two-way digital baseband signal be stored in controller B extraction step 3 in storer B sends to baseband signal generation module B, the change of I, Q two-way digital baseband signal is converted into I, Q two-way analog baseband signal by baseband signal generation module B, I, Q two-way analog baseband signal becomes radiofrequency signal through the orthogonal modulation of modulation /demodulation module B again, launches through T/R assembly B;

The T/R assembly A of step 5. inquisitor receives the radiofrequency signal that answering machine is beamed back, this radiofrequency signal is transformed to I, Q two-way analog baseband signal by the quadrature demodulation of modulation /demodulation modules A, again I, Q two-way analog baseband signal is converted into I, Q two-way digital baseband signal sends to controller A through baseband signal acquisition module A;

The phase differential of I, Q two-way digital baseband signal read in I, Q two-way digital baseband signal obtained in step 6. controller A calculation procedure 5 and step 2, and calculate the distance between inquisitor and answering machine according to phasometer.In the measuring method of the technical program, answering machine communicates and range finding channel altogether with inquisitor, does not need extra communication module, reduces structure complexity and the cost of system.

Further, also comprise predetermined time delay step before step 1: arrange answering machine time delay N value.

Further, in predetermined time delay step, when described answering machine quantity is multiple, the time delay of different answering machines is set as different value.

Actual range measuring method, adopts a kind of distance-measuring device in above-mentioned arbitrary technical scheme to measure actual range, comprises the following steps:

S1, inquisitor are set up with answering machine and are communicated, and inquisitor enters emission state, and answering machine enters accepting state;

S2, inquisitor first time sends distance measuring signal: inquisitor reads the digital baseband signal stored in storer A, and digital baseband signal is carried out digital-to-analog conversion, is modulated into frequency being f _rF1emission of radio frequency signals, after battery has fired, inquisitor is switched to accepting state;

S3, answering machine receive first time distance measuring signal: answering machine is in accepting state, when the distance measuring signal that inquisitor is launched being detected by demodulation after the analog baseband signal that obtains carry out analog to digital conversion and be converted into digital baseband signal, again by it stored in storer B, receive rear answering machine and be switched to emission state;

S4, answering machine first time sends range finding forward signal: answering machine is timing from receiving, after going through duration N, the digital baseband signal stored in storer B is taken out and converts simulating signal to, and launch after modulation, battery has fired answering machine is switched to accepting state, and answering machine local frequency stepping Δ f;

S5, inquisitor first time receives range finding forward signal: inquisitor receives range finding forward signal, and is converted into digital baseband signal after demodulation, receives rear inquisitor and is switched to emission state, and local frequency stepping Δ f;

S6, inquisitor first time calculates phase differential: the phase differential ΔΦ of the digital baseband signal read in the digital baseband signal received in calculation procedure S5 and step S2;

S7, inquisitor second time sends distance measuring signal: inquisitor reads the digital baseband signal stored in storer A again, and digital baseband signal is carried out digital-to-analog conversion, is modulated into radio frequency rate being f _rF2frequency signal launch, wherein, f _rF1with f _rF2meet m and a is positive integer, a=1, and M and M+a is relatively prime, and after battery has fired, inquisitor is switched to accepting state;

S8, answering machine second time receives distance measuring signal: answering machine is in accepting state, when the distance measuring signal that inquisitor is launched being detected by demodulation after the analog baseband signal that obtains carry out analog to digital conversion and be converted into digital baseband signal, again by it stored in storer B, receive rear answering machine and be switched to emission state;

S9, answering machine second time sends range finding forward signal: answering machine is timing from receiving, after going through duration N, taken out by the digital baseband signal stored in storer B and convert simulating signal to, and launch after modulation, battery has fired answering machine is switched to accepting state;

S10, inquisitor second time receives range finding forward signal: the range finding forward signal that inquisitor receives, and is converted into digital baseband signal after demodulation, receives rear inquisitor and is switched to emission state;

S11, inquisitor second time process receive data, calculate the digital baseband signal read in the digital baseband signal and step S7 received in step S10 phase differential ΔΦ ';

S12, inquisitor calculate actual range R';

Actual range R' meets following relation:

$\left\{\begin{array}{c}\mathrm{\Δ}\mathrm{\Φ}+2\mathrm{\π}{n}_1=2\mathrm{\π}{f}_{RF1}(\frac{2R^{\′}}{c}+\frac{N}{f_{s2}})-2\mathrm{\π}\frac{f_2}{f_{s2}}N\\ \mathrm{\Δ}{\mathrm{\Φ}}^{\′}+2\mathrm{\π}{n}_2=2\mathrm{\π}{f}_{RF2}(\frac{2R^{\′}}{c}+\frac{N}{f_{s2}})-2\mathrm{\π}\frac{f_2+\mathrm{\Δ}f}{f_{s2}}N\end{array}\right.;$

Wherein, f ₂for answering machine first time sends local frequency when finding range forward signal, f _s2for the sampling rate of the baseband signal acquisition module of answering machine, c is the light velocity, and N is the delay time of answering machine; n ₁, n ₂be respectively fuzzy number when inquisitor first time transmission distance measuring signal and second time transmission distance measuring signal, as a=1, n ₁and n ₂relation have two kinds, n ₁=n ₂or n ₁=n ₂-1, now can be regarded as

$R^{\′}=-\frac{c}{2\mathrm{\Δ}f}(\frac{\mathrm{\Δ}\mathrm{\Φ}-{\mathrm{\Δ\Φ}}^{\′}}{2\mathrm{\π}}-\frac{\mathrm{\Δ}f}{f_{s2}}N)-\frac{cN}{2f_{s2}}$

Or $R^{\′}=-\frac{c}{2\mathrm{\Δ}f}(\frac{\mathrm{\Δ}\mathrm{\Φ}-{\mathrm{\Δ\Φ}}^{\′}}{2\mathrm{\π}}-\frac{\mathrm{\Δ}f}{f_{s2}}N-1)-\frac{cN}{2f_{s2}};$

To get the value calculated in two formulas be above positive R' value as the actual range of answering machine and inquisitor.

To sum up, the invention has the beneficial effects as follows:

1, the present invention can control the delay time length of the forward signal of answering machine by parameter preset, and delay time can be arranged flexibly, and different delayed time can also be adopted to distinguish different answering machine, therefore, it is possible to keep high dynamic under a large amount of answering machine situation;

2, quadrature demodulation and the same local oscillator of modulation in answering machine of the present invention, and the digital-to-analog conversion of baseband signal, analog to digital conversion clock and local oscillator are concerned with, the Received signal strength of answering machine is through quadrature demodulation, gather and store, time delay, extract and recover, the forward signal of answering machine is transformed to after this series of processes of orthogonal modulation, this forward signal and Received signal strength only exist phase place to be changed, both phase differential are only relevant with default delay time with propagation delay, and the clock synchronous error between inquisitor and answering machine has nothing to do, and local clock does not affect signal coherency, therefore distance accuracy is high,

3, communication of the present invention and range finding channel altogether, does not need extra communication module, reduces structure complexity and the cost of system;

4, actual range measuring method of the present invention high-acruracy survey can go out actual range between answering machine and inquisitor.

Accompanying drawing explanation

Fig. 1 is the structural representation of a specific embodiment of distance-measuring device of the present invention;

Fig. 2 is the structural representation of modulation /demodulation modules A in inquisitor in embodiment 2;

Fig. 3 is the structural representation of modulation /demodulation module B in answering machine in embodiment 2;

Fig. 4 is the structural representation of inquisitor in embodiment 5;

Fig. 5 is the structural representation of answering machine in embodiment 5;

Fig. 6 is the schematic diagram that in embodiment 6, the present invention is applied to landslide monitoring;

Fig. 7 is the embodiment of the present invention 6 work schedule schematic diagram;

Fig. 8 is the embodiment of the present invention 7 work schedule schematic diagram.

Embodiment

Below in conjunction with embodiment and accompanying drawing, to the detailed description further of the present invention's do, but embodiments of the present invention are not limited thereto.

[embodiment 1]

As shown in Figure 1, a kind of distance-measuring device, comprises inquisitor and answering machine,

Described inquisitor comprises: T/R assembly A, modulation /demodulation modules A, baseband signal acquisition module A, baseband signal generation module A, controller A and the storer A be connected with controller A; Controller A has two baseband signal input ports and two baseband signal output ports, a baseband signal input port is for receiving I railway digital baseband signal, another baseband signal input port is for receiving Q railway digital baseband signal, a baseband signal output port is for exporting I railway digital baseband signal, and another baseband signal output port is for exporting Q railway digital baseband signal; Storer A is for storing digital baseband signal, this digital baseband signal comprises I railway digital baseband signal and Q railway digital baseband signal, this digital baseband signal can be produced by inquisitor itself and be stored in storer A, also can for be stored in inquisitor in advance.Described answering machine comprises: T/R assembly B, modulation /demodulation module B, baseband signal acquisition module B, baseband signal generation module B, envelope detector, controller B and the storer B be connected with controller B; Controller B also has two baseband signal input ports and two baseband signal output ports, and the effect of these four interfaces is with controller A; I, Q two-way digital baseband signal that storer B gathers for storing baseband signal acquisition module B.Described controller B has delay time presetting module, and delay time presetting module is for arranging the signal forward delay interval time of answering machine, and control the delay time length of forwarding I, Q two-way digital baseband signal of answering machine, delay time can be arranged flexibly.In addition, when having multiple answering machine, answering machine can also be distinguished by arranging different time delays to different answering machines, therefore, it is possible to keep high dynamic under a large amount of answering machine situation.

The modulation /demodulation modules A of inquisitor is connected with T/R assembly A, and baseband signal acquisition module A, baseband signal generation module A are all connected between modulation /demodulation modules A and controller A; The modulation /demodulation module B of answering machine is connected with T/R assembly B, and baseband signal acquisition module B, baseband signal generation module B are all connected between modulation /demodulation module B and controller B; The input end of envelope detector connects demodulation part output terminal, the output terminal connection control device B of modulation /demodulation module B, and its concrete fit system is as follows:

T/R assembly A is used for receiving and sending radiofrequency signal; Modulation /demodulation modules A is used for from baseband signal generation module A, receiving I, Q two-way analog baseband signal and being modulated into radiofrequency signal and send to T/R assembly A, and is demodulated to I, Q two-way analog baseband signal sends to baseband signal acquisition module A from T/R assembly A received RF signal; The effect of baseband signal acquisition module A is analog to digital conversion, is converted into I, Q two-way digital baseband signal for I, Q two-way analog baseband signal modulation /demodulation modules A exported and sends to controller A; The effect of baseband signal generation module A is digital-to-analog conversion, converts I, Q two-way analog baseband signal to for I, Q two-way digital baseband signal sent by controller A and sends to modulation /demodulation modules A; Controller A is used for I, Q two-way digital baseband signal stored in storer A to send to baseband signal generation module A, receive I, Q two-way digital baseband signal from baseband signal acquisition module A, and calculate the distance of answering machine and inquisitor according to the digital baseband signal received and the digital baseband signal read from storer A;

T/R assembly B is used for receiving and sending radiofrequency signal; Modulation /demodulation module B is used for from baseband signal generation module B, receiving I, Q two-way analog baseband signal and being modulated into radiofrequency signal and send to T/R assembly B, and is demodulated to I, Q two-way analog baseband signal sends to baseband signal acquisition module B from T/R assembly B received RF signal; The effect of baseband signal acquisition module B is analog to digital conversion, is converted into I, Q two-way digital baseband signal for I, Q two-way analog baseband signal exported by modulation /demodulation module B and sends to controller B; The effect of baseband signal generation module B is digital-to-analog conversion, converts I, Q two-way analog baseband signal to for I, Q two-way digital baseband signal sent by controller B and sends to modulation /demodulation module B; Controller B is used for receiving I, Q two-way digital baseband signal from baseband signal acquisition module B and is stored into storer B, and I, Q two-way digital baseband signal in arrival delay time background storage B sends to baseband signal generation module B.

Whether envelope detector arrives for detecting inquisitor signal, and produce a trigger pip at inquisitor signal temporarily and export controller B to, trigger controller B starts baseband signal acquisition module B, make baseband signal acquisition module B start to gather analog baseband signal, it is exactly that I, Q two-way analog baseband signal of being exported by modulation /demodulation module B of aforesaid baseband signal acquisition module B is converted into I, Q two-way digital baseband signal and sends to controller B that baseband signal acquisition module B gathers analog baseband signal.Aforementioned inquisitor signal refers to that inquisitor sends to the signal of answering machine.

In the present embodiment, be different from the structure of answering machine of inquisitor goes back envelope detector in answering machine.Envelope detector can detect that the Received signal strength of answering machine arrives and produces a trigger pip and export controller B to, controller B now starts the baseband signal acquisition module B being in closed condition, and is stored in storer B by the digital baseband signal that baseband signal acquisition module B collects.

Aforementioned I, Q two-way analog baseband signal comprises an I road analog baseband signal and a Q road analog baseband signal, altogether I road and Q road two-way analog baseband signal; I, Q two-way digital baseband signal comprises an I railway digital baseband signal and a Q railway digital baseband signal, altogether I road and Q road two-way digital baseband signal.I, Q two-way analog baseband signal becomes I, Q two-way digital baseband signal through analog-to-digital conversion, and I, Q two-way digital baseband signal transforms through digital-to-analogue and becomes I, Q two-way analog baseband signal.No matter be simulating signal or digital signal form, I signal (base-band in-phase signal) and Q signal (base band quadrature signal) phase 90 °, namely I signal variation phase 90 ° becomes Q signal.

The measuring method of the distance-measuring device in the present embodiment, comprises the following steps:

Step 1. inquisitor is set up with answering machine and is communicated, and inquisitor enters emission state, and answering machine enters receive status;

The controller A of step 2. inquisitor reads the digital baseband signal stored in storer A, this digital baseband signal comprises I railway digital baseband signal and Q railway digital baseband signal, I, Q two-way digital baseband signal carries out digital-to-analog conversion by baseband signal generation module A, modulation /demodulation modules A is converted to radiofrequency signal after carrying out orthogonal modulation, and radiofrequency signal is launched through T/R assembly A;

Step 3. answering machine receives the radiofrequency signal of inquisitor transmission by T/R assembly B, this radiofrequency signal becomes I, Q two-way analog baseband signal after modulation /demodulation module B quadrature demodulation, envelope detector carries out detection to I, Q two-way analog baseband signal after demodulation, when envelope detector detects that inquisitor transmits interim, I, Q two-way analog baseband signal is converted into I, Q two-way digital baseband signal and sends to controller B by controller B startup baseband signal acquisition module B, then is stored in storer B by controller B by I, Q two-way digital baseband signal;

When the controller B of step 4. answering machine reaches delay time N, I, Q two-way digital baseband signal be stored in controller B extraction step 3 in storer B sends to baseband signal generation module B, the change of I, Q two-way digital baseband signal is converted into I, Q two-way analog baseband signal by baseband signal generation module B, I, Q two-way analog baseband signal becomes radiofrequency signal through the orthogonal modulation of modulation /demodulation module B again, launches through T/R assembly B;

The T/R assembly A of step 5. inquisitor receives the radiofrequency signal that answering machine is beamed back, this radiofrequency signal is transformed to I, Q two-way analog baseband signal by the quadrature demodulation of modulation /demodulation modules A, and I, Q two-way analog baseband signal is converted into I, Q two-way digital baseband signal and sends to controller A by baseband signal acquisition module A again;

Read the phase differential of I, Q two-way digital baseband signal read from storer A in I, Q two-way digital baseband signal obtained in step 6. controller A calculation procedure 5 and step 2, and calculate the distance between inquisitor and answering machine according to phasometer.

Wherein, answering machine postpone delay time N can preset, therefore can also comprise predetermined time delay step before step 1, arrange in this step answering machine time delay N value.When described answering machine quantity is multiple, the time delay of different answering machines is set as different value.

[embodiment 2]

On the basis of embodiment 1, in the present embodiment, the structure of modulation demodulation module is further described, the modulation /demodulation modules A of inquisitor is identical with the structure of the modulation /demodulation module B of answering machine: all comprise orthogonal local oscillation, quadrature demodulation part and orthogonal modulation part, wherein demodulation part comprises two-way frequency mixer, bandpass filter and amplifier, and its input exports with the radiofrequency signal of T/R assembly and is connected.Modulating part comprises two-way frequency mixer, bandpass filter and a totalizer equally, and its output is connected with the radiofrequency signal input of T/R assembly.The local oscillator input of the I road frequency mixer of quadrature demodulation part inputs identical with the local oscillator of the I road frequency mixer of orthogonal modulation part, the local oscillator input of the Q road frequency mixer of quadrature demodulation part inputs identical with the local oscillator of the Q road frequency mixer of orthogonal modulation part, they are the two paths of signals that same local oscillator is produced by 0/90 ° of power splitter, wherein being connected with the input end of modulating part with the I road frequency mixer of demodulation part of straight-through port of power splitter, 90 ° of phase shift output ports of power splitter are connected with the input end of modulating part with the Q road frequency mixer of demodulation part.

Particularly, the structure of the modulation /demodulation modules A of inquisitor and the modulation /demodulation module B of answering machine and connected mode as follows:

As shown in Figure 2, described modulation /demodulation modules A comprises local oscillator FS1,0/90 ° of power splitter G1, quadrature demodulator A and quadrature modulator A; The input end of 0/90 ° of power splitter G1 connects the output terminal of local oscillator FS1;

Quadrature demodulator A comprises frequency mixer H11, Q road, I road frequency mixer H12, I road bandpass filter BPF13, Q road bandpass filter BPF14, amplifier F11, Q road, I road amplifier F12, the signal input part of frequency mixer H11, Q road, I road frequency mixer H12 is all connected with the output terminal of T/R assembly A, the local oscillator input end of I road frequency mixer H11 connects 0 ° of straight-through port of 0/90 ° of power splitter G1, and the local oscillator input end of Q road frequency mixer H12 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G1; The input end of I road bandpass filter BPF13 connects the output terminal of I road frequency mixer H11, the input end of output terminal connection I road amplifier F11; The input end of Q road bandpass filter BPF14 connects the output terminal of Q road frequency mixer H12, the input end of output terminal connection Q road amplifier F12; I road frequency mixer H11, I road bandpass filter BPF13, I road amplifier F11 are for demodulating the I road analog baseband signal of inquisitor, and Q road frequency mixer H12, Q road bandpass filter BPF14, Q road amplifier F12 are for demodulating the Q road analog baseband signal of inquisitor.

Quadrature modulator A comprises frequency mixer H13, Q road, I road frequency mixer H14, totalizer A1, the signal input part of frequency mixer H13, Q road, I road frequency mixer H14 respectively connects a baseband signal output port of baseband signal generation module A, the local oscillator input end of I road frequency mixer H13 connects 0 ° of straight-through port of 0/90 ° of power splitter G1, and the local oscillator input end of Q road frequency mixer H14 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G1 respectively; The output terminal of frequency mixer H13, Q road, I road frequency mixer H14 respectively connects an input end of totalizer A1, and the output terminal of totalizer A1 connects the input end of T/R assembly A.

As shown in Figure 3, described modulation /demodulation module B comprises local oscillator FS2,0/90 ° of power splitter G2, quadrature demodulator B and quadrature modulator B; The input end of 0/90 ° of power splitter G2 connects the output terminal of local oscillator FS2;

Quadrature demodulator B comprises frequency mixer H21, Q road, I road frequency mixer H22, I road bandpass filter BPF23, Q road bandpass filter BPF24, amplifier F21, Q road, I road amplifier F22, the signal input part of frequency mixer H21, Q road, I road frequency mixer H22 is all connected with the output terminal of T/R assembly B, the local oscillator input end of I road frequency mixer H21 connects 0 ° of straight-through port of 0/90 ° of power splitter G2, and the local oscillator input end of Q road frequency mixer H22 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G2; The input end of I road bandpass filter BPF23 connects the output terminal of I road frequency mixer H21, the input end of output terminal connection I road amplifier F21; The input end of Q road bandpass filter BPF24 connects the output terminal of Q road frequency mixer H22, the input end of output terminal connection Q road amplifier F22; I road frequency mixer H21, I road bandpass filter BPF23, I road amplifier F21 are for demodulating the I road analog baseband signal of answering machine, and Q road frequency mixer H22, Q road bandpass filter BPF24, Q road amplifier F22 are for demodulating the Q road analog baseband signal of answering machine.

Quadrature modulator B comprises frequency mixer H23, Q road, I road frequency mixer H24, totalizer A2, the signal input part of frequency mixer H23, Q road, I road frequency mixer H24 respectively connects a baseband signal output port of baseband signal generation module B, the local oscillator input end of I road frequency mixer H23 connects 0 ° of straight-through port of 0/90 ° of power splitter G2, and the local oscillator input end of Q road frequency mixer H24 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G2; The output terminal of frequency mixer H23, Q road, I road frequency mixer H24 respectively connects an input end of totalizer A2, and the output terminal of totalizer A2 connects the input end of T/R assembly B.

Above-mentioned 0/90 ° of power splitter refers to the power splitter with 0 degree of output port (also referred to as 0 ° of straight-through port), 90 degree of output ports (also referred to as 90 ° of phase shift output ports).In two input ends of all frequency mixer one as signal input part, this end is called " signal input part "; Another is as local oscillation signal input end, and this end is called " local oscillator input end ".

Described baseband signal acquisition module A is identical with the change over clock of baseband signal generation module A, and with the local oscillator FS1 homology in modulation /demodulation modules A or directly obtained by local oscillator FS1 frequency division; Baseband signal acquisition module B is identical with the change over clock of baseband signal generation module B, and with the local oscillator FS2 homology in modulation /demodulation module B, or directly to be obtained by local oscillator FS2 frequency division.

In the present embodiment, in answering machine, quadrature demodulation and modulating part use same local oscillator, and the digital-to-analog conversion of baseband signal, analog to digital conversion clock and local oscillator are concerned with, the signal that answering machine receives is through quadrature demodulation, gather and store, time delay, extract and recover, forward signal is transformed to after this series of processes of orthogonal modulation, this forward signal and Received signal strength only exist phase place to be changed, both phase differential are only relevant with default delay time with propagation delay, and the clock synchronous error between inquisitor and answering machine has nothing to do, and local clock does not affect signal coherency, therefore distance accuracy is high.

[embodiment 3]

On the basis of embodiment 2, in the present embodiment, the structure of T/R assembly is further described.T/R assembly is the basic module in wireless communication system or radar system, its structure is made up of antenna, transmit-receive switch, bandpass filter, low noise amplifier and power amplifier usually, the effect of T/R assembly is transmitting and receiving radiofrequency signals, and its control signal switching launching and receiving state is provided by controller.In the present embodiment, structure and the connected mode of the T/R assembly A of inquisitor and the T/R assembly B of answering machine are as follows:

As shown in Figure 4, T/R assembly A comprises antenna A, transmit-receive switch A, low noise amplifier LNA1, power amplifier PA1, bandpass filter BPF11, bandpass filter BPF12; Transmit-receive switch A is connected with antenna A, and for controlling the switching of emitting radio frequency signal and received RF signal, therefore it has an input end and an output terminal; The input end of bandpass filter BPF11 connects the output terminal of transmit-receive switch A, the input end of output terminal connection low noise amplifier LNA1, the output terminal of low noise amplifier LNA1 connects frequency mixer H11, Q road, I road frequency mixer H12 simultaneously, exports radiofrequency signal to frequency mixer H11, Q road, I road frequency mixer H12; The input end of bandpass filter BPF12 connects the output terminal of totalizer A1, the radiofrequency signal that access inquisitor is to be sent, and the output terminal of the input end connecting band bandpass filter BPF12 of power amplifier PA1, output terminal connects the input end of transmit-receive switch A.

As shown in Figure 5, T/R assembly B comprises antenna B, transmit-receive switch B, low noise amplifier LNA2, power amplifier PA2, bandpass filter BPF21, bandpass filter BPF22; Transmit-receive switch B is connected with antenna B, and for controlling the switching of emitting radio frequency signal and received RF signal, therefore it has an input end and an output terminal; The input end of bandpass filter BPF21 connects the output terminal of transmit-receive switch B, the input end of output terminal connection low noise amplifier LNA2, the output terminal of low noise amplifier LNA2 connects frequency mixer H21, Q road, I road frequency mixer H22 simultaneously, exports radiofrequency signal export radiofrequency signal to frequency mixer H21, Q road, I road frequency mixer H22; The input end of bandpass filter BPF22 connects the output terminal of totalizer A2, the radiofrequency signal that access answering machine is to be sent, and the output terminal of the input end connecting band bandpass filter BPF22 of power amplifier PA2, output terminal connects the input end of transmit-receive switch B.

[embodiment 4]

On the basis of embodiment 2 or embodiment 3, in the present embodiment, the structure of baseband signal acquisition module, baseband signal generation module is further described: baseband signal acquisition module, the baseband signal generation module structure of inquisitor and answering machine are all identical, baseband signal acquisition module is made up of the A/D converter of two-way synchronized sampling, I, Q two-way analog baseband signal that their modulation /demodulation modules respectively export converts digital baseband signal to, and transfers to controller; D/A converter, wave filter that baseband signal generation module is synchronously changed by two-way are formed, and I, Q two-way digital baseband signal that controller sends is converted to analog baseband signal and is sent to the modulating part in modulation /demodulation module by respectively; Particularly: in the present embodiment the structure of baseband signal acquisition module A, baseband signal acquisition module B, baseband signal generation module A, baseband signal generation module B and connected mode as follows:

Described baseband signal acquisition module A is identical with baseband signal acquisition module B structure, includes the A/D converter of two-way synchronized sampling.

As shown in Figure 4, two A/D converters of baseband signal acquisition module A are respectively ADC11, ADC12, the input end of ADC11 connects the output terminal of I road amplifier F11, the input end of ADC12 connects the output terminal of Q road amplifier F12, and the output terminal of ADC11, ADC12 to be connected on controller A and a baseband signal input port of each connection control device A; ADC11 transfers to controller A after the I road analog baseband signal that I road amplifier F11 exports is converted into I railway digital baseband signal, and ADC12 transfers to controller A after the Q road analog baseband signal that Q road amplifier F12 exports is converted into Q railway digital baseband signal;

As shown in Figure 5, two A/D converter connection control device B of baseband signal acquisition module B, be respectively ADC21, ADC22, the input end of ADC21 connects the output terminal of I road amplifier F21, the input end of ADC22 connects the output terminal of Q road amplifier F22, and the output terminal of ADC121, ADC22 to be connected on controller B and a baseband signal input port of each connection control device B; ADC21 transfers to controller B after the I road analog baseband signal that I road amplifier F21 exports is converted into I railway digital baseband signal, and ADC22 transfers to controller B after the Q road analog baseband signal that Q road amplifier F22 exports is converted into Q railway digital baseband signal;

As shown in Figure 5, described baseband signal generation module B comprises the D/A converter and two bandpass filter that two-way synchronously changes, the two-way D/A converter of baseband signal generation module B is respectively DAC21, DAC21, and two bandpass filter are respectively BPF25 and BPF26; The input end connection control device B of DAC21 and DAC21 and be respectively connected on a baseband signal output port of controller B, the output terminal of DAC21 connects the input end of I road frequency mixer H23 by bandpass filter BPF25, the output terminal of DAC22 connects the input end of Q road frequency mixer H24 by bandpass filter BPF26, by being sent to modulation /demodulation module B after bandpass filter BPF25 filtering after the I railway digital baseband signal that controller B sends by DAC21 converts I road analog baseband signal to, specifically send to the signal input part of frequency mixer H23; By being sent to modulation /demodulation module B after bandpass filter BPF26 filtering after the Q railway digital baseband signal that controller B sends by ADC22 converts Q road analog baseband signal to, specifically send to the signal input part of frequency mixer H24;

As shown in Figure 4, described baseband signal generation module A also comprises the D/A converter and two bandpass filter that two-way synchronously changes, the two-way D/A converter of baseband signal generation module A is respectively DAC11, DAC11, and two bandpass filter are respectively BPF15 and BPF16; The input end connection control device A of DAC11 and DAC11 and be respectively connected on a baseband signal output port, the output terminal of DAC11 connects the input end of I road frequency mixer H13 by bandpass filter BPF15, the output terminal of DAC12 connects the input end of Q road frequency mixer H14 by bandpass filter BPF16, by being sent to modulation /demodulation modules A after bandpass filter BPF15 filtering after the I railway digital baseband signal that controller A sends by DAC11 converts I road analog baseband signal to, specifically send to the signal input part of frequency mixer H13; By being sent to modulation /demodulation modules A after bandpass filter BPF16 filtering after the Q railway digital baseband signal that controller A sends by ADC12 converts Q road analog baseband signal to, specifically send to the signal input part of frequency mixer H14.

The input end of described envelope detector is connected with the output terminal of bandpass filter BPF21, and output terminal is connected with the input input end of controller B, and it can detect that Received signal strength arrives and produces a trigger pip and export controller B to.

Controller is the control core of inquisitor and answering machine, the controller function of inquisitor and answering machine is incomplete same: in the distance measuring mode, I, Q two-way digital baseband signal that controller A mono-aspect in inquisitor will read in storer A sends to baseband signal generation module A, digital signal processing will be carried out on the one hand, with the phase differential of I, Q two-way digital baseband signal with the digital baseband signal read from storer A that obtain the input of modulation /demodulation modules A.After controller B in answering machine receives the trigger pip of envelope detector output, control baseband signal acquisition module B carries out sampling to I, Q two-way analog baseband signal and obtains I, Q two-way digital baseband signal, and is write in storer B; Signal sampling completes and after the delay time N preset, again from storer B by data reading, and send to baseband signal generation module B; In a communication mode, inquisitor is identical with the controller function of answering machine, is all signal of communication generator and signal of communication processor.

[embodiment 5]

In the present embodiment, on the basis of embodiment 1-4, provide the structure of a kind of complete answering machine and inquisitor, Fig. 4 is the complete structure schematic diagram of inquisitor in the present embodiment; Fig. 5 is the complete structure schematic diagram of answering machine in the present embodiment.The agent structure of answering machine and inquisitor is with embodiment 1; The structure of T/R assembly A and T/R assembly B is with embodiment 3; The structure of baseband signal acquisition module A, baseband signal acquisition module B is with embodiment 4; The structure of modulation /demodulation modules A and modulation /demodulation module B is with embodiment 2, and the structure of baseband signal generation module A, baseband signal generation module B is with embodiment 4.

Inquisitor in the present embodiment and answering machine all mainly select 3 chips: master controller adopts STM32F407, and modulator-demodular unit adopts MAX2829, and radio-frequency front-end and T/R assembly adopt SE5516A to form.Wherein STM32F407 family chip selected by master controller, this chip internal is integrated with two ADC, two DAC, most high conversion rate is 2.4MSPS and supports two-way analog to digital conversion and digital-to-analog conversion simultaneously simultaneously, and chip internal is also integrated with the FLASH memory of maximum 1MB.MAX2829 chip selected by modulator-demodular unit, this integrated chip whole circuit of 2.4G and 5G two waveband orthogonal modulation and quadrature demodulator, only needs power amplifier, RF switch, RF bandpass filter and a small amount of passive element to realize radio communication.Radio-frequency front-end selects SE5516A chip, and this chip is two waveband radio frequency front end chip, is integrated with power amplifier, low noise amplifier, these radio frequency components of transmit-receive switch.

In Fig. 5, the receiving path of answering machine is made up of the antenna B be linked in sequence, transmit-receive switch B, bandpass filter BPF21, low noise amplifier LNA2, quadrature demodulator B and baseband signal acquisition module B; The transmitting path of answering machine is made up of the baseband signal generation module B be linked in sequence, quadrature modulator B, bandpass filter BPF22, power amplifier PA2 and transmit-receive switch B.Two baseband signal input interfaces of the controller B of answering machine access I, Q two-way digital baseband signal respectively from baseband signal acquisition module B, two baseband signal output interface exports I, Q two-way digital baseband signal respectively to baseband signal generation module B, I, Q two-way digital baseband signal of its input is connected with the output terminal of the two-way A/D converter of baseband signal acquisition module B, and its I, Q two-way digital baseband signal exported is connected with the input end of the two-way D/A converter of baseband signal generation module B.

In the present embodiment, local oscillator FS2 in answering machine adopts a frequency synthesizer, its responsible global clock management in answering machine, for controller B, the A/D converter of baseband signal acquisition module B, the D/A converter of baseband signal generation module B provide reference clock signal, be that quadrature modulator B and quadrature demodulator B produce local oscillation signal simultaneously, the local oscillation signal that it produces is divided into two-way through 0/90 ° of power splitter G2, and wherein a road directly exports, and another road exports after 90 ° of phase shifters.I road frequency mixer in quadrature demodulator B and the local oscillator input end of I road frequency mixer in quadrature modulator B are connected with the local oscillation signal of the direct output of 0/90 ° of power splitter G2, and the local oscillation signal that local oscillator input end and 90 ° of phase shifts through 0/90 ° of power splitter G2 of the Q frequency mixer in quadrature demodulator B and the Q road frequency mixer in quadrature modulator B export is connected.

Local oscillator FS2 adopts above-mentioned setting, make the change over clock homology or relevant of local oscillation signal and A/D converter, D/A converter, the clock of the Received signal strength of answering machine and forward signal and answering machine this locality is completely irrelevant, the frequency of forward signal has nothing to do with the frequency of answering machine local oscillator and phase place, only there is fixing phase differential, and the delayed phase that fixing default time delay produces, therefore solve answering machine and inquisitor clock synchronization issue.

Form with above-mentioned answering machine the inquisitor that complete distance-measuring device also needs to match, the effect of inquisitor produces and launch distance measuring signal, receives distance measuring signal that answering machine forwards and phase measurement row distance of going forward side by side and resolve.The structure of inquisitor is identical with the structure of answering machine except envelope detector, and difference is the control of controller inside.Controller B in answering machine is detecting that controlling baseband signal acquisition module B after signal arrives starts to gather baseband signal, and the digital signal that baseband signal acquisition module B exports is stored in storer B, when the time delay that time delay is preset, N arrived, the digital baseband signal stored in storer B extracts and exports to baseband signal generation module B by controller B again.First controller A in inquisitor reads out the digital baseband signal stored in advance from storer A, export baseband signal generation module A to, through digital-to-analog conversion, inquisitor emitting radio frequency signal after modulation waits and processes, then inquisitor is switched to accepting state by controller A, and continue to read the local reference signal of the digital baseband signal in storer A as phase measurement, control baseband signal acquisition module A to start to gather baseband signal, last controller A obtains the phase differential between receiving and transmitting signal by the phase place compared between the digital baseband signal of reception and local reference signal, the answering machine delay time that deduction is preset, the distance between interrogator and answering machine can be calculated.

Inquisitor first will communicate before starting to find range with answering machine, to determine that radio frequency signal frequency and time delay length also enter the duty of transmitting and receiving respectively.Realize communication and do not need extra communication module, only need utilize existing structure: in inquisitor, produce corresponding command control word by controller A and in signal generator, generate the signal of communication comprising information through ovennodulation, more after filtering, power amplification and T/R assembly A launch; The signal of communication that receives receives and demodulation by answering machine, can set up communication obtaining corresponding information through controller B process.In the present embodiment, communication and the range finding channel altogether of inquisitor and answering machine, do not need extra communication module, reduce structure complexity and the cost of system.

Lower mask body introduction, based on the distance-finding method of the device in the present embodiment, comprises the following steps:

Step 1. inquisitor communicates with answering machine, and communication process is: inquisitor sends distance measurement request instruction and signal frequency, delay duration parameter, and answering machine receives and replys range finding response instruction; After setting up communication, inquisitor enters emission state, and answering machine enters accepting state;

Step 2. inquisitor reads I, Q two-way digital baseband signal under the control of controller A from storer A, I, Q two-way digital baseband signal converts I, Q two-way analog baseband signal to respectively through BPF15, BPF16 filtering respectively through ADC11, ADC12, input quadrature modulator A is modulated into radiofrequency signal, launched by antenna A after BPF12 bandpass filtering and PA1 power amplification, inquisitor is switched to accepting state by the state that controller A controls transmit-receive switch A again;

The antenna B of step 3. answering machine receives radiofrequency signal, and after bandpass filter BPF21 and low noise amplifier LNA2 process, be divided into two-way to input I road frequency mixer H21 and the Q road frequency mixer H22 of quadrature demodulator B respectively, I, Q two-way analog baseband signal that H21, H22 export is respectively through BPF23, BPF24 bandpass filtering, under the effect of the trigger pip then exported at envelope detector, controller B controls analog to digital converter ADC21 and ADC22 and I, Q two-way analog baseband signal is converted to I, Q two-way digital baseband signal and sends into storer B respectively and store;

After step 4. experience presets delay time N, first answering machine is switched to emission state by controlling transmit-receive switch B by controller B, then step III is stored into the I in storer B, Q two-way digital baseband signal extracts and sends to baseband signal generation module B, I, Q two-way digital baseband signal is respectively through ADC21, ADC22 carries out digital-to-analog conversion, again respectively through BPF25, BPF26 sends into totalizer A2 after inputting the I road frequency mixer H23 of quadrature modulator B and the frequency mixer H24 mixing of Q road after carrying out bandpass filtering treatment, the output signal of quadrature modulator B is being launched through antenna B after BPF22 bandpass filtering and PA2 power amplification, finally, answering machine is switched to accepting state by the state that controller B controls transmit-receive switch B,

The TR assembly A of step 5. inquisitor receives the signal of answering machine forwarding, and by quadrature demodulator A, receiving signal demodulation being become I, Q two-way analog baseband signal, I, Q two-way analog baseband signal sends to controller A after being converted to I, Q two-way digital baseband signal by baseband signal acquisition module A;

The phase differential carrying out digital signal processing I, Q two-way digital baseband signal that reads in I, Q two-way digital baseband signal obtained in the controller A calculation procedure 5 of step 6. inquisitor and step 2, and calculate the distance between inquisitor and answering machine according to the radio frequency signal frequency of this phase differential and correspondence.

In above process, if the orthogonal digital baseband signal of I, Q two-way that in step 2, inquisitor reads from storer A is respectively

x _b1I(n)＝cos(ωn)

；

x _b1Q(n)＝sin(ωn)

Wherein ω is the frequency of I, Q two-way digital baseband signal.I, Q two-way digital baseband signal performs D/A respectively through DAC11, DAC12 and changes that (sampling rate is f _s1) and become I, Q two-way analog baseband signal respectively through after bandpass filter BPF15, BPF16 filtering, the expression formula of I, Q two-way analog baseband signal is respectively

x _b1I(t)＝cos(ωf _s1t)

；

x _b1Q(t)＝sin(ωf _s1t)

Through modulation /demodulation modules A orthogonal modulation, (orthogonal local oscillation frequency is f to I, Q two-way analog baseband signal again ₁, namely the frequency of FS1 is f ₁, first phase is ), obtain the radiofrequency signal that inquisitor is launched, the expression formula of this radiofrequency signal is

Wherein, f _rF=f ₁+ ω f _s1/ 2 π, represent the frequency of the radiofrequency signal that inquisitor is launched, and A is the radiofrequency signal amplitude of launching.

In step 3, the Received signal strength of answering machine is

Wherein τ ₁for signal is from the propagation delay of inquisitor arrival answering machine, B is the radiofrequency signal amplitude that answering machine receives.The radiofrequency signal that answering machine receives is first after bandpass filter BPF21 frequency-selecting, low noise amplifier LNA2 amplify, two-way is divided to carry out quadrature downconvert, frequency is identical in theory for the orthogonal local oscillation of the orthogonal local oscillation wherein needed for quadrature demodulation and inquisitor, but actual conditions are difficult to realize, if answering machine local oscillation signal frequency (being also local frequency) is f ₂, first phase is separate mediation filtering through modulation /demodulation module B, baseband signal acquisition module B carries out A/D conversion, and (ADC21 and ADC22 execution, sampling rate is f _s2) after I, Q two-way digital baseband signal be respectively

Wherein, b is the range value of I, Q two-way digital baseband signal after ADC21 and ADC22 sampling.I, Q two-way digital baseband signal is stored into storer B by controller B.

In step 4, when delay time N arrives, I, Q two-way digital baseband signal in storer B extracts and sends to baseband signal generation module B by controller B again, and I, Q two-way digital baseband signal controlling after time delay N to extract is

I, Q two-way digital baseband signal carries out D/A conversion through baseband signal generation module B, carry out orthogonal modulation respectively through bandpass filter BPF25 and BPF26 filtering, modulation /demodulation module B obtains the radiofrequency signal that answering machine forwards and is

Wherein d is the radiofrequency signal x that answering machine forwards _t2the amplitude of (t).

In step 5, elapsed-time standards τ ₂, τ ₂for signal is from the propagation delay of answering machine arrival inquisitor, inquisitor receives the radiofrequency signal that answering machine is launched, and this radiofrequency signal expression formula is

Wherein, D is the radiofrequency signal amplitude that inquisitor receives;

The radiofrequency signal that inquisitor receives is after bandpass filter BPF11 frequency-selecting, low noise amplifier LNA1 amplify, and a point two-way carries out quadrature downconvert in modulation /demodulation modules A, and obtain I, Q two-way analog baseband signal, its expression formula is

$\begin{array}{c}{x}_{rI}\left(t\right)=\cos \[{\mathrm{\ωf}}_{s1}t-2{\mathrm{\πf}}_{RF}({\mathrm{\τ}}_1+{\mathrm{\τ}}_2+\frac{N}{f_{s2}})+2\mathrm{\π}\frac{f_2}{f_{s2}}N\]\\ x_{rQ}\left(t\right)=\sin \[{\mathrm{\ωf}}_{s1}t-2{\mathrm{\πf}}_{RF}({\mathrm{\τ}}_1+{\mathrm{\τ}}_2+\frac{N}{f_{s2}})+2\mathrm{\π}\frac{f_2}{f_{s2}}N\]\end{array};$

I, Q two-way analog baseband signal is finally converted to I, Q two-way digital baseband signal by the A/D converter of baseband signal acquisition module A, and its expression formula is

$\begin{array}{c}{x}_{rI}\left(n\right)=\cos \[\mathrm{\ω}n-2{\mathrm{\πf}}_{RF}({\mathrm{\τ}}_1+{\mathrm{\τ}}_2+\frac{N}{f_{s2}})+2\mathrm{\π}\frac{f_2}{f_{s2}}N\]\\ x_{rQ}\left(n\right)=\sin \[\mathrm{\ω}n-2{\mathrm{\πf}}_{RF}({\mathrm{\τ}}_1+{\mathrm{\τ}}_2+\frac{N}{f_{s2}})+2\mathrm{\π}\frac{f_2}{f_{s2}}N\]\end{array}.$

In step 6, inquisitor just it can calculate I, Q two-way digital baseband signal read in this I, Q two-way digital baseband signal and step 2 and just can calculate phase differential and calculate the relative distance R of answering machine and inquisitor according to phasometer according to converting I, Q two-way digital baseband signal to by the A/D converter of baseband signal acquisition module A in step 5, and phase differential is

$\mathrm{\Δ}\mathrm{\Φ}=2{\mathrm{\πf}}_{RF}({\mathrm{\τ}}_1+{\mathrm{\τ}}_2+\frac{N}{f_{s2}})-2\mathrm{\π}\frac{f_2}{f_{s2}}N;$

Can find out, phase differential ΔΦ includes the travel-time that electromagnetic wave comes and goes answering machine and inquisitor, supposes that two-way time is identical, i.e. τ ₁=τ ₂, and transmission frequency f _rF, time delay N/f _s2for fixed value, and f ₂, f _s2in answering machine, frequency synthesizer is adopted to realize, f ₂/ f _s2for fixed value, as long as therefore record the phase differential transmitted in the Received signal strength of inquisitor and storer A, the relative distance R between answering machine and inquisitor can be calculated.

$R=\frac{c}{2}(\frac{\mathrm{\Δ}\mathrm{\Φ}}{2{\mathrm{\πf}}_{RF}}+\frac{f_2}{f_{s2}{f}_{RF}}N-\frac{N}{f_{s2}}).$

In the present embodiment, inquisitor is identical with the structure of answering machine, can be multiplexing, only needs change control program, is therefore the preferred embodiments of the invention.

The inquisitor utilizing said structure to form can form with multiple answering machine network of finding range, such as, can realize landslide and detect, below for the embodiment explanation of two embody rule.

[embodiment 6]

As shown in Figure 6, distance-measuring device in the present embodiment is made up of an inquisitor and 3 answering machines, form the landslide monitoring net of, wherein inquisitor is fixed on the more stable place of a geologic structure, and 3 answering machines are separately fixed on landslide disaster and threaten in larger side slope.If radio frequency signal frequency is 2.45GHz, I, Q two-way digital baseband signal frequency is 10kHz, as shown in Figure 7, the distance measurement method of inquisitor and all answering machines is specific as follows for the work schedule of this monitoring network:

Step1, inquisitor communicate with all answering machines, specifically comprise: inquisitor broadcast distance measurement request signal, each answering machine replys the answer signal of this answering machine, inquisitor receives the answer signal of all answering machines, the number of record answering machine and their address, each answering machine numbering 1,2,3 distributed to by inquisitor, and each corresponding delay time, the delay time of 3 answering machines is respectively: Δ T ₁, Δ T ₂, Δ T ₃, answering machine receives rear storage and its correspondence is set to the delay time of baseband signal forwarding; After communication process terminates, inquisitor and all answering machines are in emission state and accepting state respectively;

First Step2, inquisitor controller A launch the distance measuring signal that duration is Tp, are switched to accepting state after battery has fired;

It is the distance measuring signal of Tp that Step3, all answering machines receive duration, and by distance measuring signal demodulation, respective envelope detector export trigger pip effect under convert I, Q two-way digital baseband signal to stored in storer B, be switched to emission state after receiving;

Step4, each answering machine respectively from receiving timing go through respective delay time Δ T _iafter (i=1,2,3) duration, launch after I, Q two-way digital baseband signal stored in storer B being taken out conversion, modulation, go through battery has fired after Tp duration, and be switched to accepting state, this step is equivalent to answering machine time delay and forwards I, Q two-way digital baseband signal;

It is the forward signal of Tp that Step5, inquisitor receive the duration sent of answering machine, demodulation, converts I, Q two-way digital baseband signal to, receives rear beginning and processes the signal received, calculate phase differential ΔΦ _i(i=1,2,3), due to Δ T _ithe difference of (i=1,2,3), three answering machine forwarding times are staggered, and inquisitor can process the forward signal of each answering machine respectively respectively;

The ΔΦ that Step6, inquisitor will obtain ₁, ΔΦ ₂and ΔΦ ₃be converted into relative distance and store;

Step7, repetition Step2 ~ Step6, then obtain one group of phase value ΔΦ ₁', ΔΦ ₂', ΔΦ ₃' be converted into relative distance and store;

Duplicate measurements relative distance can analyze the situation of change of micrometric displacement, and the change of this micrometric displacement is for significant landslide monitoring.

In Fig. 7, Tx represents emission state, and Rx represents accepting state, and τ 11, τ 12, τ 13 represent that signal arrives the propagation delay of answering machine 1, answering machine 2, answering machine 3 from inquisitor respectively.

In the present embodiment, answering machine and inquisitor to the conversion processing between I, Q two-way digital baseband signal and I, Q two-way digital analogue signal and radiofrequency signal with embodiment 5, the process of Step2-Step6 and calculating, with the step 2-step 6 in embodiment 5, repeat no more in the present embodiment.

[embodiment 7]

Answering machine in the present embodiment is identical with the structure of inquisitor and a upper embodiment, only need the change of relative displacement between acquisition 2 when monitoring micrometric displacement change unlike embodiment 6, and the present embodiment can measure actual range, the present embodiment is intended to illustrate that the present invention has high precision distance measurement capability equally.

Record phase differential in theory and just can calculate actual distance, but the in fact periodicity of signal, the phase difference value scope that phase detecting module exports is only within the scope of 2 π, the measured value of phase differential is not the phase differential directly equaling to be caused by propagation delay, but the value deducted on the basis of the latter after the integral multiple of 2 π, therefore in ranging phase method, generally there is fuzzy problem, simply and effectively ambiguity solution method is exactly that the distance measuring signal launching multi-frequency records a phase place respectively, then Combined Treatment.

In the present embodiment, the structure of distance measuring equipment is identical with a upper embodiment, therefore repeat no more, here the sequential control of inquisitor and answering machine and the calculation method of distance is mainly introduced, for an answering machine and an inquisitor, other answering machines are identical with it with the distance measuring method of inquisitor.

Ranging process sequential as shown in Figure 8, a kind of actual range measuring method, concrete steps are as follows:

S1, inquisitor are set up with answering machine and are communicated, and specifically comprise: inquisitor broadcast distance measurement request signal, and answering machine is replied answer signal and entered accepting state, and inquisitor receives answer signal and enters emission state;

S2, inquisitor first time sends distance measuring signal: first the controller A of inquisitor reads the digital baseband signal that duration is Tp from storer A, this digital baseband signal comprises I railway digital baseband signal, Q railway digital baseband signal, and this digital baseband signal is carried out digital-to-analog conversion, is modulated into frequency being f _rF1emission of radio frequency signals, after battery has fired, inquisitor is switched to accepting state;

S3, answering machine receive first time distance measuring signal: after elapsed time τ 1, it is the distance measuring signal of Tp that answering machine receives duration, and by distance measuring signal demodulation, envelope detector export trigger pip effect under be converted into I, Q two-way digital baseband signal stored in storer B, receive rear answering machine and be switched to emission state;

S4, answering machine first time sends range finding forward signal: answering machine is timing from receiving, after going through duration N, the digital baseband signal be stored in step S3 in storer B is taken out and converts simulating signal to, and launch after modulation, go through battery has fired after Tp duration, battery has fired answering machine is switched to accepting state, and answering machine local frequency stepping Δ f;

S5, inquisitor first time receives range finding forward signal: inquisitor receives the range finding forward signal that duration is Tp, and is converted into I, Q two-way digital baseband signal after demodulation, receives rear inquisitor and is switched to emission state, and local frequency stepping Δ f;

S6, inquisitor first time calculates phase differential: the phase differential ΔΦ of the digital baseband signal read in the digital baseband signal received in calculation procedure S5 and step S2;

S7, inquisitor second time sends distance measuring signal: it is the digital baseband signal of Tp that inquisitor reads the duration stored in storer A again, this digital baseband signal comprises I railway digital baseband signal, Q railway digital baseband signal, and digital baseband signal is carried out digital-to-analog conversion, is modulated into frequency being f _rF2emission of radio frequency signals, after battery has fired, inquisitor is switched to accepting state, f _rF2=Δ f+f _rF1; f _rF1with f _rF2choose and meet formula relation m and a is positive integer, a=1, and M and M+a is relatively prime;

S8, answering machine second time receives distance measuring signal: it is the distance measuring signal of Tp that answering machine receives duration, and is converted into I, Q two-way digital baseband signal after demodulation stored in storer B, receives rear answering machine and is switched to emission state;

S9, answering machine second time sends range finding forward signal: answering machine is timing from receiving, after going through duration N, I, Q two-way digital baseband signal be stored in step S8 in storer B is taken out and converts simulating signal to, and launch after modulation, battery has fired answering machine is switched to accepting state;

S10, inquisitor second time receives range finding forward signal: inquisitor receives the range finding forward signal that duration is Tp, and is converted into I, Q two-way digital baseband signal after demodulation, receives rear inquisitor and is switched to emission state;

S11, inquisitor second time process receive data, calculate the digital baseband signal produced in the digital baseband signal and step S7 received in step S10 phase differential ΔΦ ';

S12, inquisitor according to the frequency of twice range finding and ΔΦ and ΔΦ ' COMPREHENSIVE CALCULATING, show that distance calculates actual range R'.

Actual range R' and emission signal frequency f _rF1, f _rF2following relation is met with measured phase value

$\left\{\begin{array}{c}\mathrm{\Δ}\mathrm{\Φ}+2\mathrm{\π}{n}_1=2\mathrm{\π}{f}_{RF1}(\frac{2R^{\′}}{c}+\frac{N}{f_{s2}})-2\mathrm{\π}\frac{f_2}{f_{s2}}N\\ \mathrm{\Δ}{\mathrm{\Φ}}^{\′}+2\mathrm{\π}{n}_2=2\mathrm{\π}{f}_{RF2}(\frac{2R^{\′}}{c}+\frac{N}{f_{s2}})-2\mathrm{\π}\frac{f_2+\mathrm{\Δ}f}{f_{s2}}N\end{array}\right.;$

Wherein, f ₂for answering machine first time sends local frequency when finding range forward signal, f _s2for the sampling rate of the baseband signal acquisition module of answering machine, c is the light velocity, and N is the delay time of answering machine; n ₁(f is used for inquisitor first time sends distance measuring signal _rF1range finding) time fuzzy number, n ₂(f is used for inquisitor second time sends distance measuring signal _rF2range finding) time fuzzy number.As a=1, n ₁and n ₂relation may have two kinds, i.e. n ₁=n ₂or n ₁=n ₂-1, now can be regarded as

$R^{\′}=-\frac{c}{2\mathrm{\Δ}f}(\frac{\mathrm{\Δ}\mathrm{\Φ}-{\mathrm{\Δ\Φ}}^{\′}}{2\mathrm{\π}}-\frac{\mathrm{\Δ}f}{f_{s2}}N)-\frac{cN}{2f_{s2}}$

Or $R^{\′}=-\frac{c}{2\mathrm{\Δ}f}(\frac{\mathrm{\Δ}\mathrm{\Φ}-{\mathrm{\Δ\Φ}}^{\′}}{2\mathrm{\π}}-\frac{\mathrm{\Δ}f}{f_{s2}}N-1)-\frac{cN}{2f_{s2}};$

To get the value calculated in two formulas be above positive R' value as the actual range of answering machine and inquisitor.

In Fig. 8, Tx represents emission state, and Rx represents accepting state.Tm represents that step S2 to step S6 completes the time of the measurements and calculations of a phase differential, and T represents that step S2 to step S11 completes the time of the measurements and calculations of twice phase differential, T=2Tm.

In the present embodiment, answering machine and inquisitor to the conversion processing between I, Q two-way digital baseband signal and I, Q two-way digital analogue signal and radiofrequency signal with embodiment 5 and embodiment 1, such as step S1-S5 middle distance measurement mechanism to the process of signal with step 1-step 5 in embodiment 5, step S7-S10 middle distance measurement mechanism to the process of signal with step 2-step 5 in embodiment 5, in step S6 and step S11, the calculating of phase differential is with the computing method of phase differential in the step 6 of embodiment 5, repeats no more in the present embodiment.

The method that in the present invention, the disclosed embodiments describe or the software module that the step of algorithm can directly use hardware, processor to perform, or the combination of the two is implemented.Software module can be placed in the storage medium of other form any known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.

Previously described is each preferred embodiment of the present invention, preferred implementation in each preferred embodiment is if not obviously contradictory or premised on a certain preferred implementation, each preferred implementation can stack combinations use arbitrarily, design parameter in described embodiment and embodiment is only the invention proof procedure in order to clear statement inventor, and be not used to limit scope of patent protection of the present invention, scope of patent protection of the present invention is still as the criterion with its claims, the equivalent structure change that every utilization instructions of the present invention and accompanying drawing content are done, in like manner all should be included in protection scope of the present invention.

Claims (9)

1. a distance-measuring device, comprises inquisitor and answering machine, it is characterized in that,

Described inquisitor comprises: T/R assembly A, modulation /demodulation modules A, baseband signal acquisition module A, baseband signal generation module A, controller A and the storer A be connected with controller A;

T/R assembly A is used for receiving and sending radiofrequency signal; Modulation /demodulation modules A is used for received RF signal from T/R assembly A and is demodulated to I, Q two-way analog baseband signal and sends to baseband signal acquisition module A, and from baseband signal generation module A, receives I, Q two-way analog baseband signal and be modulated into radiofrequency signal and send to T/R assembly A; I, Q two-way analog baseband signal that baseband signal acquisition module A is used for modulation /demodulation modules A exports is converted into I, Q two-way digital baseband signal and sends to controller A; I, Q two-way digital baseband signal that baseband signal generation module A is used for controller A sends converts I, Q two-way analog baseband signal to and sends to modulation /demodulation modules A; Controller A is used for I, Q two-way digital baseband signal stored in storer A to send to baseband signal generation module A, receive I, Q two-way digital baseband signal from baseband signal acquisition module A, and calculate the distance of answering machine and inquisitor according to the digital baseband signal received and the digital baseband signal read from storer A;

Described answering machine comprises: T/R assembly B, modulation /demodulation module B, baseband signal acquisition module B, baseband signal generation module B, envelope detector, controller B and the storer B be connected with controller B; Described controller B has delay time presetting module, and delay time presetting module is for arranging the signal forward delay interval time of answering machine;

T/R assembly B is used for receiving and sending radiofrequency signal; Modulation /demodulation module B is used for received RF signal from T/R assembly B and is demodulated to I, Q two-way analog baseband signal and sends to baseband signal acquisition module B, and from baseband signal generation module B, receives I, Q two-way analog baseband signal and be modulated into radiofrequency signal and send to T/R assembly B; I, Q two-way analog baseband signal that baseband signal acquisition module B is used for modulation /demodulation module B exports is converted into I, Q two-way digital baseband signal and sends to controller B; I, Q two-way digital baseband signal that baseband signal generation module B is used for controller B sends converts I, Q two-way analog baseband signal to and sends to modulation /demodulation module B; Controller B is used for receiving I, Q two-way digital baseband signal from baseband signal acquisition module B and is stored into storer B, and I, Q two-way digital baseband signal read in storer B sends to baseband signal generation module B after arrival delay time;

The input end of described envelope detector connects modulation /demodulation module B, output terminal connection control device B, whether arrive for detecting inquisitor signal, and produce a trigger pip at inquisitor signal temporarily and export controller B to, trigger controller B starts baseband signal acquisition module B and starts to gather analog baseband signal.

2. a kind of distance-measuring device according to claim 1, is characterized in that, described T/R assembly B is identical with the structure of T/R assembly A, includes antenna, transmit-receive switch, low noise amplifier, power amplifier and 2 bandpass filter; Transmit-receive switch is connected with antenna, for controlling the switching of emitting radio frequency signal and received RF signal, a bandpass filter is connected between the output terminal of transmit-receive switch and the input end of low noise amplifier, and power amplifier is connected between the output terminal of another bandpass filter and the input end of transmit-receive switch.

3. a kind of distance-measuring device according to claim 1, is characterized in that, described modulation /demodulation modules A comprises local oscillator FS1,0/90 ° of power splitter G1, quadrature demodulator A and quadrature modulator A; The input end of 0/90 ° of power splitter G1 connects the output terminal of local oscillator FS1;

Quadrature demodulator A comprises frequency mixer H11, Q road, I road frequency mixer H12, I road bandpass filter BPF13, Q road bandpass filter BPF14, amplifier F11, Q road, I road amplifier F12, the signal input part of frequency mixer H11, Q road, I road frequency mixer H12 is all connected with the output terminal of T/R assembly A, the local oscillator input end of I road frequency mixer H11 connects 0 ° of straight-through port of 0/90 ° of power splitter G1, and the local oscillator input end of Q road frequency mixer H12 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G1; The input end of I road bandpass filter BPF13 connects the output terminal of I road frequency mixer H11, the input end of output terminal connection I road amplifier F11; The input end of Q road bandpass filter BPF14 connects the output terminal of Q road frequency mixer H12, the input end of output terminal connection Q road amplifier F12;

Quadrature modulator A comprises frequency mixer H13, Q road, I road frequency mixer H14, totalizer A1, the signal input part of frequency mixer H13, Q road, I road frequency mixer H14 is connected with the output terminal of baseband signal generation module A, the local oscillator input end of I road frequency mixer H13 connects 0 ° of straight-through port of 0/90 ° of power splitter G1, and the local oscillator input end of Q road frequency mixer H14 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G1; The output terminal of frequency mixer H13, Q road, I road frequency mixer H14 respectively connects an input end of totalizer A1, and the output terminal of totalizer A1 directly connects the input end of T/R assembly A;

Described modulation /demodulation module B comprises local oscillator FS2,0/90 ° of power splitter G2, quadrature demodulator B and quadrature modulator B; The input end of 0/90 ° of power splitter G2 connects the output terminal of local oscillator FS2;

Quadrature demodulator B comprises frequency mixer H21, Q road, I road frequency mixer H22, I road bandpass filter BPF23, Q road bandpass filter BPF24, amplifier F21, Q road, I road amplifier F22, the signal input part of frequency mixer H21, Q road, I road frequency mixer H22 is all connected with the output terminal of T/R assembly B, the local oscillator input end of I road frequency mixer H21 connects 0 ° of straight-through port of 0/90 ° of power splitter G2, and the local oscillator input end of Q road frequency mixer H22 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G2; The input end of I road bandpass filter BPF23 connects the output terminal of I road frequency mixer H21, the input end of output terminal connection I road amplifier F21; The input end of Q road bandpass filter BPF24 connects the output terminal of Q road frequency mixer H22, the input end of output terminal connection Q road amplifier F22;

Quadrature modulator B comprises frequency mixer H23, Q road, I road frequency mixer H24, totalizer A2, the signal input part of frequency mixer H23, Q road, I road frequency mixer H24 is all connected with the output terminal of baseband signal generation module B, the local oscillator input end of I road frequency mixer H23 connects 0 ° of straight-through port of 0/90 ° of power splitter G2, and the local oscillator input end of Q road frequency mixer H24 connects 90 ° of phase shift output ports of 0/90 ° of power splitter G2; The output terminal of frequency mixer H23, Q road, I road frequency mixer H24 respectively connects an input end of totalizer A2, and the output terminal of totalizer A2 directly connects the input end of T/R assembly B.

4. a kind of distance-measuring device according to claim 3, it is characterized in that, described baseband signal acquisition module A is identical with the change over clock of baseband signal generation module A, and with the local oscillator FS1 homology in modulation /demodulation modules A or directly obtained by local oscillator FS1 frequency division; Baseband signal acquisition module B is identical with the change over clock of baseband signal generation module B, and with the local oscillator FS2 homology in modulation /demodulation module B, or directly to be obtained by local oscillator FS2 frequency division.

5. a kind of distance-measuring device according to claim 1, is characterized in that,

Described controller A and controller B all has two baseband signal input ports and two baseband signal output ports;

Described baseband signal acquisition module A is identical with baseband signal acquisition module B structure, includes the A/D converter of two-way synchronized sampling; The input end of two A/D converters of baseband signal acquisition module A connects output terminal, the output terminal connection control device A of modulation /demodulation modules A, transfers to controller A after I, Q two-way analog baseband signal that modulation /demodulation modules A exports is separately converted to I, Q two-way digital baseband signal; The input end of two A/D converters of baseband signal acquisition module B connects the output terminal of modulation /demodulation module B, output terminal connection control device B, transfers to controller B after I, Q two-way analog baseband signal that modulation /demodulation module B exports is separately converted to I, Q two-way digital baseband signal;

Described baseband signal generation module A is identical with baseband signal generation module B structure, includes D/A converter and two bandpass filter that two-way synchronously changes; The input end connection control device A of the two-way D/A converter of baseband signal generation module A and be respectively connected on a baseband signal output port, output terminal respectively connects modulation /demodulation modules A by a bandpass filter, convert I, Q two-way digital baseband signal that controller A sends to I, Q two-way analog baseband signal respectively, and be sent in modulation /demodulation modules A; The input end connection control device B of the two-way D/A converter of baseband signal generation module B and be respectively connected on a baseband signal output port, output terminal respectively connects modulation /demodulation module B by a bandpass filter, convert I, Q two-way digital baseband signal that controller B sends to I, Q two-way analog baseband signal respectively, and be sent in modulation /demodulation module B.

6., according to the measuring method of the arbitrary described a kind of distance-measuring device of claim 1 to 5, it is characterized in that, comprise the following steps:

Step 1. inquisitor is set up with answering machine and is communicated, and inquisitor enters emission state, and answering machine enters accepting state;

Step 2. inquisitor reads I, Q two-way digital baseband signal stored in storer A, I, Q two-way digital baseband signal carries out digital-to-analog conversion by baseband signal generation module A, modulation /demodulation modules A is converted to radiofrequency signal after carrying out orthogonal modulation, and radiofrequency signal is launched through T/R assembly A;

Step 3. answering machine is by T/R assembly B Received signal strength, and I, Q two-way analog baseband signal is become after modulation /demodulation module B quadrature demodulation, envelope detector carries out detection to the analog baseband signal after demodulation, when detecting that inquisitor transmits interim, controller B starts baseband signal acquisition module B and I, Q two-way analog baseband signal is converted into I, Q two-way digital baseband signal, then is stored in storer B by controller B by I, Q two-way digital baseband signal;

When step 4. answering machine reaches delay time N, I, Q two-way digital baseband signal be stored in controller B extraction step 3 in storer B sends to baseband signal generation module B, the change of I, Q two-way digital baseband signal is converted into I, Q two-way analog baseband signal by baseband signal generation module B, I, Q two-way analog baseband signal becomes radiofrequency signal through the orthogonal modulation of modulation /demodulation module B again, launches through T/R assembly B;

The T/R assembly A of step 5. inquisitor receives the radiofrequency signal that answering machine is beamed back, this radiofrequency signal is transformed to I, Q two-way analog baseband signal by the quadrature demodulation of modulation /demodulation modules A, again I, Q two-way analog baseband signal is converted into I, Q two-way digital baseband signal sends to controller A through baseband signal acquisition module A;

The phase differential of I, Q two-way digital baseband signal read in I, Q two-way digital baseband signal obtained in step 6. controller A calculation procedure 5 and step 2, and calculate the distance between inquisitor and answering machine according to phasometer.

7. the measuring method of a kind of distance-measuring device according to claim 6, is characterized in that, also comprises predetermined time delay step before step 1: arrange answering machine time delay N value.

8. the measuring method of a kind of distance-measuring device according to claim 7, is characterized in that, in predetermined time delay step, when described answering machine quantity is multiple, the time delay of different answering machines is set as different value.

9. actual range measuring method, is characterized in that, adopts the arbitrary described a kind of distance-measuring device of claim 1 to 5 to measure actual range, comprises the following steps:

S1, inquisitor are set up with answering machine and are communicated, and inquisitor enters emission state, and answering machine enters accepting state;

S2, inquisitor first time sends distance measuring signal: inquisitor reads the digital baseband signal stored in storer A, and digital baseband signal is carried out digital-to-analog conversion, is modulated into frequency being f _rF1emission of radio frequency signals, after battery has fired, inquisitor is switched to accepting state;

S3, answering machine receive first time distance measuring signal: answering machine is in accepting state, when the distance measuring signal that inquisitor is launched being detected by demodulation after the analog baseband signal that obtains carry out analog to digital conversion and be converted into digital baseband signal, again by it stored in storer B, receive rear answering machine and be switched to emission state;

S4, answering machine first time sends range finding forward signal: answering machine is timing from receiving, after going through duration N, the digital baseband signal stored in storer B is taken out and converts simulating signal to, and launch after modulation, battery has fired answering machine is switched to accepting state, and answering machine local frequency stepping Δ f;

S5, inquisitor first time receives range finding forward signal: inquisitor receives range finding forward signal, and is converted into digital baseband signal after demodulation, receives rear inquisitor and is switched to emission state, and local frequency stepping Δ f;

S6, inquisitor first time calculates phase differential: the phase differential ΔΦ of the digital baseband signal read in the digital baseband signal received in calculation procedure S5 and step S2;

S7, inquisitor second time sends distance measuring signal: inquisitor reads the digital baseband signal stored in storer A again, and digital baseband signal is carried out digital-to-analog conversion, is modulated into frequency being f _rF2emission of radio frequency signals, wherein, f _rF1with f _rF2meet m and a is positive integer, a=1, and M and M+a is relatively prime, and after battery has fired, inquisitor is switched to accepting state;

S8, answering machine second time receives distance measuring signal: answering machine is in accepting state, when the distance measuring signal that inquisitor is launched being detected by demodulation after the analog baseband signal that obtains carry out analog to digital conversion and be converted into digital baseband signal, again by it stored in storer B, receive rear answering machine and be switched to emission state;

S9, answering machine second time sends range finding forward signal: answering machine is timing from receiving, after going through duration N, taken out by the digital baseband signal stored in storer B and convert simulating signal to, and launch after modulation, battery has fired answering machine is switched to accepting state;

S10, inquisitor second time receives range finding forward signal: the range finding forward signal that inquisitor receives, and is converted into digital baseband signal after demodulation, receives rear inquisitor and is switched to emission state;

S11, inquisitor second time process receive data, calculate the digital baseband signal read in the digital baseband signal and step S7 received in step S10 phase differential ΔΦ ';

S12, inquisitor calculate actual range R';

Actual range R' meets following relation:

$\left\{\begin{array}{c}\mathrm{\Δ}\mathrm{\Φ}+2\mathrm{\π}{n}_1=2\mathrm{\π}{f}_{RF1}(\frac{2R^{\′}}{c}+\frac{N}{f_{s2}})-2\mathrm{\π}\frac{f_2}{f_{s2}}N\\ \mathrm{\Δ}{\mathrm{\Φ}}^{\′}+2\mathrm{\π}{n}_2=2\mathrm{\π}{f}_{RF2}(\frac{2R^{\′}}{c}+\frac{N}{f_{s2}})-2\mathrm{\π}\frac{f_2+\mathrm{\Δ}f}{f_{s2}}N\end{array}\right.;$

Wherein, f ₂for answering machine first time sends local frequency when finding range forward signal, f _s2for the sampling rate of the baseband signal acquisition module of answering machine, c is the light velocity, and N is the delay time of answering machine; n ₁, n ₂be respectively fuzzy number when inquisitor first time transmission distance measuring signal and second time transmission distance measuring signal, as a=1, n ₁and n ₂relation have two kinds, n ₁=n ₂or n ₁=n ₂-1, now can be regarded as

$R^{\′}=-\frac{c}{2\mathrm{\Δ}f}(\frac{\mathrm{\Δ}\mathrm{\Φ}-{\mathrm{\Δ\Φ}}^{\′}}{2\mathrm{\π}}-\frac{\mathrm{\Δ}f}{f_{s2}}N)-\frac{cN}{2f_{s2}}$

Or $R^{\′}=-\frac{c}{2\mathrm{\Δ}f}(\frac{\mathrm{\Δ}\mathrm{\Φ}-{\mathrm{\Δ\Φ}}^{\′}}{2\mathrm{\π}}-\frac{\mathrm{\Δ}f}{f_{s2}}N-1)-\frac{cN}{2f_{s2}};$

To get the value calculated in two formulas be above positive R' value as the actual range of answering machine and inquisitor.