CN105988109A - Distance measuring method, distance measuring device, positioning device and positioning method - Google Patents

Abstract

The embodiment of the invention provides a distance measuring method, a distance measuring device, a positioning device and a positioning method. The distance measuring method is suitable for a certain distance measuring device, and the steps of the method are described as follows. First, a parameter set that minimizes the statistical value of the rise time of the received wireless signal is selected from a plurality of parameter sets under a specific constraint condition, wherein each parameter set comprises at least one statistical value of the rise time of the parameter associated with the received wireless signal. Then, the interval time of the received wireless signal is obtained, wherein the received wireless signal is the wireless signal from a certain object. And finally, estimating the distance between the object and the distance measuring device according to the corrected interval time, wherein the interval time is corrected by the statistic value of the rising time to generate the corrected interval time. The distance measuring and positioning method or device provided by the embodiment of the invention further has higher accuracy.

Description

Distance-finding method, range unit, positioner and localization method

Technical field

The present invention relates to a kind of range finding (ranging) method, and particularly one distance-finding method and device, its The rise time (rising time) of the wireless distance finding signal of reception is contemplated because of a statistical value produced by noise (such as, when this noise be additivity additive white Gaussian (Additive White Gaussian Noise, AWGN), time, this statistical value is a standard deviation (standard of time extension (time spread) ), and use a kind of location (location) method and the dress having above-mentioned distance-finding method or device deviation) Put.

Background technology

Distance-finding method and device are mainly by using a wireless distance finding signal to estimate object (object) And the distance between range unit.It is desirable that owing to wireless distance finding signal can be decayed along with the increase of distance (attenuate), therefore, presently commercially available range unit is by the wireless distance finding received by detection mostly The situation of the signal intensity attenuation of signal, estimates the distance between object and range unit.But, It is true that the decay of signal intensity is more reflected on channel response (channel response), make thus The range unit obtaining this type must also be contemplated the impact that channel response is brought.But, for this kind of For range unit merely with the signal intensity attenuation of detection wireless distance finding signal, because it needs extraly Use a channel estimation device (channel estimator) to obtain this channel response, therefore add more one-tenth This.If additionally, passage is in the case of Rapid Variable Design (fast changed) (i.e. the passage of non-static), then Distance between estimation object and range unit out, compared to the reality between object and range unit Distance, there may be bigger drop.

Additionally, due to object can absorb the electromagnetic wave propagating to receiver from transmitter and come (Electro-Magnetic Wave, EMW), therefore the intensity of the signal received can reasonably be reduced. If it addition, object has been intercepted on first Fresnel zone (first Fresnel zone), then receiving Signal level (such as, received signal strength index (Received Signal Strength Indicator, RSSI)) Should also can reasonably be attenuated.For example, object is probably and is prone to the thick and heavy of a large amount of electromagnetic wave absorption Concrete walls (particularly be wet situation when concrete walls), coal seam, water or the object such as similar.

Sum it up, the Distance estimation carried out based on free space transmission model can have bigger mistake Difference, wherein by the excess-attenuation caused by surrounding objects, reflect, spread diffraction and similar physical influence (on State impact and depend on the character of surrounding objects, size, electrically etc.) will relatively improve its error.

Another presently commercially available range unit is to calculate or the received wireless distance finding signal of counting Interval time (trip time), to estimate the distance between object and range unit, wherein said interval Time includes the rise time receiving wireless distance finding signal.Owing to being interval time received wireless Time difference between rise time of distance measuring signal and the rise time of wireless distance finding signal launched, therefore It is also referred to as time delay (delay time) interval time.But, owing to inevitably depositing in passage In noisy interference, hence in so that the rise time of received wireless distance finding signal will be expanded (spread), say, that the rise time of received wireless distance finding signal will relatively be extended (lengthened).Therefore, the distance between the object and the range unit that are estimated may be less than object And the actual range between range unit.

Additionally, some positioner may use above-mentioned range unit, wherein range unit is used for Estimate the distance between object and range unit, positioner then further according to estimated multiple away from From determining the position of this positioner, or, the distance between object and range unit is via survey After device is estimated, positioner then further according to the multiple distances estimated to determine this The position of object.Anyway, it is appreciated that the ranging accuracy of range unit is the highest, then fixed The setting accuracy of position device is the highest.Accordingly, it would be desirable to the range unit of an accurate accuracy of higher range finding.

Summary of the invention

The purpose of the embodiment of the present invention is to provide a kind of distance-finding method be applicable to range unit, its step Suddenly it is described as follows.First, among the multiple parameter group under specific restrictive condition, select to make to receive The minimum parameter group of the statistical value of rise time of wireless signal, each of which parameter group include to A few parameter is associated in the statistical value of the rise time of the wireless signal received.Secondly, reception is obtained The interval time of the wireless signal arrived, the wireless signal wherein received is come from a certain object wireless Signal.Finally, estimate the distance between object and range unit according to the interval time after correction, its In when interval time being corrected the interval after producing correction by the statistical value of rise time Between.

The embodiment of the present invention separately provides a kind of range unit.Described range unit includes entity module (physic module, PHY module), MAC module (Medium Access Control Module, MAC module), controller and range finder module, wherein MAC module connects In entity module, controller is connected to MAC module, and range finder module is connected to medium access control Between molding block and controller.Entity module is in order to receive wireless signal, and range finder module is then in order to perform Above-described distance-finding method.

In addition, the embodiment of the present invention separately provides a kind of use to have the location of above-mentioned distance-finding method or device Method and apparatus.Described localization method and device utilize range unit or method can estimate this location dress Put the multiple distances between multiple object, and and then according to these distances to judge this positioner Position.

Additionally, in an embodiment of the present invention, when noise being contemplated and being additivity additive white Gaussian, The statistical value of this rise time is a standard deviation of this rise time.

In sum, the beneficial effects of the present invention is, compared to traditional range finding and localization method or dress Put, range finding that the embodiment of the present invention is provided and localization method or device and then there is higher degree of accuracy.

It is further understood that inventive feature and technology contents for enabling, refers to below in connection with the present invention Detailed description and accompanying drawing, but these explanations are only used for accompanying drawing the present invention being described, rather than to the present invention Interest field make any restriction.

Accompanying drawing explanation

Figure 1A is the schematic diagram of the range measurement principle that the embodiment of the present invention is provided.

Figure 1B be the wireless distance finding signal launched of the range unit that the embodiment of the present invention is provided and The waveform diagram of the preferable wireless response signal returned after responding via object.

Fig. 2 A is the schematic diagram of the range measurement principle that another embodiment of the present invention is provided.

Fig. 2 B is the waveform of the preferable wireless distance finding signal received that another embodiment of the present invention is provided Schematic diagram.

Fig. 3 is the waveform signal of the true wireless distance finding signal received that the embodiment of the present invention is provided Figure.

Fig. 4 is the functional-block diagram of the range unit that the embodiment of the present invention is provided.

Fig. 5 is the schematic diagram of the positioning principle that the embodiment of the present invention is provided.

Fig. 6 is the functional-block diagram of the positioner that the embodiment of the present invention is provided.

Fig. 7 A is the schematic flow sheet of the distance-finding method that the embodiment of the present invention is provided.

Fig. 7 B is the schematic flow sheet of the distance-finding method that another embodiment of the present invention is provided.

Fig. 7 C is the schematic flow sheet of the distance-finding method that another embodiment of the present invention is provided.

Wherein, description of reference numerals is as follows:

10,20～22: base station

12,13: object

14,24: mobile phone

R, R1～R3: distance

t_R: interval time

t_rise1、t_rise2、t_rise、t_Emitted: the rise time

N (t): noise

A: ideal amplitude

Δt_rise: measurement error, standard deviation

4: range unit

40: range finder module

41,61: controller

42,62: MAC module

43,63: entity module

6: positioner

60: locating module

S701～S704, S711～S715, S721～S723: process step

Detailed description of the invention

Hereinafter, will illustrate that various embodiments of the present invention describe the present invention in detail by accompanying drawing.So And, concept of the present invention may embody in many different forms, and should not be construed as limited by and explained herein The exemplary embodiments stated.Additionally, same reference numbers may be used to represent similar element in the accompanying drawings.

Please join the schematic diagram that Figure 1A, Figure 1A are the range measurement principles that the embodiment of the present invention is provided.Range finding dress Install and be placed at base station 10, and in this range unit, include a circuit, to be used for estimating certain Distance R between one object 12 (such as, car) and this range unit (or base station 10).

In the present embodiment, range unit first launches a wireless distance finding signal to object 12, then, Object 12 is in response to this wireless distance finding signal from range unit, and returns a wireless response signal (wireless acknowledge signal), or, object 12 reflects this wireless distance finding signal, so that One wireless reflected signal (wireless reflection signal) transmits so far range unit from object 12.Total and Yan Zhi, it is by reflection or to respond produced that the present invention is not limiting as the wireless signal of range unit reception. Following example are that the distance-finding method of the present invention is described as an example with this wireless response signal, but this Bright it is not limited thereto system.Therefore, in the art technical staff it is to be appreciated that lower Figure 1A and Tu The wireless response signal being relatively described in 1B embodiment also can change and replaced by wireless reflected signal.

What range unit received comes from the wireless response signal that object 12 is returned, and therefore, passes through Figure 1A understands, and wireless distance finding signal is 2R with total transmission range of wireless response signal, say, that Distance between this object 12 and this range unit (i.e. base station 10) should be R.

It is the range unit institute that the embodiment of the present invention is provided please refer to Figure 1A and Figure 1B, Figure 1B The wireless distance finding signal launched and the ripple of preferable wireless response signal returned after responding via object Shape schematic diagram.The preferable wireless response signal returned after responding via object is received by range unit, its The interval time (also known as time delay) of this preferable wireless response signal received by middle range unit It is defined as t_R(it has been subtracted out internal processing time).Specifically, t interval time_RExpression receives The rise time t of this preferable wireless response signal (signal below Figure 1B)_rise2With the wireless survey launched Rise time t away from signal (signal above Figure 1B)_rise1Between time difference.Interval time t_RCalculating (i.e. starting and stopping event) is to occur at signal level when exceeding a certain threshold value, therefore, and this threshold value Selected between minimum (0%) and the peak (100%) of ideal amplitude A.Such as, in general door Threshold value typically can select intermediate value (50%) place in preferable amplitude A.Therefore, range unit can be estimated Measure t interval time of the preferable wireless response signal received_R, and according to t interval time_REstimate Distance R between object 12 and range unit, such as R=ct_R/ 2, wherein c is the light velocity.

Refer to the schematic diagram that Fig. 2 A, Fig. 2 A is the range measurement principle that another embodiment of the present invention is provided. In the present embodiment, range unit is arranged in mobile phone 14, and includes electricity in this range unit Road, to be used for estimating a certain object 13 (such as, base station) and this range unit (or mobile phone 14) Between distance R.

In the present embodiment, object 13 is directly launched has a wireless distance finding signal to range unit, and Range unit can receive wireless distance finding signal.Therefore, total transmission range of wireless distance finding signal is R, also That is, the distance between object 13 and range unit (i.e. mobile phone 14) is also R.

It is receiving of being provided of another embodiment of the present invention please refer to Fig. 2 A and Fig. 2 B, Fig. 2 B The waveform diagram of preferable wireless distance finding signal.Range unit can receive wireless distance finding signal, and also can Obtain the rise time t of this wireless distance finding signal launched_Emitted, the most equally can be by range unit institute The interval time (also known as time delay) of the preferable wireless distance finding signal received is defined as t_R.Specifically For, interval time t_RIt is expressed as the rise time t of this preferable wireless distance finding signal received_riseWith this The rise time t of the wireless distance finding signal launched_EmittedBetween time difference.Therefore, range unit can To estimate t interval time of this preferable wireless distance finding signal received_R, and according to t interval time_R And then estimate distance R between object 13 and range unit, such as R=ct_R。

The each mode that it should be noted that above-mentioned employing is only to illustrate at this, and it is also not used to limit The present invention.In other words, range unit provided by the present invention or method can be applied to dissimilar it Time-based (time based) measures (estimation) technology, such as, unidirectional (one way), two-way (two ways) Or the two-way time (Round Trip of Flight, RToF) of symmetrical bilateral (symmetrical-double sided) Measure, or signal arrival time difference (Time Difference of Arrival, TDoA) measurement etc..Except this it Outward, range unit provided by the present invention or method also can be applicable to based on signal angle further The measurement technology of (angled based), such as, signal incident angle (Angle of Arrival, AoA) measures Or launch angle (Angle of Departure, AoD) measurement etc..

Then, referring to Fig. 3, Fig. 3 is the true wireless survey received that the embodiment of the present invention is provided Waveform diagram away from signal.Owing to the most inevitably there are the interference of noise n (t) in passage, Therefore the wireless signal that receives (the wireless distance finding signal that such as, receives, wireless response signal or wireless Reflected signal) rising edge will do sth. in advance a Δ t_riseTime has exceeded threshold value the most, and makes to be estimated The degree of accuracy of the distance measured is affected.Assume the ideal that particular threshold is the wireless signal received During intermediate value (50%) place of amplitude A, then the rise time t of the wireless distance finding signal received_riseBy being connect The amplitude of the wireless signal received is more than time during 0.5A.

It should be noted that threshold value is can be designed according to different demands, sum it up, The present invention is not limited thereto system.For example, in the present embodiment, threshold value can be relevant to be connect The maximum mean amplitude of tide avg (A+n (t)) of the wireless signal received and minimum average B configuration amplitude avg (n (t)), and etc. In (avg (A+n (t)) k1+avg (n (t)) k2), wherein variable k1 and k2 is then respectively weight coefficient (weighting factor).For example, it is possible to weight coefficient k1 and k2 is all set as 0.4, sum it up, the present invention is also It is not intended to the producing method of threshold value.

Threshold value can also be an optimal marginal value, by micro-under time domain of received wireless signal Divide and determine this threshold value.Such as, the differential of the wireless signal received has when a certain special time There is maximum, then the received wireless signal amplitude when this special time is defined as this and most preferably faces Dividing value.

Due to the interference effect by noise n (t) so that the rising edge of the wireless signal received will carry An early Δ t_riseTime has exceeded the level of threshold value, therefore rise time t the most_riseMeasurement error also will This Δ t can be equal to_riseTime, (when noise n (t) being contemplated and being AWGN, and standard deviation was rise time t_rise Statistical value).Refer to Fig. 3 again, it follows that the rise time t of the preferable wireless signal received_rise Rise time t with the true wireless signal that there are noise n (t)_riseBetween there is measurement error Δ t_rise。

Still further aspect, the slope of the wireless signal received can pass through below equation Slope (slope)=A/t_riseObtain.In addition, by prior art, technology people in the art Member should summarize, the slope of the wireless signal received can also utilize be related to noise n (t) and Rise time t_riseMeasurement error Δ t_riseMode represent, such as slope=n (t)/Δ t_rise.Therefore, Further can be by this rise time t_riseMeasurement error Δ t_riseEquation is expressed as follows:

$\mathrm{\Δ}{t}_{\mathrm{rise}}=n\left(t\right)/\mathrm{slope}=\frac{n\left(t\right)}{\left(\frac{A}{t_{\mathrm{rise}}}\right)}=\frac{t_{\mathrm{rise}}}{\sqrt{\frac{A^2}{n{\left(t\right)}^2}}}$

, wherein A²/n(t)²The fundamental frequency signal noise power ratio of the wireless signal for receiving (signal-to-noise power ratio)。

If it addition, linear detector (linear detector) law and bigger signal to noise ratio being contemplated (signal-to-noise ratio), so fundamental frequency signal noise power ratio should be the intermediate frequency (intermediate of twice Frequency) signal power to noise power ratio S/N.Therefore, the equation after it simplifies can be expressed as follows:

$\mathrm{\Δ}{t}_{\mathrm{rise}}=\frac{t_{\mathrm{rise}}}{\sqrt{\frac{2S}{N}}}$

。

Then, if the rise time t of the wireless signal received_riseIt is limited to intermediate frequency amplifier (IF During frequency range B amplifier), then this rise time t_rise1/B should be about.If it addition, making S=E_S/t_d And N=N₀During B, then rise time t_riseMeasurement error Δ t_riseEquation can simplify and is expressed as follows:

$\mathrm{\Δ}{t}_{\mathrm{rise}}=\frac{t_{\mathrm{rise}}}{\sqrt{\frac{2S}{N}}}=\sqrt{\frac{t_d{N}_0}{2B{E}_S}}$

, wherein E_SThe signal energy (signal energy) of the wireless signal for receiving, t_dFor receive The persistent period (duration) of wireless signal, and N₀It is then the power spectrum density (power of noise n (t) Spectral density, PSD).

If it addition, identical delay measurements carries out at the falling edge of the wireless signal received, then passing through Merge and averagely measure individually the square root that measurement result will be made to be promoted to 2, therefore rise time t_rise Measurement error Δ t_riseEquation can be expressed as follows:

$\mathrm{\Δ}{t}_{\mathrm{rise}}=\frac{1}{\sqrt{2}}\frac{t_{\mathrm{rise}}}{\sqrt{\frac{2S}{N}}}=\frac{1}{2}\sqrt{\frac{t_d{N}_0}{B{E}_S}}$

。

It should be noted that by foregoing, technical staff is it should be appreciated that go out in the art, on Rise time t_riseMeasurement error Δ t_riseIt is the root-mean-square (Root of difference between measured value and actual value Mean Square, RMS), i.e. standard deviation.If it addition, assuming that the interference of range measurement precision is for receiving Machine noise, then can assume that its biased error is eliminated further.Therefore, according to radar theorem, more Can will go out rise time t_riseStandard deviation, effective frequency range B_eff(effective bandwidth) and believe miscellaneous Compare E_S/N₀Between contextual definition as follows:

$\mathrm{\Δ}{t}_{\mathrm{rise}}=\mathrm{std}\_\mathrm{dev}\left(t_{\mathrm{rise}}\right)=\frac{1}{B_{\mathrm{eff}}\sqrt{2\left(\frac{E_S}{N_0}\right)}}$

。

In addition, effective frequency range B_effCan be expressed as:

${B_{\mathrm{eff}}}^2=\frac{1}{E_S}{\∫}_{-\∞}^{\∞}{\left(2\mathrm{\πf}\right)}^2{\left(\right|S\left(f\right)\left|\right)}^2\mathrm{df}$

, wherein variable f is frequency, and the frequency spectrum that function S (f) is the wireless signal received.It is worth note Meaning, effective frequency range B_effIt is same as root-mean-square frequency range B_rms。

If it addition, the wireless signal received in fundamental frequency for having a Bandlimited Signals frequency spectrum, Such as have constant frequency spectrum size linear frequency modulation (chirp) (i.e. when frequency band in time, | S (f) |=1, and phase Instead, then | S (f) |=0), then effectively frequency range B_effIt is expressed as follows:

${B_{\mathrm{eff}}}^2=\frac{1}{E_S}{\∫}_{-0.5\mathrm{\Δf}}^{0.5\mathrm{\Δf}}{\left(2\mathrm{\πf}\right)}^2{\left(\right|S\left(f\right)\left|\right)}^2\mathrm{df}=\frac{4{\mathrm{\π}}^2}{E_S}{\∫}_{-0.5\mathrm{\Δf}}^{0.5\mathrm{\Δf}}{f}^2\mathrm{df}=\frac{{\mathrm{\π}}^2}{3E_S}\mathrm{\Δ}{f}^3$

。

It is to say, effectively frequency range B_effAlso can be expressed as follows:

$B_{\mathrm{eff}}=\sqrt{\frac{{\mathrm{\π}}^2}{3E_S}\mathrm{\Δ}{f}^3}$

。

If additionally, the wireless signal received is at cycle t_dIt is continuously square waveform, then root-mean-square frequency range B_rms(i.e. B_eff) can be expressed as follows:

$\begin{array}{c}{B_{\mathrm{rms}}}^2=\frac{{\∫}_{-\∞}^{\∞}{\left(2\mathrm{\πf}\right)}^2{\left(\right|S\left(f\right)\left|\right)}^2\mathrm{df}}{{\∫}_{-\∞}^{\∞}{\left(\right|S\left(f\right)\left|\right)}^2\mathrm{df}}=\frac{{\∫}_{-\∞}^{\∞}{\left(2\mathrm{\πf}\right)}^2\frac{\sin {\left(\mathrm{\π}{\mathrm{ft}}_d\right)}^2}{{\left(\mathrm{\πf}\right)}^2}\mathrm{df}}{{\∫}_{-\∞}^{\∞}\frac{\sin {\left(\mathrm{\π}{\mathrm{ft}}_d\right)}^2}{{\left(\mathrm{\πf}\right)}^2}\mathrm{df}}=\\ =\frac{1}{E_S}{\∫}_{-\∞}^{\∞}{\left(2\mathrm{\πf}\right)}^2{\left(\right|S\left(f\right)\left|\right)}^2\mathrm{df}=\frac{4}{E_S}{\∫}_{-\∞}^{\∞}\sin {\left(\mathrm{\π}{\mathrm{ft}}_d\right)}^2\mathrm{df}.\end{array}$

。

When spectral bandwidth is restricted to B, the root-mean-square frequency range B of aforesaid equation_rmsMore can represent again As follows:

${B_{\mathrm{rms}}}^2=\frac{4}{E_S}{\∫}_{-0.5B}^{0.5B}\sin {\left(\mathrm{\π}{\mathrm{ft}}_d\right)}^2\mathrm{df}$

。

After having passed through calculating repeatedly, then root-mean-square frequency range B_rms(i.e. B_eff) can simplify and be expressed as follows:

$B_{\mathrm{rms}}=\sqrt{\frac{1}{{t_d}^2}\frac{\mathrm{\π}{\mathrm{Bt}}_d-\sin \left(\mathrm{\π}{\mathrm{Bt}}_d\right)}{\mathrm{Sinc}\left(\mathrm{\π}{\mathrm{Bt}}_d\right)+\frac{\cos \left(\mathrm{\π}{\mathrm{Bt}}_d\right)-1}{\mathrm{\π}{\mathrm{Bt}}_d}}}$

。

It should be noted that the calculation of above-mentioned standard deviation is mainly applicable to noise is AWGN's Situation.But, for other kinds of noise and interference (especially having well-regulated artificial disturbance), Its statistical value is the most always standard deviation, it is thus possible to measure the mode of its statistical value with another Just can be suitable for.To this, the statistical value that following example were mainly still with the rise time explains for standard deviation, But the present invention is not limited thereto system.

Then, in order to illustrate further the running about distance-finding method, the embodiment of the present invention carries further A kind of embodiment for range unit.Referring to Fig. 4, Fig. 4 is the survey that the embodiment of the present invention is provided Functional-block diagram away from device.But, following range unit is only that the one of which of said method realizes Mode, it is not intended to limiting the invention.Described range unit 4 can include range finder module 40, control Device 41 processed, MAC module 42 and entity module 43.MAC module 42 connects In controller 41 and entity module 43, range finder module 40 is then connected to MAC module 42 And between controller 41.It addition, above-mentioned each element can be to be realized by pure hardware circuit, or It is to be realized by hardware circuit collocation firmware or software, sum it up, the present invention is not limiting as range finding dress Put the specific implementation of 4.

Specifically, entity module 43 is except in order to receive wireless signal (such as, the nothing coming from somewhere Line distance measuring signal, wireless response signal or wireless reflected signal) outside, entity module 43 can also be used to Launch wireless signal (such as, wireless distance finding signal, wireless response signal or wireless reflected signal).Separately Outward, according to teachings above, technical staff is it should be appreciated that arrive in the art, and range finder module 40 would is that The rise time t of received wireless signal is contemplated_riseStandard deviation Δ t_riseEstimate range unit Distance between 4 and object.Additionally, range finder module 40 also can indicate that controller 41 is adjusted further Whole it is associated with rise time t_riseStandard deviation Δ t_riseAt least one parameter.

In the present embodiment, range finder module 40 calculates rise time t_riseStandard deviation Δ t_rise, and root According to rise time t_riseStandard deviation Δ t_riseCorrect t interval time of the wireless signal received_R.Finally, Range finder module 40 so can according to correction after interval time estimate between range unit 4 and object away from From.

Therefore, as already mentioned it is possible to according to effective frequency range B_eff, signal energy E_SAnd noise n (t) Power spectrum density N₀Calculate rise time t_riseStandard deviation Δ t_rise.Or be, according to letter Number ENERGY E_S, the power spectrum density N of noise n (t)₀, the frequency range of intermediate frequency amplifier and the nothing that receives The persistent period of line signal calculates rise time t_riseStandard deviation Δ t_rise.It should be noted that this Invention is not limiting as calculating rise time t_riseStandard deviation Δ t_riseSpecific implementation, this technology lead In territory, technical staff can maybe should be used for according to actual demand being designed.

In another embodiment, range finder module 40 is calculating rise time t_riseStandard deviation Δ t_riseAfterwards, And can determine whether this rise time t_riseStandard deviation Δ t_riseWhether less than a particular value.If up time Between t_riseStandard deviation Δ t_riseDuring less than this particular value, range finder module 40 is what was certain was that this rise time t_riseStandard deviation Δ t_riseHave influence on t interval time of received wireless signal the most lightly_R.Therefore, Range finder module 40 can be according to t interval time of received wireless signal_REstimate range unit 4 And the distance between object.On the contrary, if up time t_riseStandard deviation Δ t_riseNot less than this spy During definite value, range finder module 40 then determines this rise time t_riseStandard deviation Δ t_riseHighly impact and connect T interval time of the wireless signal received_R.Therefore, range finder module 40 can be that instruction controller 41 adjusts pass It is coupled to rise time t_riseStandard deviation Δ t_riseAt least one parameter, and again perform range operation with Obtain in response to the rise time t of parameter after adjusting_riseStandard deviation Δ t_rise.Therefore, described range unit 4 can eliminate rise time t effectively_riseStandard deviation Δ t_rise, to improve the degree of accuracy of range finding.

According to foregoing, effective frequency range B_eff, signal energy E_S, bit ENERGY E_b, bit energy Amount and power spectrum density E_b/N ₀, the type that uses of wireless signal or pulse shape, and threshold value etc. is all Can be to be used to adjust, to reduce rise time t_riseStandard deviation Δ t_rise.For example, relevant letter Number (correlative signal) can be as the wireless signal launched or respond, and wherein coherent signal can be with Time use the complementary signal of multiple " complementary " representation (" complementary " representations) respectively (complementary signaling), such as coherent signal includes rising pulses (up-chirp) or falling pulse (down-chirp)." complementary " representation that it should be noted that above-mentioned coherent signal is can to have not Same weight, such as, rising pulses has different absolute value of amplitude (absolute from falling pulse amplitudes)。

In another embodiment, among the multiple parameter group under a certain specific restrictive condition, range finder module The 40 rise time t that can select to allow received wireless signal_riseStandard deviation Δ t_riseA minimum ginseng Array.When each parameter group includes the rising that at least one parameter is associated with received wireless signal Between t_riseStandard deviation Δ t_rise。

According to foregoing, at this under specific restrictive condition, effective frequency range B_eff, signal energy E_S、 Bit ENERGY E_b, bit energy and power spectrum density E_b/N ₀, wireless signal use type or pulse wave Shape, and threshold value etc. can be to be used to adjust, to reduce rise time t_riseStandard deviation Δ t_rise。 For example, in cost and signal energy E_SRestrictive condition under, range unit can select wireless signal Type or pulse shape in allow its rise time t_riseStandard deviation Δ t_riseMinimum one, in order to improve The degree of accuracy of range finding.

Still further aspect, then refer to Fig. 5, Fig. 5 be the positioning principle that provided of the embodiment of the present invention it Schematic diagram.In the present embodiment, mobile phone 24 can be equipped with a positioner and fixed by this Position device is to acquire distance R1 out of the ordinary between mobile phone 24 and base station 20～22～R3.Cause This, and then make positioner can effectively judge this mobile phone 24 according to each distance R1～R3 Position.

Then, a kind of embodiment of described positioner is provided out further below.Refer to figure 6, Fig. 6 is the functional-block diagram of the positioner that the embodiment of the present invention is provided.It should be noted that down The positioner stated is only the one of which implementation of said method, and it is not intended to limiting the invention. Described positioner 6 can include locating module 60, controller 61, MAC module 62 And entity module 63.MAC module 62 is connected to controller 61 and entity module 63, Locating module 60 is then connected between MAC module 62 and controller 61.On it addition, Stating each element can be to be realized by pure hardware circuit, or by hardware circuit collocation firmware or soft Part realizes, sum it up, the present invention is not limiting as the specific implementation of positioner 6.

Specifically, entity module 63 is except in order to receive wireless signal (such as, the nothing coming from somewhere Line distance measuring signal, wireless response signal or wireless reflected signal) outside, entity module 63 can also be used to Launch wireless signal (such as, wireless distance finding signal, wireless response signal or wireless reflected signal).Separately Outward, according to teachings above, technical staff is it should be appreciated that arrive in the art, and locating module 60 can obtain Obtaining the range information between multiple object and positioner 6, wherein these distances would is that and examine from above-mentioned Amount arrives the rise time t of the wireless signal received_riseStandard deviation Δ t_riseObtain.Additionally, locating module 60 also can indicate that controller 61 is associated with rise time t to adjust the most further_riseStandard deviation Δ t_riseAt least one parameter.

In order to illustrate further the operation workflow about range unit, the present invention further provides its range finding The several embodiments of method.Referring to Fig. 7 A, Fig. 7 A is the range finding side that the embodiment of the present invention is provided The schematic flow sheet of method.Method described in this example can perform, therefore at the range unit 4 shown in Fig. 4 The most in the lump according to Fig. 4 in order to understanding.It addition, detailed step flow process is as in the foregoing embodiment, therefore in this only Summarize and no longer add redundant.

First, in step s 701, range unit obtain received by wireless signal (such as, from In the wireless distance finding signal that an object is launched, respond and next wireless response signal from this object, or Come from the wireless reflected signal of this object) interval time.Secondly, in step S702, range finding dress Put the standard deviation of the rise time of wireless signal received by calculating, wherein calculate received wireless The detail of the standard deviation of the rise time of signal as in the foregoing embodiment, therefore repeats no more in this. Then, in step S703, range unit uses the standard deviation of rise time to come received nothing The interval time of line signal is corrected.Finally, in step S704, range unit then can be according to school Interval time after just is to estimate the distance between object and range unit.

Still further aspect, then to refer to Fig. 7 B, Fig. 7 B be the range finding that another embodiment of the present invention is provided The schematic flow sheet of method.The method of Fig. 7 B equally performs at the range unit 4 shown in Fig. 4, The most in the lump according to Fig. 4 in order to understanding.Compared to the distance-finding method of Fig. 7 A, the distance-finding method of Fig. 7 B is more Whether the standard deviation of rise time is considered into, so that range unit can more have less than certain particular value Effect ground eliminates the standard deviation of rise time to improve the degree of accuracy of range finding.But, following is only distance-finding method One of which detailed implementation, it is not intended to limiting the invention.First, in step S711, The interval time of the wireless signal received by range unit acquirement, wherein received wireless signal is From a certain object wireless signal (such as, come from the wireless distance finding signal that an object is launched, from The wireless response signal that this object is responded and come, or come from the wireless reflected signal of this object).Secondly, In step S712, the standard deviation of the rise time of the wireless signal received by range unit calculating, Wherein calculate the detail such as previous embodiment of the standard deviation of the rise time of received wireless signal Described, therefore repeat no more in this.Then, in step S713, range unit judges the rise time Whether standard deviation is less than a particular value.

If the standard deviation of rise time is less than this particular value, then perform step S714；If on the contrary, When the standard deviation of the time of liter is not less than this particular value, then perform step S715.In step S714, Range unit can estimate the distance between object and range unit, wherein according to the interval time after correction Interval time after correction be then by utilizing the standard deviation of rise time that interval time is corrected and Produce.In step S715, range unit is then the standard deviation that can adjust and be associated with the rise time At least one parameter, and after adjusting at least one parameter of the standard deviation being associated with the rise time, again Perform whole range operation, say, that be back to perform step S711, range unit can because of in response to At least one parameter after adjustment is to re-fetch the interval time of received wireless signal.It addition, value Obtain it is noted that technical staff is it is to be appreciated that be to enter in the method for Fig. 7 B in the art The execution number of times of step S711 is limited by one step ground.It is to say, can in the method for Fig. 7 B Calculate the execution number of times of this step S711, and if performing number of times at this more than certain specific times threshold During value, i.e. finish whole distance-finding method, and then propose measuring error report.

It addition, refer to Fig. 7 C again, Fig. 7 C be the distance-finding method that provided of another embodiment of the present invention it Schematic flow sheet.The method of Fig. 7 C equally performs at the range unit 4 shown in Fig. 4, therefore please In the lump according to Fig. 4 in order to understanding.It is only the one of which detailed implementation of distance-finding method it addition, following, It is not intended to limiting the invention.First, in step S721, under a certain specific restrictive condition Multiple parameter group among, range unit can first select to make the mark of the rise time of the wireless signal received The parameter group that quasi-difference is minimum, it is received that each of which parameter group includes that at least one parameter is associated in The standard deviation of rise time of wireless signal.Secondly, in step S722, range unit obtains institute The interval time of the wireless signal received.Finally, in step S723, range unit then can basis Estimate the distance between object and range unit, the wherein interval after correction the interval time after correction Time is then to be corrected interval time by the standard deviation utilizing the rise time and produce.

In addition, the embodiment of the present invention is separately provided with the location side using one of above-mentioned each distance-finding method Method.First, then by utilizing above-mentioned distance-finding method to estimate between positioner and multiple object Multiple distances, then positioner and then fixed to judge this according to these distances between these objects The position of position device.

In sum, range finding that the embodiment of the present invention is provided and localization method or device, compared to tradition Range finding and localization method or device, and then there is higher degree of accuracy.

The foregoing is only embodiments of the invention, it is also not used to limit to the scope of the claims of the present invention.

Claims (16)

1. a distance-finding method, it is adaptable in a range unit, it is characterised in that this distance-finding method includes The following step:

Among multiple parameter group under a specific restrictive condition, select to make a wireless signal received The minimum parameter group of the statistical value of a rise time, parameter group described in each of which includes at least One parameter is associated in this statistical value of this rise time of this wireless signal received；

Obtaining an interval time of this wireless signal received, wherein this wireless signal received is next From a wireless signal of an object；And

The distance between this object and this range unit is estimated according to the interval time after a correction, its In be corrected producing this correction to this interval time by this statistical value of this rise time after Interval time.

2. distance-finding method as claimed in claim 1, is wherein that additivity white is high when a noise is contemplated During this noise, the standard deviation that this statistical value is this rise time of this rise time.

3. distance-finding method as claimed in claim 2, wherein has according to the one of this wireless signal received One power spectrum density of effect frequency range and energy and this noise calculates this standard of this rise time Difference.

4. distance-finding method as claimed in claim 2, wherein according to the energy of this wireless signal received, One power spectrum density of this noise, a frequency range of an intermediate frequency amplifier and this wireless communication received Number a persistent period calculate this standard deviation of this rise time.

5. distance-finding method as claimed in claim 1, wherein this wireless signal is a Bandlimited Signals.

6. distance-finding method as claimed in claim 1, wherein this wireless signal is a complementary signal.

7. a localization method a, it is adaptable to positioner, it is characterised in that this localization method include with Lower step:

Obtain the multiple distances between this positioner and multiple object；And

A position of this positioner is gone out according to the plurality of Distance Judgment；

Wherein obtain this distance of this positioner and each described object through the following steps that:

Among multiple parameter group under a specific restrictive condition, select to make a wireless signal received The minimum parameter group of the statistical value of a rise time, parameter group described in each of which includes at least One parameter is associated in this statistical value of this rise time of this wireless signal received；

Obtaining an interval time of this wireless signal received, wherein this wireless signal received is next From a wireless signal of this object；And

The distance between this object and this positioner is estimated according to the interval time after a correction, its In be corrected producing this correction to this interval time by this statistical value of this rise time after Interval time.

8. localization method as claimed in claim 7, is wherein that additivity white is high when a noise is contemplated During this noise, the standard deviation that this statistical value is this rise time of this rise time.

9. localization method as claimed in claim 8, wherein has according to the one of this wireless signal received One power spectrum density of effect frequency range and energy and this noise calculates this standard of this rise time Difference.

10. localization method as claimed in claim 8, wherein according to the energy of this wireless signal received, One power spectrum density of this noise, a frequency range of an intermediate frequency amplifier and this wireless communication received Number a persistent period calculate this standard deviation of this rise time.

11. localization methods as claimed in claim 7, wherein this wireless signal is a Bandlimited Signals.

12. localization methods as claimed in claim 7, wherein this wireless signal is a complementary signal.

13. 1 kinds of range units, it is characterised in that this range unit includes:

One entity module, in order to receive a wireless signal；

One MAC module, is connected to this entity module；

One controller, is connected to this MAC module；And

One range finder module, is connected between this MAC module and this controller, and in order to perform Following steps:

Among multiple parameter group under a specific restrictive condition, select to make a wireless signal received The minimum parameter group of the statistical value of a rise time, parameter group described in each of which includes at least One parameter is associated in this statistical value of this rise time of this wireless signal received；

Obtaining an interval time of this wireless signal received, wherein this wireless signal received is next From this wireless signal of an object；And

The distance between this object and this range unit is estimated according to the interval time after a correction, its In be corrected producing this correction to this interval time by this statistical value of this rise time after Interval time.

14. range units as claimed in claim 13, wherein when be contemplated a noise be additivity white During Gaussian noise, the standard deviation that this statistical value is this rise time of this rise time.

15. 1 kinds of positioners, it is characterised in that this positioner includes:

One entity module, in order to receive a wireless signal；

One MAC module, is connected to this entity module；

One controller, is connected to this MAC module；And

One locating module, is connected between this MAC module and this controller, and in order to perform Following steps:

Obtain the multiple distances between this positioner and multiple object；And

A position of this positioner is gone out according to the plurality of Distance Judgment；

Wherein obtain this distance of this positioner and each described object through the following steps that:

Among multiple parameter group under a specific restrictive condition, select to make a wireless signal received The minimum parameter group of the statistical value of a rise time, parameter group described in each of which includes at least One parameter is associated in this statistical value of this rise time of this wireless signal received；

Obtaining an interval time of this wireless signal received, wherein this wireless signal received is next From this wireless signal of this object；And

The distance between this object and this positioner is estimated according to the interval time after a correction, its In be corrected producing this correction to this interval time by this statistical value of this rise time after Interval time.

16. positioners as claimed in claim 15, wherein when be contemplated a noise be additivity white During Gaussian noise, the standard deviation that this statistical value is this rise time of this rise time.