CN105988109B - Distance measuring method, distance measuring device, positioning device and positioning method - Google Patents
Distance measuring method, distance measuring device, positioning device and positioning method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 69
- 230000000630 rising effect Effects 0.000 claims abstract description 17
- 238000012937 correction Methods 0.000 claims description 16
- 230000004807 localization Effects 0.000 claims description 15
- 238000001228 spectrum Methods 0.000 claims description 14
- 230000000996 additive effect Effects 0.000 claims description 13
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- 238000010586 diagram Methods 0.000 description 22
- 238000005259 measurement Methods 0.000 description 21
- 230000008901 benefit Effects 0.000 description 3
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- 230000002238 attenuated effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/08—Systems for determining distance or velocity not using reflection or reradiation using radio waves using synchronised clocks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
- G01S13/767—Responders; Transponders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0278—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves involving statistical or probabilistic considerations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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
Technical field
The present invention relates to a kind of ranging (ranging) method, and especially a kind of distance measuring method and device, it is contemplated and connects
The rise time (rising time) of the wireless distance finding signal of receipts is because a statistical value caused by noise is (for example, when this noise is
When additive property additive white Gaussian (Additive White Gaussian Noise, AWGN), this statistical value is to extend the time
One standard deviation (standard deviation) of (time spread)), and using having the one of above-mentioned distance measuring method or device
Kind positioning (location) method and apparatus.
Background technique
Distance measuring method and device are mainly estimated object (object) and are surveyed by using a wireless distance finding signal
Away from the distance between device.It is desirable that since wireless distance finding signal can decay (attenuate) with the increase of distance,
Presently commercially available range unit is the situation by detecting the signal intensity attenuation of received wireless distance finding signal mostly, is come
Estimate the distance between object and range unit.However, in fact, the decaying of signal strength is more reflected in channel response
On (channel response), the range unit of this type be contemplated must also brought by channel response
It influences.However, for the range unit of this kind of signal intensity attenuation merely with detection wireless distance finding signal, because of its needs
This channel response extraly is obtained using a channel estimation device (channel estimator), therefore increases more cost.
In addition, if channel is to estimate the object come in the case where quickly variation (fast changed) (i.e. non-static channel)
The distance between part and range unit might have biggish drop compared to the actual range between object and range unit.
Further, since object, which can absorb, the electromagnetic wave (Electro- for propagating to receiver from transmitter and coming
Magnetic Wave, EMW), therefore the intensity of the signal received can be reasonably reduced.In addition, if object is in the first Fresnel
It is obstructed in area (first Fresnel zone), then the signal level received is (for example, received signal strength index
(Received Signal Strength Indicator, RSSI)) it also can should reasonably be attenuated.For example, object
May be the thick and heavy concrete walls (especially when concrete walls are wet situations) for being easy to a large amount of electromagnetic wave absorptions, coal seam, water or
It is similar to wait objects.
To sum up, biggish error can be had based on the Distance estimation that free space transmission model carries out, wherein by
(above-mentioned influence depends on surrounding objects for excess-attenuation caused by surrounding objects, reflection, diffusion diffraction and similar physical influence
Property, size, electrical property etc.) its error will be relatively improved.
Another presently commercially available range unit is the interval time for calculating or counting received wireless distance finding signal
(trip time), to estimate the distance between object and range unit, wherein the interval time includes receiving wirelessly
The rise time of distance measuring signal.Due to the rise time that interval time is received wireless distance finding signal and the nothing launched
Time difference between the rise time of line distance measuring signal, therefore interval time is also referred to as delay time (delay time).So
And due to being inevitably present noisy interference in channel, so that the rising of received wireless distance finding signal
Time will be extended (spread), that is to say, that the rise time of received wireless distance finding signal will relatively be prolonged
Long (lengthened).Therefore, the distance between object and range unit for being estimated may be less than object and ranging fills
Actual range between setting.
In addition, certain positioning devices, which may use, above-mentioned range unit, wherein range unit be used to estimate object
The distance between part and range unit, and positioning device then determines this positioning device further according to the multiple distances estimated
Position, either, after the distance between object and range unit are estimated via range unit, and positioning device is then again
The position of this object is determined according to the multiple distances estimated.Anyway, it is appreciated that the survey of range unit
Higher away from accuracy, then the setting accuracy of positioning device is also higher.Therefore, it is necessary to the rangings of the accurate accuracy of one higher ranging
Device.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of distance measuring method suitable for range unit, and step illustrates such as
Under.Firstly, selection makes the rise time of the wireless signal received among the multiple parameters group under specific restrictive condition
The smallest parameter group of statistical value, wherein including that an at least parameter is associated in the wireless signal received in each parameter group
The statistical value of rise time.Secondly, the interval time of the wireless signal received is obtained, wherein the wireless signal received is next
From in the wireless signal of a certain object.Finally, according to the interval time after correction estimate between object and range unit away from
From wherein being corrected to interval time by the statistical value of rise time to produce the interval time after correction.
The embodiment of the present invention separately provides a kind of range unit.The 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 is connected to entity module, and controller is connected to medium access control
Molding block, range finder module are connected between MAC module and controller.Entity module to receive wireless signal, and
Range finder module is then to execute above-described distance measuring method.
In addition to this, the embodiment of the present invention separately provides a kind of using the localization method and dress that have above-mentioned distance measuring method or device
It sets.The localization method and device can be estimated more between this positioning device and multiple objects using range unit or method
A distance, and the position of this positioning device is judged according to these distances in turn.
In addition, in an embodiment of the present invention, when it is additive property additive white Gaussian that noise, which is contemplated, this rise time
Statistical value be rise time thus a standard deviation.
In conclusion the beneficial effects of the present invention are compared to traditional ranging and localization method or device, the present invention
Ranging and localization method provided by embodiment or device and then accuracy with higher.
Be further understood that feature and technology contents of the invention to be enabled, please refer to below in connection with it is of the invention specifically
Bright and attached drawing, but these explanations are only used to illustrate the present invention with attached drawing, rather than make any limit to interest field of the invention
System.
Detailed description of the invention
Figure 1A is the schematic diagram of range measurement principle provided by the embodiment of the present invention.
Figure 1B is the wireless distance finding signal that range unit provided by the embodiment of the present invention is launched and via object
The waveform diagram of the ideal wireless response signal returned after response.
Fig. 2A is the schematic diagram of range measurement principle provided by another embodiment of the present invention.
Fig. 2 B is the waveform diagram of the ideal wireless distance finding signal received provided by another embodiment of the present invention.
Fig. 3 is the waveform diagram of the true wireless distance finding signal received provided by the embodiment of the present invention.
Fig. 4 is the functional-block diagram of range unit provided by the embodiment of the present invention.
Fig. 5 is the schematic diagram of positioning principle provided by the embodiment of the present invention.
Fig. 6 is the functional-block diagram of positioning device provided by the embodiment of the present invention.
Fig. 7 A is the flow diagram of distance measuring method provided by the embodiment of the present invention.
Fig. 7 B is the flow diagram of distance measuring method provided by another embodiment of the present invention.
Fig. 7 C is the flow diagram of distance measuring method provided by another embodiment of the present invention.
Wherein, the reference numerals are as follows:
10,20~22: base station
12,13: object
14,24: mobile phone
R, R1~R3: distance
tR: interval time
trise1、trise2、trise、tEmitted: the rise time
N (t): noise
A: ideal amplitude
Δtrise: measurement error, standard deviation
4: range unit
40: range finder module
41,61: controller
42,62: MAC module
43,63: entity module
6: positioning device
60: locating module
S701~S704, S711~S715, S721~S723: process step
Specific embodiment
It hereinafter, will be by Detailed description of the invention various embodiments of the present invention come the present invention is described in detail.However, of the invention
Concept may embody in many different forms, and should not be construed as limited by exemplary embodiments set forth herein.In addition,
Same reference numbers can be used to indicate similar element in the accompanying drawings.
It please join Figure 1A, Figure 1A is the schematic diagram of range measurement principle provided by the embodiment of the present invention.Range unit is set to base
It at platform 10, and include a circuit in this range unit, to be used to estimate a certain object 12 (for example, car) and this
The distance between range unit (or base station 10) R.
In the present embodiment, range unit first launches a wireless distance finding signal to object 12, and then, object 12 responds
In this wireless distance finding signal from range unit, and return a wireless response signal (wireless acknowledge
Signal), or, object 12 reflects this wireless distance finding signal, so that one without line reflection signal (wireless
Reflection signal) from the transmitting of object 12 so far range unit.It is connect to sum up, the present invention is not intended to limit range unit
The wireless signal of receipts is generated by reflecting or responding.Following embodiment be with this wireless response signal as an example for
Bright distance measuring method of the invention, but the present invention is not limited thereto system.Therefore, technician in the art, it is to be appreciated that
The wireless response signal being described to relatively in lower Figure 1A and Figure 1B embodiment, which can also change by no line reflection signal, to be replaced.
What range unit received comes from the wireless response signal that object 12 is returned, therefore, by Figure 1A it is found that
Total transmission range of wireless distance finding signal and wireless response signal is 2R, that is to say, that this object 12 and this range unit (i.e. base
Platform 10) the distance between should be R.
It is wireless to be that range unit provided by the embodiment of the present invention is launched please refer to Figure 1A and Figure 1B, Figure 1B
The waveform diagram of distance measuring signal and the ideal wireless response signal returned after being responded via object.After being responded via object
The ideal wireless response signal returned is received by range unit, wherein this ideal wireless response letter received by range unit
Number interval time (also known as be used as delay time) be defined as tR(internal processing time has been subtracted out in it).Specifically,
Every time tRExpression receives the rise time t of this ideal wireless response signal (signal below Figure 1B)rise2With launched
Wireless distance finding signal (signal above Figure 1B) rise time trise1Between time difference.Interval time tRCalculating (i.e.
Beginning and stopping event) it is to occur when signal level is more than a certain threshold value, therefore, this threshold value is selected from ideal amplitude A
Minimum (0%) and peak (100%) between.For example, in general threshold value is usually that can select in ideal amplitude A
At median (50%).Therefore, range unit can estimate the interval time t of the ideal wireless response signal receivedR, and
And according to interval time tREstimate the distance between object 12 and range unit R, such as R=ctR/ 2, wherein c is the light velocity.
Fig. 2A is please referred to, Fig. 2A is the schematic diagram of range measurement principle provided by another embodiment of the present invention.In the present embodiment
In, range unit is set in mobile phone 14, and includes circuit in this range unit, to be used to estimate a certain object
The distance between 13 (for example, base stations) and this range unit (or mobile phone 14) R.
In the present embodiment, the directly transmitting of object 13 has a wireless distance finding signal to range unit, and range unit
Wireless distance finding signal can be received.Therefore, total transmission range of wireless distance finding signal is R, that is to say, that object 13 and range unit
The distance between (i.e. mobile phone 14) is also R.
Please refer to Fig. 2A and Fig. 2 B, Fig. 2 B is the wireless survey of ideal received provided by another embodiment of the present invention
Waveform diagram away from signal.Range unit can receive wireless distance finding signal, and can also obtain this wireless distance finding letter launched
Number rise time tEmitted, therefore equally can be by the interval time of ideal wireless distance finding signal received by range unit
(being also known as used as delay time) is defined as tR.Specifically, interval time tRIt is expressed as this ideal wireless distance finding signal received
Rise time triseThe rise time t for the wireless distance finding signal launched with thisEmittedBetween time difference.Therefore, ranging fills
Set the interval time t that can estimate this ideal wireless distance finding signal receivedR, and according to interval time tRAnd then estimate
The distance between object 13 and range unit R out, such as R=ctR。
It is worth noting that, each mode of above-mentioned use is herein only to illustrate, it is not intended to limiting the invention.It changes
Sentence is talked about, and range unit provided by the present invention or method can be applied to time-based (the time based) of different type
(estimation) technology of measurement, for example, unidirectional (one way), two-way (two ways) or symmetrical bilateral (symmetrical-double
Sided two-way time (Round Trip of Flight, RToF) measurement or signal arrival time difference (Time)
Difference of Arrival, TDoA) measurement etc..In addition to this, range unit provided by the present invention or method can also be into
It is suitable for the measurement technology based on signal angle (angled based) to one step, for example, signal incident angle (Angle of
Arrival, AoA) measurement or launch angle (Angle of Departure, AoD) measurement etc..
Then, referring to Fig. 3, Fig. 3 is the wave of the true wireless distance finding signal received provided by the embodiment of the present invention
Shape schematic diagram.Due to the wireless signal (example, still inevitably there are the interference of noise n (t), received in channel
Such as, the wireless distance finding signal that receives, wireless response signal or without line reflection signal) rising edge will do sth. in advance a Δ trise
Time has just been more than threshold value, and the accuracy of estimated distance is affected.Assuming that particular threshold is to connect
When at the median (50%) of the ideal amplitude A of the wireless signal received, then the rise time of the wireless distance finding signal received
triseTime when for the amplitude of received wireless signal being more than 0.5A.
It is worth noting that, threshold value is to be designed according to different needs, to sum up, the present invention is not
As limitation.For example, in the present embodiment, the maximum that threshold value can be relevant to received wireless signal is averaged
Amplitude avg (A+n (t)) and minimum average B configuration amplitude avg (n (t)), and it is equal to (avg (A+n (t)) k1+avg (n (t)) k2), wherein
Variable k1 and k2 are then respectively weighting coefficient (weightingfactor).For example, weighting coefficient k1 and k2 can be all set as
0.4, to sum up, the present invention is not intended to limit the producing method of threshold value.
Threshold value can also be a best critical value, be determined by differential of the received wireless signal under time domain
This threshold value out.For example, the differential of the wireless signal received has maximum value in a certain specific time, then it will be received
Amplitude definition thus best critical value of the wireless signal in this specific time.
Due to the interference effect by noise n (t), so that the rising edge of the wireless signal received will do sth. in advance a Δ
triseTime has just been more than the level of threshold value, therefore rise time triseMeasurement error will also be equal to this Δ triseTime
(when it is AWGN that noise n (t), which is contemplated, and standard deviation is rise time triseStatistical value).Again referring to Fig. 3, thus may be used
Know, the rise time t of the ideal wireless signal receivedriseWith there are the rise time of the true wireless signal of noise n (t)
triseBetween have measurement error Δ trise。
The slope of still further aspect, the wireless signal received can pass through following formula slope (slope)=A/trise
It obtains.In addition to this, by the prior art, technician in the art should can be summarized, the wireless signal received
Slope can also utilize about noise n (t) and rise time triseMeasurement error Δ triseMode indicate, example
Such as slope=n (t)/Δ trise.It therefore, further can be by this rise time triseMeasurement error Δ triseEquation table
Show as follows:
, wherein A2/n(t)2Fundamental frequency signal noise power ratio (signal-to-noise for the wireless signal received
power ratio)。
In addition, if linear detector (linear detector) law and biggish signal-to-noise ratio (signal- is contemplated
To-noise ratio), so fundamental frequency signal noise power ratio should be twice of intermediate frequency (intermediate frequency)
Signal power to noise power ratio S/N.Therefore, simplified equation can be expressed as follows:
Then, if the rise time t of the wireless signal receivedriseIt is limited to intermediate frequency amplifier (IF amplifier)
Bandwidth B when, then this rise time triseIt should be about 1/B.In addition, if enabling S=ES/tdAnd N=N0When B, then rise time
triseMeasurement error Δ triseEquation, which can simplify, to be expressed as follows:
, wherein ESSignal energy (signal energy) for the wireless signal received, tdFor the wireless communication received
Number duration (duration), and N0Then for noise n (t) power spectrum density (power spectral density,
PSD)。
In addition, if identical delay measurements carry out the falling edge in the wireless signal received, by merging and putting down
The square root that measurement result will be made to be promoted to 2, therefore rise time t are measured individuallyriseMeasurement error Δ triseEquation
It can be expressed as follows:
It is worth noting that, through the above, technician in the art should be appreciated that out, rise time trise
Measurement error Δ triseThe root mean square (Root Mean Square, RMS) of difference, that is, mark as between measured value and actual value
It is quasi- poor.In addition, can further assume its biased error if the interference for assuming range measurement precision is receiver noise
It is eliminated.Therefore, according to radar theorem, rise time t can will more be gone outriseStandard deviation, effective bandwidth Beff(effective
) and signal to noise ratio E bandwidthS/N0Between contextual definition it is as follows:
In addition to this, effective bandwidth BeffIt can indicate are as follows:
, wherein variable f is frequency, and function S (f) is the frequency spectrum of the wireless signal received.It is worth noting that, effectively
Bandwidth BeffIt is identical to root mean square bandwidth Brms。
In addition, if the wireless signal received in fundamental frequency for a Bandlimited Signals frequency spectrum, such as with
Constant frequency spectrum size linear frequency modulation (chirp) (i.e. when frequency is when with interior, | S (f) |=1, and on the contrary, then | S (f) |=
0), then effective bandwidth BeffIt is expressed as follows:
That is, effectively bandwidth BeffAlso it can be expressed as follows:
In addition, if the wireless signal received is in period tdIt is continuously square waveform, then root mean square bandwidth Brms(i.e.
Beff) can be expressed as follows:
When spectral bandwidth is restricted to B, the root mean square bandwidth B of aforesaid equationrmsIt can more be expressed as follows again:
After completing multiple calculating, then root mean square bandwidth Brms(i.e. Beff) can simplify and be expressed as follows:
It is worth noting that, the calculation of above-mentioned standard difference is mainly suitable for the case where noise is AWGN.However, right
For other kinds of noise and interference (especially having well-regulated human interference), statistical value is always not necessarily standard
Difference, it is thus possible to can be just applicable in the mode that another measures its statistical value.In this regard, following embodiment is mainly still above
The statistical value for rising the time explains for standard deviation, but the present invention is not limited thereto makes.
Then, in order to further explain the running about distance measuring method, the embodiment of the present invention further provides for ranging dress
A kind of embodiment set.Referring to Fig. 4, Fig. 4 is the functional-block diagram of range unit provided by the embodiment of the present invention.So
And following range units is only one of implementation of the above method, it is not intended to limiting the invention.The survey
It may include range finder module 40, controller 41, MAC module 42 and entity module 43 away from device 4.Medium access
Control module 42 is connected to controller 41 and entity module 43, and range finder module 40 is then connected to MAC module 42
And between controller 41.In addition, above-mentioned each element can be through pure hardware circuit and realize, or pass through hardware circuit
Collocation firmware or software is realized, to sum up, the present invention is not intended to limit the specific implementation of range unit 4.
Specifically, entity module 43 is in addition to receive the wireless signal from somewhere (for example, wireless distance finding is believed
Number, wireless response signal or without line reflection signal) except, entity module 43 can also be used to launch wireless signal (for example, nothing
Line distance measuring signal, wireless response signal or without line reflection signal).In addition, according to teachings above, technician in the art
It should be appreciated that arriving, range finder module 40 will be the rise time t that received wireless signal is contemplatedriseStandard deviation Δ
triseTo estimate the distance between range unit 4 and object.In addition, range finder module 40 further also can indicate that controller
41 adjustment are associated with rise time triseStandard deviation Δ triseAt least one parameter.
In the present embodiment, range finder module 40 calculates rise time triseStandard deviation Δ trise, and according to rise when
Between triseStandard deviation Δ triseTo correct the interval time t of the wireless signal receivedR.Finally, range finder module 40 in turn can root
The distance between range unit 4 and object are estimated according to the interval time after correction.
Therefore, as already mentioned it is possible to according to effective bandwidth Beff, signal energy ESAnd the power spectrum of noise n (t)
Density N0To calculate rise time triseStandard deviation Δ trise.Or be, according to signal energy ES, noise n (t) function
Rate spectral density N0, the bandwidth of intermediate frequency amplifier and the duration of the wireless signal that receives calculate the rise time
triseStandard deviation Δ trise.It is worth noting that, the present invention, which is not intended to limit, calculates rise time triseStandard deviation Δ trise
Specific implementation, technician in the art can be designed according to actual demand or application.
In another embodiment, range finder module 40 is calculating rise time triseStandard deviation Δ triseIt later, and can
Judge this rise time triseStandard deviation Δ triseWhether less than one particular value.If rise time triseStandard deviation Δ
triseWhen less than this particular value, range finder module 40 is what was certain was that this rise time triseStandard deviation Δ triseOnly lightly
Influence received wireless signal interval time tR.Therefore, range finder module 40 can wireless signal based on the received
Interval time tRTo estimate the distance between range unit 4 and object.On the contrary, if rise time triseStandard deviation Δ
triseNot less than this particular value when, range finder module 40 then determines this rise time triseStandard deviation Δ triseIt severely impacts
To received wireless signal interval time tR.Therefore, range finder module 40 can be that the instruction adjustment of controller 41 is associated with rising
Time triseStandard deviation Δ triseAt least one parameter, and again execute range operation with obtain in response to adjustment after join
Several rise time triseStandard deviation Δ trise.Therefore, the range unit 4 can effectively eliminate rise time trise's
Standard deviation Δ trise, to improve the accuracy of ranging.
According to above content it is found that effectively bandwidth Beff, signal energy ES, bit ENERGY Eb, bit energy and power spectrum
The ratio E of densityb/N 0, the type that uses of wireless signal or pulse shape and threshold value etc. can be used to adjust, with
Reduce rise time triseStandard deviation Δ trise.For example, coherent signal (correlative signal) can be used as hair
The wireless signal penetrated or responded, wherein coherent signal can use multiple " complementation " representations respectively simultaneously
The complementary signal (complementary signaling) of (" complementary " representations), for example, it is related
Signal includes rising pulses (up-chirp) or falling pulse (down-chirp).It is worth noting that, above-mentioned coherent signal
" complementation " representation is to can have different weights, for example, rising pulses have different amplitudes absolute from falling pulse
It is worth (absolute amplitudes).
In another embodiment, among the multiple parameters group under a certain specific restrictive condition, range finder module 40 can be selected
It selects and allows the rise time t of received wireless signalriseStandard deviation Δ triseA smallest parameter group.In each parameter group
The rise time t of received wireless signal is associated with including an at least parameterriseStandard deviation Δ trise。
According to above content it is found that under this specific restrictive condition, effective bandwidth Beff, signal energy ES, bit ENERGY Eb、
The ratio E of bit energy and power spectrum densityb/N0, the type that uses of wireless signal or pulse shape and threshold value etc. all may be used
To be to be used to adjust, to reduce rise time triseStandard deviation Δ trise.For example, in cost and signal energy ES's
Under restrictive condition, range unit, which can choose, allows its rise time t in the type or pulse shape of wireless signalriseStandard deviation
ΔtriseIt is one the smallest, to improve the accuracy of ranging.
Still further aspect, then referring to Fig. 5, Fig. 5 is the schematic diagram of positioning principle provided by the embodiment of the present invention.At this
In embodiment, mobile phone 24 can be equipped with a positioning device, and passes through this positioning device to acquire mobile phone 24
Distance R1~R3 out of the ordinary between base station 20~22.Therefore, so that positioning device can be according to each distance R1~R3
Effectively judge the position of this mobile phone 24.
Then, a kind of embodiment of the positioning device is provided further below.Referring to Fig. 6, Fig. 6 is this
The functional-block diagram of positioning device provided by inventive embodiments.It is worth noting that, following positioning device is only above-mentioned side
One of implementation of method, it is not intended to limiting the invention.The positioning device 6 may include locating module 60,
Controller 61, MAC module 62 and entity module 63.MAC module 62 be connected to controller 61 with
And entity module 63, and locating module 60 is then connected between MAC module 62 and controller 61.In addition, above-mentioned
Each element can be through pure hardware circuit and realizes, or be realized by hardware circuit firmware or software of arranging in pairs or groups, it is total and
Yan Zhi, the present invention are not intended to limit the specific implementation of positioning device 6.
Specifically, entity module 63 is in addition to receive the wireless signal from somewhere (for example, wireless distance finding is believed
Number, wireless response signal or without line reflection signal) except, entity module 63 can also be used to launch wireless signal (for example, nothing
Line distance measuring signal, wireless response signal or without line reflection signal).In addition, according to teachings above, technician in the art
It should be appreciated that arriving, locating module 60 can acquire the distance between multiple objects and positioning device 6 information, wherein these distances
It will be from the above-mentioned rise time t that received wireless signal is contemplatedriseStandard deviation Δ triseTo obtain.In addition, positioning mould
Block 60 equally further also can indicate that controller 61 is associated with rise time t to adjustriseStandard deviation Δ triseAt least
One parameter.
In order to further explain the operation workflow about range unit, the present invention further provides the several of its distance measuring method
Kind embodiment.Fig. 7 A is please referred to, Fig. 7 A is the flow diagram of distance measuring method provided by the embodiment of the present invention.Described in this example
Method can be executed with range unit 4 shown in Fig. 4, therefore please together according to Fig. 4 with benefit understand.In addition, detailed step process
As in the foregoing embodiment, it therefore is only summarized in this and no longer adds redundant.
Firstly, in step s 701, range unit obtains received wireless signal (for example, from an object institute
The wireless distance finding signal launched, the wireless response signal responded from this object, or from this object without line reflection
Signal) interval time.Secondly, range unit calculates the rise time of received wireless signal in step S702
Standard deviation, wherein calculate the standard deviation of the rise time of received wireless signal detail such as previous embodiment institute
It states, therefore is repeated no more in this.Then, in step S703, range unit is using the standard deviation of rise time come to received
Interval time of wireless signal be corrected.Finally, in step S704, when range unit then can be according to interval after correction
Between to estimate the distance between object and range unit.
Still further aspect, then Fig. 7 B is please referred to, Fig. 7 B is the process of distance measuring method provided by another embodiment of the present invention
Schematic diagram.The method of Fig. 7 B can equally be executed with range unit 4 shown in Fig. 4, therefore please be understood together according to Fig. 4 with benefit.Phase
Compared with the distance measuring method of Fig. 7 A, the distance measuring method of Fig. 7 B more by the whether small Mr. Yu's particular value of the standard deviation of rise time consider into
It goes, so that range unit can eliminate the standard deviation of rise time more effectively to improve the accuracy of ranging.However, following
It is only one of detailed implementation of distance measuring method, it is not intended to limiting the invention.Firstly, being surveyed in step S711
The interval time of received wireless signal is obtained away from device, wherein received wireless signal is from a certain object
Wireless signal (for example, from the wireless distance finding signal that an object is launched, believe by the wireless response responded from this object
Number, or from this object without line reflection signal).Secondly, in step S712, it is wireless received by range unit calculating
The standard deviation of the rise time of signal, wherein calculate the standard deviation of the rise time of received wireless signal detail
As in the foregoing embodiment, it therefore is repeated no more in this.Then, in step S713, range unit judges the standard of rise time
Whether difference is less than a particular value.
If the standard deviation of rise time is less than this particular value, S714 is thened follow the steps；On the contrary, if the mark of rise time
When quasi- difference is not less than this particular value, S715 is thened follow the steps.In step S714, range unit can be according to the interval after correction
Time estimates the distance between object and range unit, wherein the interval time after correction is then by utilizing the rise time
Standard deviation produces to be corrected to interval time.In step S715, range unit is then that can adjust to be associated with rising
An at least parameter for the standard deviation of time, and adjustment be associated with the rise time standard deviation an at least parameter and then
It is secondary to execute entire range operation, that is to say, that be back to and execute step S711, range unit can because in response to it is adjusted at least
One parameter is to re-fetch interval time of received wireless signal.Moreover, it is noted that skill in the art
Art personnel are, it is to be appreciated that be further to limit come the execution number to step S711 in the method for Fig. 7 B.?
That is the execution number of this step S711 can be calculated in the method for Fig. 7 B, and if executing the big Mr. Yu spy of number herein
When determining number threshold value, that is, finish entire distance measuring method, and then proposes measuring error report.
In addition, please referring to Fig. 7 C again, Fig. 7 C is the flow diagram of distance measuring method provided by another embodiment of the present invention.
The method of Fig. 7 C can equally be executed with range unit 4 shown in Fig. 4, therefore please be understood together according to Fig. 4 with benefit.In addition, following
It is only one of detailed implementation of distance measuring method, it is not intended to limiting the invention.Firstly, in step S721,
Among multiple parameters group under a certain specific restrictive condition, range unit can first select the rising for the wireless signal for making to receive
The smallest parameter group of the standard deviation of time, wherein including that an at least parameter is associated in received nothing in each parameter group
The standard deviation of the rise time of line signal.Secondly, range unit obtains between received wireless signal in step S722
Every the time.Finally, range unit can then estimate object according to the interval time after correction and ranging fills in step S723
The distance between set, wherein the interval time after correction is then to be carried out by the standard deviation using the rise time to interval time
It corrects and produces.
In addition to this, the embodiment of the present invention is separately provided with the localization method for using one of above-mentioned each distance measuring method.Firstly,
It is then the then positioning device by estimating multiple distances between positioning device and multiple objects using above-mentioned distance measuring method
And then according to the position for judging this positioning device with these distances between these objects.
In conclusion ranging and localization method provided by the embodiment of the present invention or device, compared to traditional ranging and
Localization method or device, and then accuracy with higher.
The above description is only an embodiment of the present invention, not to limit to the scope of the patents of the invention.
Claims (16)
1. a kind of distance measuring method, suitable for a range unit, which is characterized in that the distance measuring method includes the following steps:
Among multiple parameters group, selection makes the smallest ginseng of the statistical value of a rise time of a wireless signal received
Array, wherein including the rise time that an at least parameter is associated in the wireless signal received in each parameter group
The statistical value；
An interval time of the wireless signal received is obtained, wherein the wireless signal received is one from an object
Wireless signal；And
The distance between the object and the range unit is estimated according to the interval time after a correction, wherein passing through the rising
The statistical value of time is corrected the interval time to produce the interval time after the correction；
Wherein, the parameter group includes the ratio of effective bandwidth, signal energy, bit energy, bit energy and power spectrum density
At least one for type, the pulse shape that wireless signal uses or the threshold value that value, wireless signal use.
2. distance measuring method as described in claim 1, wherein when it is additive property additive white Gaussian that a noise, which is contemplated, on this
The statistical value for rising the time is the standard deviation of the rise time.
3. distance measuring method as claimed in claim 2, wherein according to the effective bandwidth and energy of the wireless signal received
And a power spectrum density of the noise calculates the standard deviation of the rise time.
4. distance measuring method as claimed in claim 2, wherein according to the energy of the wireless signal received, a function of the noise
One duration of rate spectral density, a bandwidth of an intermediate frequency amplifier and the wireless signal received calculates this
The standard deviation of rise time.
5. distance measuring method as described in claim 1, wherein the wireless signal is a Bandlimited Signals.
6. distance measuring method as described in claim 1, wherein the wireless signal is a complementary signal.
7. a kind of localization method, be suitable for a positioning device, which is characterized in that the localization method the following steps are included:
Obtain multiple distances between the positioning device and multiple objects；And
Go out a position of the positioning device according to the multiple Distance Judgment；
Wherein obtain the distance of the positioning device and each object through the following steps that:
Among multiple parameters group, selection makes the smallest ginseng of the statistical value of a rise time of a wireless signal received
Array, wherein including the rise time that an at least parameter is associated in the wireless signal received in each parameter group
The statistical value；
An interval time of the wireless signal received is obtained, wherein the wireless signal received is one from the object
Wireless signal；And
The distance between the object and the positioning device is estimated according to the interval time after a correction, wherein passing through the rising
The statistical value of time is corrected the interval time to produce the interval time after the correction；
Wherein, the parameter group includes the ratio of effective bandwidth, signal energy, bit energy, bit energy and power spectrum density
At least one for type, the pulse shape that wireless signal uses or the threshold value that value, wireless signal use.
8. localization method as claimed in claim 7, wherein when it is additive property additive white Gaussian that a noise, which is contemplated, on this
The statistical value for rising the time is the standard deviation of the rise time.
9. localization method as claimed in claim 8, wherein according to the effective bandwidth and energy of the wireless signal received
And a power spectrum density of the noise calculates the standard deviation of the rise time.
10. localization method as claimed in claim 8, wherein according to the energy of the wireless signal received, the noise one
One duration of power spectrum density, a bandwidth of an intermediate frequency amplifier and the wireless signal received calculates
The standard deviation of the rise time.
11. localization method as claimed in claim 7, wherein the wireless signal is a Bandlimited Signals.
12. localization method as claimed in claim 7, wherein the wireless signal is a complementary signal.
13. a kind of range unit, which is characterized in that the range unit includes:
One entity module, to receive a wireless signal；
One MAC module is connected to the entity module；
One controller is connected to the MAC module；And
One range finder module is connected between the MAC module and the controller, and to execute following steps:
Among multiple parameters group, selection makes the smallest ginseng of the statistical value of a rise time of a wireless signal received
Array, wherein including the rise time that an at least parameter is associated in the wireless signal received in each parameter group
The statistical value；
An interval time of the wireless signal received is obtained, wherein the wireless signal received is being somebody's turn to do from an object
Wireless signal；And
The distance between the object and the range unit is estimated according to the interval time after a correction, wherein passing through the rising
The statistical value of time is corrected the interval time to produce the interval time after the correction；
Wherein, the parameter group includes the ratio of effective bandwidth, signal energy, bit energy, bit energy and power spectrum density
At least one for type, the pulse shape that wireless signal uses or the threshold value that value, wireless signal use.
14. range unit as claimed in claim 13, wherein when it is additive property additive white Gaussian that a noise, which is contemplated, it should
The statistical value of rise time is the standard deviation of the rise time.
15. a kind of positioning device, which is characterized in that the positioning device includes:
One entity module, to receive a wireless signal；
One MAC module is connected to the entity module；
One controller is connected to the MAC module；And
One locating module is connected between the MAC module and the controller, and to execute following steps:
Obtain multiple distances between the positioning device and multiple objects；And
Go out a position of the positioning device according to the multiple Distance Judgment；
Wherein obtain the distance of the positioning device and each object through the following steps that:
Among multiple parameters group, selection makes the smallest ginseng of the statistical value of a rise time of a wireless signal received
Array, wherein including the rise time that an at least parameter is associated in the wireless signal received in each parameter group
The statistical value；
An interval time of the wireless signal received is obtained, wherein the wireless signal received is being somebody's turn to do from the object
Wireless signal；And
The distance between the object and the positioning device is estimated according to the interval time after a correction, wherein passing through the rising
The statistical value of time is corrected the interval time to produce the interval time after the correction；
Wherein, the parameter group includes the ratio of effective bandwidth, signal energy, bit energy, bit energy and power spectrum density
At least one for type, the pulse shape that wireless signal uses or the threshold value that value, wireless signal use.
16. positioning device as claimed in claim 15, wherein when it is additive property additive white Gaussian that a noise, which is contemplated, it should
The statistical value of rise time is the standard deviation of the rise time.
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| TW103140549 | 2014-11-21 | ||
| TW103140549A TWI574026B (en) | 2014-11-21 | 2014-11-21 | Ranging method, ranging device, location device and location method |
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| TWI722700B (en) | 2019-12-06 | 2021-03-21 | 財團法人工業技術研究院 | Distance estimation device and method thereof and signal power calibration method |
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| TWI574026B (en) | 2017-03-11 |
| GB2532525A (en) | 2016-05-25 |
| FR3028961A1 (en) | 2016-05-27 |
| GB201502427D0 (en) | 2015-04-01 |
| GB2532525B (en) | 2017-03-01 |
| FR3028961B1 (en) | 2019-11-22 |
| CN105988109A (en) | 2016-10-05 |
| DE102015104522A1 (en) | 2016-05-25 |
| TW201619634A (en) | 2016-06-01 |
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