CN107407723B - 用于3d位置确定的方法和设备 - Google Patents

用于3d位置确定的方法和设备 Download PDF

Info

Publication number
CN107407723B
CN107407723B CN201680016638.1A CN201680016638A CN107407723B CN 107407723 B CN107407723 B CN 107407723B CN 201680016638 A CN201680016638 A CN 201680016638A CN 107407723 B CN107407723 B CN 107407723B
Authority
CN
China
Prior art keywords
signal
transmitter
plane
elliptical
receiver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201680016638.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN107407723A (zh
Inventor
A·鲁多伊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Massons Ltd
Original Assignee
Toposens GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toposens GmbH filed Critical Toposens GmbH
Publication of CN107407723A publication Critical patent/CN107407723A/zh
Application granted granted Critical
Publication of CN107407723B publication Critical patent/CN107407723B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • 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
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/003—Bistatic sonar systems; Multistatic sonar systems
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/96—Sonar systems specially adapted for specific applications for locating fish
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/003—Bistatic lidar systems; Multistatic lidar systems
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G01S2013/466—Indirect determination of position data by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/46—Indirect determination of position data
    • G01S2015/465—Indirect determination of position data by Trilateration, i.e. two transducers determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the transducers, the position data of the target is determined

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
CN201680016638.1A 2015-03-19 2016-01-29 用于3d位置确定的方法和设备 Expired - Fee Related CN107407723B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015003584.3A DE102015003584A1 (de) 2015-03-19 2015-03-19 Verfahren und Vorrichtung zur 3D-Positionsbestimmung
DE102015003584.3 2015-03-19
PCT/EP2016/051905 WO2016146292A1 (de) 2015-03-19 2016-01-29 Verfahren und vorrichtung zur 3d-positionsbestimmung

Publications (2)

Publication Number Publication Date
CN107407723A CN107407723A (zh) 2017-11-28
CN107407723B true CN107407723B (zh) 2021-05-07

Family

ID=55361463

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680016638.1A Expired - Fee Related CN107407723B (zh) 2015-03-19 2016-01-29 用于3d位置确定的方法和设备

Country Status (7)

Country Link
US (1) US10698094B2 (cg-RX-API-DMAC7.html)
EP (1) EP3271745A1 (cg-RX-API-DMAC7.html)
JP (1) JP6789999B2 (cg-RX-API-DMAC7.html)
KR (1) KR102559855B1 (cg-RX-API-DMAC7.html)
CN (1) CN107407723B (cg-RX-API-DMAC7.html)
DE (1) DE102015003584A1 (cg-RX-API-DMAC7.html)
WO (1) WO2016146292A1 (cg-RX-API-DMAC7.html)

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170168134A1 (en) * 2015-12-10 2017-06-15 Qualcomm Incorporated Object Detection
DE102017210481A1 (de) * 2017-02-02 2018-08-02 Robert Bosch Gmbh Verfahren zum Kalibrieren von Ultraschallwandlern und Anordnung zum Durchführen des Verfahrens
DE102017111914A1 (de) 2017-05-31 2018-12-06 Deutsche Telekom Ag Verfahren und Vorrichtung zum Auslesen eines 3-D Codes
EP3729131A1 (en) * 2017-12-22 2020-10-28 Khalifa University of Science and Technology Methods and systems for localization
CN110096133A (zh) * 2018-01-30 2019-08-06 鸿富锦精密工业(武汉)有限公司 红外手势识别装置及方法
DE102018102350B4 (de) 2018-02-02 2022-06-15 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erfassen eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs mittels einer Ultraschallsensorvorrichtung durch Bestimmen einer dreidimensionalen Lage eines Objektpunkts, Ultraschallsensorvorrichtung sowie Fahrerassistenzsystem
JP6942254B2 (ja) * 2018-07-03 2021-09-29 三菱電機株式会社 障害物検知装置又は運転支援装置
CN114450604B (zh) 2019-08-08 2025-08-01 神经推进系统股份有限公司 分布式孔径光学测距系统
EP3805777A1 (de) * 2019-10-10 2021-04-14 Toposens GmbH Vorrichtungen und verfahren zur 3d-positionsbestimmung
JP7287331B2 (ja) * 2020-04-02 2023-06-06 株式会社Soken 立体物検出装置
JP7334667B2 (ja) * 2020-04-10 2023-08-29 株式会社デンソー 超音波センサおよびセンサ取付具
CN112363154B (zh) * 2020-10-14 2023-06-20 中国航天科工集团第二研究院 一种基于计算机断层扫描模式的探测识别系统及方法
CN112859089A (zh) * 2021-01-14 2021-05-28 深圳市一指淘科技有限公司 一种异形空间实时移动定位系统
CN115128620A (zh) * 2021-03-26 2022-09-30 上海汽车集团股份有限公司 一种确定对象位置的方法、装置及设备
LU500347B1 (de) * 2021-06-29 2022-12-29 Toposens Gmbh Verfahren beim Ermitteln eines Sendesignals in mehreren empfangenen Signalen
US11899143B2 (en) 2021-07-12 2024-02-13 Robert Bosch Gmbh Ultrasound sensor array for parking assist systems
US12256642B2 (en) 2021-07-12 2025-03-18 Robert Bosch Gmbh Ultrasound transducer with distributed cantilevers
US12150384B2 (en) 2021-07-12 2024-11-19 Robert Bosch Gmbh Ultrasound transducer with distributed cantilevers
CN113532401A (zh) * 2021-07-16 2021-10-22 郑州市市政工程勘测设计研究院 一种无人机测绘方法
EP4160257A1 (en) * 2021-10-01 2023-04-05 GM Cruise Holdings LLC System and method for end of line test and calibration of angular scanning radar
DE102021132716A1 (de) * 2021-12-10 2023-06-15 OSRAM Opto Semiconductors Gesellschaft mit beschränkter Haftung Entfernungssensor und verfahren zum detektieren eines objekts
CN114636394B (zh) * 2022-03-14 2023-11-10 苏州西热节能环保技术有限公司 一种双曲线冷却塔形变风险在线监测方法及其专用系统
WO2024062365A1 (en) 2022-09-23 2024-03-28 Universität Bern Parallax among corresponding echoes
CN115792944B (zh) * 2023-01-29 2023-04-25 深圳煜炜光学科技有限公司 一种配合激光雷达的道路快速定标方法和系统
US20250138173A1 (en) * 2023-10-25 2025-05-01 Providential Innovations, Llc Ultrasonic sensing for measuring objects in spatial environments
DE102023004846A1 (de) * 2023-11-25 2025-05-28 Alexander Knitter Vorrichtung und Verfahren zur Bestimmung von Objektpositionen im dreidimensionalen Raum
DE102024111687A1 (de) * 2024-04-25 2025-10-30 Valeo Schalter Und Sensoren Gmbh Ultraschallmesseinheit

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2515332A (en) * 1943-08-12 1950-07-18 Bell Telephone Labor Inc Object locating system
JP2652058B2 (ja) 1989-03-06 1997-09-10 本田技研工業株式会社 物体検知装置
DE4120397A1 (de) 1991-06-19 1992-12-24 Bosch Gmbh Robert Einrichtung zur messung mittels ultraschall
JP3204087B2 (ja) * 1996-05-08 2001-09-04 三菱電機株式会社 追尾レーダ装置
JP2002350536A (ja) * 2001-05-28 2002-12-04 Matsushita Electric Works Ltd 障害物検知装置
JP2002372577A (ja) * 2001-06-14 2002-12-26 Matsushita Electric Works Ltd 障害物検出装置
JP2003140819A (ja) 2001-11-05 2003-05-16 Fujitsu Ltd 超音波座標入力装置
US6922145B2 (en) * 2002-05-29 2005-07-26 Gregory Hubert Piesinger Intrusion detection, tracking, and identification method and apparatus
DE10260434A1 (de) * 2002-12-21 2004-07-08 Volkswagen Ag Längenmessung mit Radar
DE10327459A1 (de) * 2003-06-18 2005-01-20 Audi Ag Kraftfahrzeug
US7199750B2 (en) * 2005-04-22 2007-04-03 Bbn Technologies Corp. Real-time multistatic radar signal processing system and method
DE102005024716B4 (de) * 2005-05-30 2023-09-21 Robert Bosch Gmbh Verfahren und Vorrichtung zur Erkennung und Klassifizierung von Objekten
EP1731921A1 (en) 2005-06-01 2006-12-13 Nederlandse Organisatie voor toegepast-natuurwetenschappelijk onderzoek TNO Radar system for aircraft
US8139029B2 (en) 2006-03-08 2012-03-20 Navisense Method and device for three-dimensional sensing
JP5444589B2 (ja) * 2006-06-30 2014-03-19 アイシン精機株式会社 情報処理装置、情報処理方法、及び、プログラム
JP2008039497A (ja) 2006-08-03 2008-02-21 Matsushita Electric Works Ltd 障害物検出装置
JP2009265009A (ja) * 2008-04-28 2009-11-12 Murata Mfg Co Ltd 超音波計測装置
GB0916707D0 (en) * 2009-09-23 2009-11-04 Elliptic Laboratories As Acoustic motion determination
EP2491474B1 (en) * 2009-10-23 2018-05-16 Elliptic Laboratories AS Touchless interfaces
US8907929B2 (en) * 2010-06-29 2014-12-09 Qualcomm Incorporated Touchless sensing and gesture recognition using continuous wave ultrasound signals
AU2011323843B2 (en) * 2010-10-25 2015-08-20 Lockheed Martin Corporation Sonar data collection system
US8666656B2 (en) * 2011-03-04 2014-03-04 Mitsubishi Electric Corporation Object detection device and navigation device
US8831708B2 (en) 2011-03-15 2014-09-09 Siemens Aktiengesellschaft Multi-modal medical imaging
DE102011107333A1 (de) * 2011-07-14 2013-01-17 Forschungszentrum Jülich GmbH Positionsbestimmungssystem und Verfahren zum Betreiben
JP6032211B2 (ja) * 2011-12-12 2016-11-24 株式会社村田製作所 位置測定装置
DE102012223418B4 (de) * 2012-12-17 2022-02-03 Siemens Healthcare Gmbh Vorrichtung und Verfahren zur Bestimmung der Lage eines medizinischen Instruments
SI2804013T1 (sl) * 2013-05-13 2015-08-31 Kapsch Trafficcom Ag Naprava za merjenje položaja vozila ali površine le-tega
DE102013107242B4 (de) * 2013-07-09 2018-09-20 Deutsches Zentrum für Luft- und Raumfahrt e.V. Ermittlung einer Position eines mobilen Empfängers
JP6021755B2 (ja) * 2013-07-16 2016-11-09 三菱電機株式会社 障害物検知装置
CN103344959B (zh) * 2013-07-22 2016-04-20 苏州触达信息技术有限公司 一种超声定位系统和具有定位功能的电子装置
US10375501B2 (en) * 2015-03-17 2019-08-06 Universitat Zu Lubeck Method and device for quickly determining location-dependent pulse responses in signal transmission from or into a spatial volume

Also Published As

Publication number Publication date
CN107407723A (zh) 2017-11-28
WO2016146292A1 (de) 2016-09-22
US10698094B2 (en) 2020-06-30
JP6789999B2 (ja) 2020-11-25
EP3271745A1 (de) 2018-01-24
KR20180011056A (ko) 2018-01-31
US20180074177A1 (en) 2018-03-15
DE102015003584A1 (de) 2016-09-22
KR102559855B1 (ko) 2023-07-27
JP2018513981A (ja) 2018-05-31

Similar Documents

Publication Publication Date Title
CN107407723B (zh) 用于3d位置确定的方法和设备
CN104136935B (zh) 用于检测机动车周围环境中的对象的方法和装置
US8767509B2 (en) Method and device for measuring a contour of the ground
CN105954722B (zh) 室内定位优化方法、装置及室内超声测距系统
US20220075048A1 (en) Three-dimensional positioning method and apparatus
CN112805552A (zh) 用于确定测量对象中的缺陷的THz测量设备和THz测量方法
Shishanov et al. Height-finding for automotive THz radars
JP2012108122A (ja) 海底音響映像システム
CN119414395A (zh) 一种水中目标声学ct三维成像和坐标定位的装置及方法
US9285468B2 (en) Extended angular resolution in sensor arrays using secondary echoes
CN111801707A (zh) 一种点云重采样的方法、装置和系统
AU2014298574B2 (en) Device for assisting in the detection of objects placed on the ground from images of the ground taken by a wave reflection imaging device
JP7220246B2 (ja) 位置検出方法、装置、機器及び読み取り可能な記憶媒体
Walter et al. Locating of objects with discontinuities, boundaries and intersections using a compact ultrasonic 3D sensor
CN103197320B (zh) 船在纵摇情况下利用海底回波理论测量船速的方法
Kleeman On-the-fly classifying sonar with accurate range and bearing estimation
EP4505414A1 (en) Methods of generating 3-d maps of hidden objects using non-ranging feature-detection data
Rajai et al. Binaural sonar system for simultaneous sensing of distance and direction of extended barriers
CN108931775A (zh) 超声波的测量方法和装置
CN113970747A (zh) 用超声传感器系统检测周围物体的方法和装置及超声传感器系统
KR101858153B1 (ko) 초음파분석기
Kreczmer DOA Estimation of Ultrasonic Signal by Indirect Phase Shift Determination
KR101840328B1 (ko) 3d 레이저 스캐너
Ballantyne Distance Measurement
Kreczmer Direction of Echo Arrival Estimation by Indirect Determination of the Phase Shift

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20230607

Address after: Munich, Germany

Patentee after: Massons Ltd.

Address before: Munich, Germany

Patentee before: Toposens GmbH

TR01 Transfer of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20210507

CF01 Termination of patent right due to non-payment of annual fee