CN107576957A - Sensor and presumption method - Google Patents
Sensor and presumption method Download PDFInfo
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- CN107576957A CN107576957A CN201710416994.9A CN201710416994A CN107576957A CN 107576957 A CN107576957 A CN 107576957A CN 201710416994 A CN201710416994 A CN 201710416994A CN 107576957 A CN107576957 A CN 107576957A
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Abstract
This disclosure relates to sensor and presumption method.The sensor possesses：Transmission antenna, it has the N number of transmission antenna element for sending signal；Reception antenna, its have respectively receive include it is N number of send signal in reflected by organism after reflected signal N number of reception signal M reception antenna element；Circuit；And memory, circuit perform：According to each reception signal, extraction the 2nd matrix corresponding with scheduled frequency range from the 1st matrix for the N × M for representing the propagation characteristic between each transmission antenna element and each reception antenna element, the position present in organism is estimated using the 2nd matrix, RCS (Rader cross section) value to organism is calculated based on the position and transmission that deduce and the position of reception antenna, using the RCS values calculated and RCS values and the information of the corresponding relation of the posture of organism are represented, estimates the posture of organism.
Description
Technical field
This disclosure relates to estimate the sensor of the posture of organism and presumption method by using wireless signal.
Background technology
As the method for the position for knowing personage etc., be investigated using the method for wireless signal (referring for example to
Patent document 1~3).Patent Document 1 discloses the method for the living body detection using doppler sensor, in patent document 2
Disclose action, the method for Biont information using doppler sensor and filter detection people.Patent Document 3 discloses
The composition for including Doppler frequency shift (doppler shift) is parsed by using Fourier transform, can be known as detection
The position of the personage of object, state.In addition, Patent Document 4 discloses with the channel information of multiple antennas, various heat transfer agents
Based on and the method that estimates by machine learning the position of organism and/or state, Patent Document 5 discloses multiple days
Line, ultrasonic radar, the condition estimation method of organism based on multiple antennas.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Application Publication 2014-512526 publications
Patent document 2：International Publication No. 2014/141519
Patent document 3：Japanese Unexamined Patent Publication 2015-117972 publications
Patent document 4：Japanese Unexamined Patent Publication 2014-190724 publications
Patent document 5：Japanese Unexamined Patent Publication 2005-292129 publications
Patent document 6：Japanese Unexamined Patent Publication 2001-159678 publications
The content of the invention
Invent problem to be solved
However, in order that improved by using wireless signal come the precision estimated to the posture of organism, it is necessary to enter
The improvement of one step.
Technical teaching for solving the problem was
To achieve these goals, the sensor that a mode of the disclosure is related to, possesses：Transmission antenna, it has N number of
Transmission antenna element, N are more than 2 natural numbers, and N number of transmission antenna element is respectively to organism predetermined model that may be present
Enclose transmission and send signal；Reception antenna, it has M reception antenna element, and M is more than 2 natural number, the M reception day
Kind of thread elements receives respectively leads to including the part transmission signal in N number of transmission signal by N number of transmission antenna element transmission
The N number of reception signal for the reflected signal crossed after the organism reflection；Circuit；And memory, the circuit, according to described
Each of the N number of reception signal received in each of M reception antenna element with the scheduled period, calculates N × M's
1st matrix, the 1st matrix of the N × M is to represent each and M reception antenna member of N number of transmission antenna element
Each complex transfer function (complex transmission function) of propagation characteristic between each of part as into
Point, by extracting the 2nd matrix corresponding with scheduled frequency range in the 1st matrix, extract and by the organism
2nd square corresponding to the composition of the influence of sign (vital) activity of at least one party including breathing, heartbeat and body in dynamic
Battle array, using the 2nd matrix, is estimated position of the organism present in relative to the sensor, is deduced based on described
Position, the position of the transmission antenna and the position of the reception antenna, calculate and represent the organism and the transmission day
1st distance of the distance of line and the expression organism and the 2nd distance of the distance of the reception antenna, use the described 1st
Distance and the 2nd distance, calculate the RCS i.e. RCS (Rader cross-section) to the organism
Value, it is corresponding with the posture of the organism using the RCS values calculated and the expression RCS values for being stored in the memory
The information of relation, estimate the posture of the organism.
Invention effect
According to the disclosure, by using wireless signal, the short time and pushing away for the posture of organism can be accurately carried out
It is fixed.
Brief description of the drawings
Fig. 1 is the block diagram of one of the composition for representing the sensor in embodiment 1.
Fig. 2 is the block diagram for the functional structure for representing circuit and memory in embodiment 1.
Fig. 3 shows one of the information of the expression corresponding relation in embodiment 1.
Fig. 4 is the flow chart of one of the work for representing the sensor in embodiment 1.
Fig. 5 is the block diagram of one of the composition for representing the sensor in embodiment 2.
Fig. 6 is the block diagram for the functional structure for representing circuit and memory in embodiment 2.
Fig. 7 shows one of the information of the expression corresponding relation in embodiment 2.
Fig. 8 is the effect for representing the sensor for confirming embodiment 2 and the figure of the summary of experiment implemented.
Fig. 9 is the figure for representing the experimental result using the experimental system shown in Fig. 8.
Figure 10 is the concrete examples of 1RCS scopes~4RCS scopes and the 1st height for representing to obtain from experimental result
The figure of the concrete example of the altitude range of scope~the 4th.
Label declaration
10、10A：Sensor
20、20A：Transmission antenna
21、21A：Transmission antenna element
30、30A：Reception antenna
31、31A：Reception antenna element
40、40A：Circuit
41：Memory
42、42A：Represent the information of corresponding relation
50、50A：Organism
410：Complex transfer function calculating section
420：Biological component calculating section
430：Position deduction processing unit
430A：Three-dimensional position estimates processing unit
440：RCS calculating sections
450：Posture presumption unit
Embodiment
(the basic opinion for turning into the disclosure)
For the prior art relevant with the state using wireless signal presumption organism, inventor has carried out detailed grind
Study carefully.That is, can detect people as a result, known, there are the following problems in the method for patent document 1 and patent document 2, although
The presence of thing, it is not present, but the direction present in personage, position, size, posture etc. can not be detected.
Additionally, it is known that in the method for patent document 3, there are the following problems, i.e., is difficult to the short time and accurately to people
Detected the position present in direction and/or organism present in the organisms such as thing.The reason is that by coming from organism
Frequency change caused by the Doppler effect of activity is minimum, in order to be changed by Fourier transform to observe the frequency,
Need the observation of the long-time (such as several tens of seconds) in the state of organism is static.In addition, reason is in general to give birth to
Object can seldom continue identical posture and/or position in several tens of seconds.
Furthermore, it is known that there are problems that having in patent document 4 by each user come carry out machine learning this, separately
Outside, patent document 5 has installation question, the Cost Problems that multiple ultrasonic wave antenna are set in the wide scope of ceiling.
Inventor problem above is repeated research as a result, being found that by using from including being placed on different positions
The transmission antenna of the antenna element put send and reflected by organism after reflected signal propagation characteristic and scattering section, can
Short time and the presumption to the direction present in the organism, position, size, posture etc. is accurately carried out, obtained this public affairs
Open.
(1) sensor that a technical scheme of the disclosure is related to, possesses：Transmission antenna, it has N number of transmission antenna member
Part, N are more than 2 natural numbers, and N number of transmission antenna element is sent to organism preset range that may be present respectively
Signal；Reception antenna, it has M reception antenna element, and M is more than 2 natural number, the M reception antenna element difference
The part transmission signal received in the N number of transmission signal for including being sent by N number of transmission antenna element passes through the biology
N number of reception signal of reflected signal after body reflection；Circuit；And memory, the circuit, day is received according at described M
Each of the N number of reception signal received in each of kind of thread elements with the scheduled period, N × M the 1st matrix is calculated,
The 1st matrix of the N × M with represent N number of transmission antenna element each is each with the M reception antenna element
Each complex transfer function of propagation characteristic between individual is as composition, by extracting in the 1st matrix and scheduled frequency range
Corresponding 2nd matrix, extraction are lived with being included the sign of at least one party during breathing, heartbeat and body move by the organism
2nd matrix corresponding to the composition of dynamic influence, using the 2nd matrix, the organism is estimated relative to the sensing
Position present in device, based on the position of the position deduced, the position of the transmission antenna and the reception antenna, calculate
Go out the 1st distance of the distance for representing the organism and the transmission antenna and represent the organism and the reception antenna
Distance the 2nd distance, using the described 1st distance and the 2nd distance, calculate and the RCS i.e. radar of the organism dissipated
Section (Rader cross-section) value is penetrated, uses the RCS values calculated and the expression RCS for being stored in the memory
Value and the information of the corresponding relation of the posture of the organism, estimate the posture of the organism.
Therefore, it is possible to the short time and accurately carry out position present in organism and the organism in the position
The presumption of posture.
(2) in the above-mentioned technical solutions, or, the scheduled period be the breathing of the organism, heartbeat and
The substantially half in the cycle of at least one party during body is dynamic.
Pushed away therefore, it is possible to effectively carry out the posture of position present in organism and the organism in the position
It is fixed.
(3) in the above-mentioned technical solutions, or, the circuit, estimate whether the organism is to face and institute
State the posture in the vertical direction of orientation of transmission antenna and the reception antenna.
(4) in the above-mentioned technical solutions, or, the N is more than 3 natural number, N number of transmission antenna element
In at least three transmission antenna element be arranged respectively at vertical direction and the different position of horizontal direction, the M is more than 3
Natural number, at least three reception antenna element in the M reception antenna element is arranged respectively at vertical direction and level
The different position in direction, represent that the information of the corresponding relation is denoted as the organism relative to present in the sensor
Vertical direction on the upright position of position, the corresponding relation of RCS values and the posture of the organism, representing the correspondence
The posture of the organism corresponding to being established in the information of relation includes upright, vertical leg seat, tailor seat and lain on the back, the electricity
Road, using the 2nd matrix, estimate the three-dimensional position including the upright position, using it is described deduce described three
Dimension position, the RCS values calculated and the information for representing the corresponding relation for being stored in the memory, estimate the life
The posture of object is upright, the leg that hangs down is sat, tailor seat and which of is lain on the back.
Therefore, it is possible to the short time and accurately carry out three-dimensional position present in organism and in the three-dimensional position
The presumption of the posture of organism.
In addition, the disclosure can not only be realized as device, and can be used as integrated circuit to realize, the collection
Possess this device possessed processing unit into circuit, or as making the processing unit of the composition device turn into the method for step
To realize, as making computer perform the programs of these steps to realize, as information, data or the signal for representing the program
To realize.Moreover, these programs, information, data and signal can also pass through the recording mediums such as CD-ROM and/or internet etc.
Communication media is issued.
Hereinafter, using accompanying drawing, embodiment of the present disclosure is illustrated in detail.In addition, embodiment party described below
Formula represents a preferable concrete example for the disclosure.The numerical value that represents in the following embodiments, shape, material, composition
Key element, the allocation position of inscape and connected mode, step, the order of step etc. are only one, it is not intended that limit this
It is open.In addition, for upper concept in the inscape in following embodiment, not being documented in the expression disclosure
Independent claims in inscape, illustrated as the arbitrary inscape for forming more preferred mode.This
Outside, in this specification and accompanying drawing, identical label is assigned to the inscape with substantially identical functional structure, thus
Omit repeat specification.
(embodiment 1)
Fig. 1 is the block diagram of one of the composition for representing the sensor in embodiment 1.
As shown in figure 1, sensor 10 possesses transmission antenna 20, reception antenna 30, circuit 40 and memory 41.Sensor
10 launch microwave by transmission antenna 20 to the organisms such as people 50, and the reflection after being reflected by organism 50 is received with reception antenna 30
Ripple.Here, using the 1st reference direction arbitrarily set to transmission antenna 20 and as from transmission antenna 20 to the direction of organism 50
The 1st organism direction formed by angle be set to θT.Similarly, by the 2nd reference direction arbitrarily set to reception antenna 30 with making
To be set to θ from reception antenna 30 to angle formed by the 2nd organism direction in the direction of organism 50R.In addition, the 1st reference direction,
1st organism direction, the 2nd reference direction and the 2nd organism direction are the directions on horizontal plane.
Transmission antenna 20 has N number of (N is more than 2 natural number) transmission antenna element 21.Transmission antenna 20, which has, passes through N
The array antenna that the 1st predetermined direction that individual transmission antenna element 21 is arranged in the horizontal plane is formed.N number of transmission antenna member
Each of part 21 sends signal to organism preset range that may be present.That is, transmission antenna 20 is from difference
N at position send N number of transmission signal to preset range.In addition, organism preset range that may be present refers to sensor
The detection range that the presence of 10 pairs of organisms is detected.
Specifically, each of N number of transmission antenna element 21 is entered using microwave as signal is sent to the organisms such as people 50
Row transmitting.After N number of transmission antenna element 21 can also will carry out different modulation treatments by each transmission antenna element 21
Signal is sent as signal is sent.Adjusted in addition, each of N number of transmission antenna element 21 can also in turn switch transmission
Signal processed and unmodulated signal.Modulation treatment can also be carried out by transmission antenna 20.In this way, by by N number of transmission antenna
The transmission signal sent from N number of transmission antenna element 21 is set to different transmission signal, energy by each of element 21
Enough transmission antenna elements 21 for determining to have sent the transmission signal received by reception antenna 30.In this way, transmission antenna 20 also may be used
With including the circuit for being modulated processing.
Reception antenna 30 has M (M is more than 2 natural number) reception antenna elements 31.Reception antenna 30, which has, passes through M
The array antenna that the 2nd predetermined direction that individual reception antenna element 31 is arranged in the horizontal plane is formed.M reception antenna member
Each reception of part 31 includes N number of reception signal of reflected signal, and the reflected signal is by biology in N number of transmission signal
Signal after the reflection of body 50.Reception antenna 30 carries out frequency transformation to the reception signal formed by microwave, is transformed to low frequency letter
Number.Reception antenna 30 is by by being transformed to low-frequency signals the signal output that obtains to circuit 40.That is, reception antenna
30 can also include being used for the circuit for handling reception signal.
Circuit 40 performs the various processing for making sensor 10 work.Circuit 40 is for example configured to include：Perform control program
Processor；(saving is hosted with the storage region of the volatibility of used workspace when being used as performing the control program
Put).The storage region of volatibility is, for example, RAM (Random Access Memory, random access memory).In addition, circuit
40 can also be made up of the special circuit of the various processing for carrying out making sensor 10 work.That is, circuit 40
Both can be the circuit for carrying out software processing or the circuit for carrying out hardware handles.
Memory 41 is non-volatile storage region (auxilary unit), e.g. ROM (Read Only
Memory, read-only storage), flash memory, HDD (Hard Disk Drive, hard disk drive) etc..Memory 41 is for example stored with
The information that the various processing for making sensor 10 work are utilized.
Then, the functional structure of circuit 40 is illustrated using Fig. 2.
Fig. 2 is the block diagram for the functional structure for representing circuit and memory in embodiment 1.
Circuit 40 have complex transfer function calculating section 410, biological component calculating section 420, position deduction processing unit 430,
RCS calculating sections 440 and posture presumption unit 450.
Complex transfer function calculating section 410 calculates complex transfer function according to the reception signal for being transformed to low frequency signal.It is multiple to transmit
Function refers to showing the propagation loss and phase place between each transmission antenna element 21 and each reception antenna element 31
Function.Complex transfer function is in the case that N number of, reception antenna parts number is M, to turn into M × N in transmission antenna parts number
The complex matrix of individual composition.Below, the complex matrix is referred to as complex transfer function matrix.The complex transfer function matrix calculated is exported to
Biological component calculating section 420.That is, complex transfer function calculating section 410 is according in each of M reception antenna element 31
Each of the multiple reception signals received in individual with the scheduled period, calculate N × M the 1st matrix, the 1st square of the N × M
Battle array is to represent the propagation characteristic between each each with M reception antenna element 31 of N number of transmission antenna element 21
Each complex transfer function is as composition.
Complex transfer function matrix is separated into according to the reception signal via organism 50 by biological component calculating section 420
And obtain complex transfer function matrix compositions and according to the complex transfer function not obtained via the reception signal of organism 50
Matrix compositions.Refer to producing the composition of time-varying according to organism activity via the composition of organism 50.Thus, on warp
, can be according to by the way that letter will be transmitted again by the composition of organism 50, such as in the case of static in addition to organism 50
The composition of matrix number carries out the composition that Fourier transform is obtained on time orientation, is entered by taking out the composition beyond direct current
Row extraction.In addition, for example also it can be not present in preset range with organism 50 by taking out via the composition of organism 50
When the result that is observed between residual quantity exceeded the composition of predetermined threshold to be extracted.In this way, biological component calculates
Portion 420 is by extracting according to the complex transfer function matrix for including being obtained via the reception signal of the reflected signal of organism 50
Composition, calculate extracted complex transfer function matrix compositions and be used as biological component.That is, biological component calculates
Extracted by extracting the 2nd matrix corresponding with scheduled frequency range in the 1st matrix with being included exhaling by organism in portion 420
2nd matrix corresponding to the composition of the influence of the sign activity including at least one party during suction, heartbeat and body are dynamic.Preset frequency model
Enclose the frequency for the sign activity including at least one party in dynamic of breathing, heartbeat and body for being for example derived from above-mentioned organism
Rate scope.Scheduled frequency range is, for example, the frequency range more than or equal to 0.1Hz and less than or equal to 3Hz.Thereby, it is possible to extract by
To heart, lung, diaphragm, internal organ movable organism 50 the sign activity at position or the sign activity of hand, pin etc.
The biological component of influence.In addition, the position of the movable organism 50 of heart, lung, diaphragm, internal organ for example refers to people's
Pit of the stomach.
Here, biological component is the matrix for having M × N number of composition, from according to the scheduled period in reception antenna 30
The reception signal observed and the complex transfer function that obtains extract.Therefore, biological component be used as with frequency response or
The composition of time response information.In addition, the scheduled period be organism breathing, heartbeat and body it is dynamic at least one party cycle
Substantially half during.
The biological component calculated by biological component calculating section 420 is exported to position deduction processing unit 430.Position pushes away
Determine processing unit 430 and carried out using the biological component being calculated the position deduction of organism.That is, position deduction is handled
Portion 430 uses the 2nd matrix, position of the presumption organism 50 present in relative to sensor 10.In position deduction, estimate from hair
The angle of departure θ of antennas 20TWith the arrival angle θ to reception antenna 30RThe two angles, and trigonometry is utilized, according to what is estimated
Angle of departure θTAnd arrival angle θRTo estimate the position of organism 50.
RCS calculating sections 440 calculate scattering section (RCS using biological component and the position deduced：Radar
Cross Section).Specifically, RCS calculating sections 440 based on the position deduced, send day to calculate scattering section
The position of line 20 and the position of reception antenna 30, calculate distance RT and distance RR, and distance RT represents organism 50 with sending day
The distance of line 20, distance RR represent organism 50 and the distance of reception antenna 30.RCS calculating sections 440 are according to the distance RT calculated
And distance RR to be to calculate propagation distance, and RCS is calculated using the propagation distance and the intensity of biological component that calculate.This
Outside, the position of transmission antenna 20 and the position of reception antenna 30 can be pre-stored within memory 41.
Posture presumption unit 450 uses the RCS values calculated by RCS calculating sections 440 and the expression RCS for being stored in memory 41
Value and the information 42 of the corresponding relation of the posture of organism 50, estimate the posture of organism 50.In addition, it is stored in memory 41
The information 42 for representing the corresponding relation of the posture of RCS values and organism 50 refer to as shown in figure 3, represent in advance to by lying on the back,
Tailor seat, the leg that hangs down are sat and the information of the scope of the RCS values of upright represented each posture association.In addition, expression of lying on the back is faced upward
Posture upward, the leg that hangs down sit the posture for representing to be sitting on chair.
For example, it is associated with 1RCS scopes to lie on the back, tailor seat is associated with 2RCS scopes, and the leg that hangs down is sat and 3RCS models
Enclose it is associated, it is uprightly associated with 4RCS scopes.In addition, 1RCS scopes~4RCS scopes are different RCS values
Scope.
Then, the detailed content of the operation principle of the sensor 10 of embodiment 1 is illustrated using numerical expression.In addition, herein
The method for representing to extract biological component using Fourier transform.Processing described herein is carried out by circuit 40.Will hair
Complex transfer function matrix between antennas 20 and reception antenna 30 is defined as formula 1.
Here, t represents the moment.If carrying out Fourier transform to each composition of formula 1, the frequency as formula 2 can be obtained
Response matrix.
Here, f represents frequency, each composition of frequency response matrix is plural number.In the frequency response matrix, include from
Propagation composition that organism 50 passes through and propagation composition this both sides passed through beyond organism 50.Consider it is quiet beyond organism
In the case of stopping, it is believed that the flip-flop of frequency response matrix, i.e. G (0) mainly include the propagation composition beyond organism.
It is the reason is that more due to occurring the sign activity for including at least one party during breathing, heartbeat and body move because of organism
General Le frequency displacement, it can thus be assumed that the composition passed through from organism is contained in outside f=0.Furthermore if consider organism breathing or
The frequency and its higher hamonic wave of person's heartbeat, it is believed that the composition for coming from organism is present in f more<In the range of 3 (Hz).Therefore,
As long as such as take out scheduled frequency range 0 (Hz)<f<3 (Hz) G (f), it becomes possible to efficiently extract biological component.
Then, the organism locus presumption method using biological component G (f) is illustrated.By biological component square
Battle array G (f) is rearranged for vector form as formula 3.It is defined as biological component vector.
G (f)=[g11..., g (t)M1(t), g12..., g (t)N2..., g (t)1M..., g (t)NM(t)]T... (formula
3)
Here, { }TRepresent transposition.According to biological component vector g (f), correlation matrix is calculated by formula 4.
Here, { }HRepresent complex conjugate transposition.Furthermore R is in 0 (Hz)<f<Averaged between 3 (Hz).It is known logical
The equalization is crossed, position deduction precision described later will improve.Then, by carrying out characteristic value point to the correlation matrix R calculated
Solution, calculate the correlation matrix R characteristic vector U and its complex conjugate transposed vector UH。
R=UDUH... (formula 5)
In addition, the characteristic vector in formula 5 is represented by formula 6 as shown below.
U=[uI..., uMN] ... (formula 6)
Here, uiThe characteristic vector of the i-th row is represented, first prime number is NM.D is the diagonal matrix that diagonal element is characterized value,
It is expressed as formula 7.
D=diag [λ1..., λMN] ... (formula 7)
Here, diag [] represents that diagonal item has the diagonal matrix of the element in [].The letter more than use of circuit 40
Breath, carries out the position deduction to the organism 50 as detection object.Here, as one, to based on MUSIC (MUltiple
SIgnal Classification, multiple signal classification) the position deduction method of method illustrates.MUSIC methods be by using
Be referred to as steering vector (steering vector) direction vector and by the characteristic vector shown in formula 6 come estimate direction and/or
The method of position.By the biological component vector shown in formula 3 by the way that original M × N matrix is deformed to obtain.In order to enter
The position deduction of row organism 50, it is necessary to define steering vector correspondingly.The 1st reference direction with transmission antenna 20 is in
Angle of departure θTThe 1st organism direction steering vector and be in arrival angle θ with the 2nd reference direction of reception antenna 30RThe 2nd life
The steering vector in object direction is expressed as formula 8, formula 9.
Here, k represents wave number, d represents the element spacing of each antenna element of aerial array.In addition, in present embodiment
In assume element spacing fix linear array antenna.Such as in transmission antenna 20, d represents multiple transmission antenna elements 21
In the interval of two transmission antenna elements 21 that adjoins each other.In addition, in reception antenna 30, d represents multiple reception antenna members
The interval of the two reception antenna elements 31 to be adjoined each other in part 31.If ask for the Kronecker of these steering vectors
(Kronecker) product, then as formula 10.
Here,It is the operator for representing Kronecker product.a(θT, θR) it is the vector with MN × 1 element, turn into tool
There is angle of departure θTWith arrival angle θRThe function of the two variables.Below, by a (θT, θR) it is defined as steering vector.If it will be present in
The quantity of organism in detection range is set to L, then determines organism locus by the evaluation function of formula 11.
Here, the evaluation function of formula 11 is referred to as MUSIC spectrums, respectively from transmission antenna 20 and the direction of reception antenna 30
Combination (the θ in the direction of detection objectT, θR) in take greatly.According to very big corresponding θTAnd θR, can be come using trigonometry
It is determined as the position of the organism 50 of detection object.Here, L represents the quantity of detection object.That is, characteristic vector
Quantity MN needs bigger than the quantity L of detection object.
Furthermore RCS values are asked for by formula 12, and organism 50 is estimated according to the position of organism 50 and RCS values
Posture.If the above-mentioned frequency range extracted is set to f1~f2(f1<f2), then reflect and observe according to from organism
Channel composition to ask for the carry-over factor of power when, formula 12 can be calculated as.
Here, ρij(i, j) individual element of the matrix of expression 13.
On the other hand, the work(of i-th of reception antenna element 31 is reached via organism 50 from j-th of transmission antenna element 21
Rate is expressed as formula 14.
Here, PtRepresent transmit power.Equal power is sent in addition, setting from all transmission antenna elements 21.GtRepresent
The actual gain (actual gain) of transmission antenna 20, GrRepresent the actual gain of reception antenna 30, R1Represent from transmission antenna
20 arrive the distance of organism 50, R2Represent from organism 50 to the distance of reception antenna 30.Distance R1And distance R2Being capable of basis
The position that is deduced by formula 11 readily calculates.So, the power transfer coefficient defined in formula 12 can pass through ρij=Prij/
PtTo represent, therefore, scattering section can calculate according to formula 15.
In addition, the scattering section handled herein and the overall scattering section of inorganic matter 50, and consider be only with due to by
To the sign activity for the organism 50 such as breathing, heartbeat, body be dynamic influence and caused variance components corresponding to scattering section.Again
Person, the progress mean deviation of whole elements is asked for into average scattering cross section by formula 16.
Below, willIt is single to be referred to as scattering section.
In addition, being without doubt, such as composition is moved in the sign composition and body for further discretely determining organism
In the case of, as long as the frequency range of adjustment type 12, the processing after carrying out.
Then, work of the process for using figure to the sensor 10 in embodiment 1 illustrates.
Fig. 4 is the flow chart of one of the work for representing the sensor in embodiment 1.
In sensor 10, N number of transmission antenna element 21 of transmission antenna 20 is to the predetermined model that may be present of organism 50
Enclose, N number of transmission signal (S11) is sent using N number of transmission antenna element 21.
M reception antenna element 31 of reception antenna 30 receives the N number of transmission signal for including being sent by transmission antenna 20 and led to
Cross N number of reception signal (S12) of multiple reflected signals after organism 50 is reflected.
Circuit 40 is according to the N number of reception signal received in each of M reception antenna element 31 with the scheduled period
Each, calculate N × M the 1st matrix, the 1st matrix of the N × M with represent N number of transmission antenna element 21 each with
Each complex transfer function of propagation characteristic between each of M reception antenna element 31 is as composition (S13).
Circuit 40 is extracted and by organism by extracting the 2nd matrix corresponding with scheduled frequency range in the 1st matrix
2nd matrix corresponding to the composition of the influence of the 50 sign activity for including at least one party during breathing, heartbeat and body move
(S14)。
Circuit 40 uses the 2nd matrix, and presumption organism 50 is relative to the position (S15) present in sensor 10.
Position of the circuit 40 based on position, the position of transmission antenna 20 and the reception antenna 30 deduced, calculates the 1st distance
And the 2nd distance, the 1st distance represent organism 50 and the distance of transmission antenna 20, the 2nd distance represents organism 50 with receiving day
The distance (S16) of line 30.
Circuit 40 calculates the RCS values (S17) to organism 50 using the 1st distance and the 2nd distance.
Circuit 40 is corresponding with the posture of organism 50 using the RCS values calculated, the expression RCS values for being stored in memory 41
The information 42 of relation, estimate the posture (S18) of organism 50.
According to sensor 10 of the present embodiment, the short time and the position where organism 50 can be accurately carried out
Put and the position organism posture presumption.
Sensor 10 detects the presence of organism 50 by detecting movable position.Thus, for example by adding to this
To utilize, can estimate people whether be the state (live body) to live and be upright, the leg that hangs down is sat, tailor seat and which in lying on the back
One posture.Thereby, it is possible to effectively enter the existence confirmation of pedestrian.In addition, without entering to the image photographed by camera
The existence that row image analysis can just enter pedestrian confirms, therefore, it is possible to enter the existence of pedestrian in the state of the privacy of protection people
Confirm.
(embodiment 2)
Fig. 5 is the block diagram of one of the composition for representing the sensor in embodiment 2.Fig. 6 is represented in embodiment 2
The block diagram of the functional structure of circuit and memory.
Compared with the sensor 10 in embodiment 1, transmission antenna 20A is had sensor 10A in embodiment 2
N number of transmission antenna element 21A and reception antenna 30A possessed by M reception antenna element 31A configuration mode it is different.
In addition, N and M be respectively more than 3 natural number in place of it is also different.
Transmission antenna 20A has N number of transmission antenna element 21A.Transmission antenna 20A has by with (x side in the horizontal direction
To) arrangement NXIt is individual and vertical direction (z directions) arrange NZN number of (N=N that individual mode rectangular arrangement goes outX×NZ) send day
Kind of thread elements 21A and the array antenna formed.That is, at least three transmission antenna element in N number of transmission antenna element 21A
21A is configured at vertical direction and the different position of horizontal direction.
Reception antenna 30A has M reception antenna element 31A.Reception antenna 30A has by with (x side in the horizontal direction
To) arrangement MXIt is individual and vertical direction (z directions) arrange MZM (the M=M that individual mode rectangular arrangement goes outX×MZ) receive day
Kind of thread elements 31A and the array antenna formed.That is, at least three reception antenna element in M reception antenna element 31A
31A is configured at vertical direction and the different position of horizontal direction.
Here, the 1st reference direction is set with angle formed by the 1st organism direction as ФT, the 1st reference direction is to hair
The direction on horizontal plane that antennas 20A is arbitrarily set, the 1st organism direction are from transmission antenna 20A to organism 50A
Direction.In addition, it is θ to be provided as the elevation angle of the organism 50A at angle formed by vertical direction and the 1st organism directionT.In addition,
It is Ф to be provided as the elevation angle of the organism 50A at angle formed by the 2nd reference direction and the 2nd organism directionR, the 2nd benchmark side
To being direction on the horizontal plane arbitrarily set to reception antenna 30A, the 2nd organism direction be from reception antenna 30A to
Organism 50A direction.In addition, vertical direction is set with angle formed by the 2nd organism direction as θR.If set organism 50A
The centre coordinate for carrying out the position of sign activity is (xb, yb, zb), then according to transmission antenna 20A, reception antenna 30A and biology
Body 50A position relationship, direction (θT, θR, ФT, ФR) and coordinate (xb, yb, zb) line translation can be entered mutually.
In addition, sensor 10A, compared with sensor 10, the processing that circuit 40A is carried out is different.Organism 50A is for example
It is in height z compared with surroundingbCarry out the organism of most strong sign activity.Organism 50A by breathing for example with being caused
The maximum belly of surface displacement.In the sensor 10A of present embodiment, estimate except by the biography in embodiment 1
The organism 50 that sensor 10 is estimated is beyond the position of horizontal plane, in addition to the height of organism 50A such as belly
Three-dimensional position, the height are as the upright position z in the position of vertical directionb(position in z-axis direction).That is,
The position deduction processing unit 430 of the sensor 10A of present embodiment circuit 40 of the circuit 40A substitutions with embodiment 1, and
With estimate the processing of above-mentioned three-dimensional position, three-dimensional position presumption processing unit 430A.
In addition, sensor 10A compared with sensor 10, is stored in the information 42A of the expression corresponding relation of memory 41
It is different.In the present embodiment, it is stored in the information of the corresponding relation of the expression RCS values of memory 41 and the posture of organism 50
42A refer to as shown in fig. 7, represent in advance to by lying on the back, tailor seat, the leg that hangs down is sat and the association of upright represented each posture
RCS values scope and height scope information.For example, it is associated with 1RCS scopes and the 1st altitude range to lie on the back,
Tailor seat is associated with 2RCS scopes and the 2nd altitude range, and the leg that hangs down is sat related to 3RCS scopes and the 3rd altitude range
Connection, it is uprightly associated with 4RCS scopes and the 4th altitude range.In addition, 1RCS scopes~4RCS scopes are each not phases
The scope of same RCS values.In addition, the 1st altitude range~the 4th altitude range be different height scope.
Sensor 10A other compositions are identical with sensor 10, therefore, form, assign and the phase of embodiment 1 for corresponding
Simultaneously the description thereof will be omitted for same label.
The sensor 10A of present embodiment except by the sensor 10 in embodiment 1 estimated in horizontal plane
Organism 50 position, also presumption as the organism 50 in vertical direction position upright position.
Then, the detailed of the sensor 10A of embodiment 2 operation principle is illustrated using numerical expression.From formula 1 to formula 4, with
Embodiment 1 carries out same processing, and by formula 4, correlation matrix is obtained from biological componentR with
Embodiment 1 is similarly in 0 (Hz)<f<Averaged between 3 (Hz).
Then, Eigenvalues Decomposition is carried out likewise by the correlation matrix R calculated with formula 5, calculates U=[u1...,
uMN] and D=diag [λ1..., λMN].Below, to being carried out using the position deduction method including short transverse of MUSIC methods
Explanation.Represent from transmission antenna 20A towards organism 50A (θT、ФT) direction steering vector and represent from reception antenna
(θs of the 30A towards organism 50AR、ФR) steering vector in direction shows as formula 17, formula 18 respectively.
Here,
Here, k represents wave number, dTxAnd dTzElements of the transmission antenna element 21A in x directions and z directions is represented respectively
Interval, dRxAnd dRzElement spacings of the reception antenna element 31A in x directions and z directions is represented respectively.In addition, in this implementation
In mode, it is assumed that the linear array antenna that element spacing is fixed in the same direction.
dTxSuch as represent the two transmission antenna element 21A to be adjoined each other in the x direction in multiple transmission antenna element 21A
Interval.dTzSuch as represent the two transmission antenna element 21A to be adjoined each other in a z-direction in multiple transmission antenna element 21A
Interval.In addition, dRxSuch as represent the two reception antenna members to be adjoined each other in the x direction in multiple reception antenna element 31A
Part 31A interval.In addition, dRzSuch as represent the two reception days to be adjoined each other in a z-direction in multiple reception antenna element 31A
Kind of thread elements 31A interval.If asking for the Kronecker product of these steering vectors, as formula 21.
Steering vector a (θT, φT, θR, φR) it is the vector with MN × 1 element, turn into angle of departure θT、ФTWith
Arrival angle θR、ФRThe function of this four variables.After, by a (θT, φT, θR, φR) it is defined as steering vector.If it will be present in examining
The quantity of organism in the range of survey is set to L, then determines organism locus by the evaluation function of formula 22.
In the same manner as embodiment 1, by the maximal point of the MUSIC spectrums of search type 22, it can determine including upright position
Inside, three-dimensional position from transmission antenna 20A and reception antenna 30A the organism 50A observed.
In addition, the explanation of the work on the sensor 10A in present embodiment, can be by the stream illustrated by Fig. 4
The presumption of above-mentioned three-dimensional position is carried out in the position deduction of the step S15 of journey figure organism to illustrate, therefore is omitted.
Fig. 8 is the effect for representing the sensor for confirming embodiment 2 and the figure of the summary of experiment implemented.
As shown in figure 8, transmission antenna 20A is the side formed by being configured with 4 × 4=16 transmission antenna element 21A
Shape array antenna.If transmission antenna element 21A is paster antenna (patch antenna).Reception antenna 30A is by being configured with
The square array antenna that 4 × 4=16 reception antenna element 31A is formed.If reception antenna element 31A is paster antenna.Hair
It is 0.5 wavelength that antennas element 21A and reception antenna element 31A, which is each configured to element spacing,.
Subject is 1, in upright, the leg seat (state being sitting on chair) that hangs down, tailor seat (optionally tailor seat), is faced upward
It is measured under four states of sleeping (flipping over).In addition, the position of subject is (X, Y)=(5.0,1.0) m.Facing upward
Under posture beyond sleeping, subject is towards antenna direction (Y-direction).When lying on the back, subject makes pin towards antenna direction
(Y-direction).Test each time and about carry out observing for 5 seconds.
Fig. 9 is the figure for representing the experimental result using the experimental system shown in Fig. 8.In fig.9, transverse axis represents to deduce
Height zb, the longitudinal axis represents the scattering section (RCS that calculates：Radar Cross Section).
As shown in Figure 9, it is known that the region that height and RCS values are distributed is because of posture and different.I.e. it is capable to confirm
This case that the posture that subject can be estimated according to the height deduced and the RCS values calculated.For example, such as Figure 10 institutes
Show, the information 42A of corresponding relation represented by presetting, can use the three-dimensional position deduced, the RCS values that calculate and
The information 42A of the expression corresponding relation of memory 41 is stored in, presumption organism 50A posture is upright, vertical leg seat, tailor seat
Which of and lie on the back.In addition, Figure 10 is the tool of 1RCS scopes~4RCS scopes for representing to obtain from experimental result
The figure of the concrete example of the altitude range of style and the 1st altitude range~the 4th.In addition, Figure 10 1RCS scopes~4RCS models
Enclose 1RCS scopes~4RCS scopes of the information 42 for the expression corresponding relation that can be also applied to embodiment 1.
According to sensor 10A of the present embodiment, the short time and can accurately carry out where organism 50
Three-dimensional position and the position organism posture presumption.
In addition, in the respective embodiments described above, each inscape can both be formed with special hardware, can also be by holding
Row is realized suitably in the software program of each inscape.Each inscape can also be held by programs such as CPU or processors
The software program being recorded in the recording mediums such as hard disk or semiconductor memory is read and performed to realize by row portion.Here,
The software for realizing sensor 10, the 10A of the respective embodiments described above etc. is following program.
That is, the program makes computer perform the presumption method realized by sensor, and the sensor possesses：With N number of
The transmission antenna of (N is more than 2 natural number) transmission antenna element, there are M (M is more than 2 natural number) reception antenna members
Reception antenna, circuit and the memory of part, the presumption method include：Using N number of transmission antenna element come can to organism
Preset range existing for energy sends N number of transmission signal, is received respectively including the transmitted N using multiple reception antenna elements
It is individual send signal a part send signal by the organism reflect after reflected signal N number of reception signal, according to
Each of the N number of reception signal received in each of the M reception antenna element with the scheduled period, calculates N
× M the 1st matrix, the 1st matrix of the N × M is to represent each and described M reception of N number of transmission antenna element
Each complex transfer function of propagation characteristic between each of antenna element is as composition, by extracting in the 1st matrix
The 2nd matrix corresponding with scheduled frequency range, extraction by the organism with being included during breathing, heartbeat and body move extremely
2nd matrix corresponding to the composition of the influence of the sign activity of a few side, using the 2nd matrix, estimates the organism
Relative to the position present in the sensor, based on the position deduced, the transmission antenna position and described connect
The position of antenna is received, the 1st distance for representing the organism and the distance of the transmission antenna is calculated and represents the biology
Body and the 2nd distance of the distance of the reception antenna, using the described 1st distance and the 2nd distance, calculate to the biology
RCS (Rader cross-section) value of body, uses the RCS values calculated and the expression for being stored in the memory
RCS values and the information of the corresponding relation of the posture of the organism, estimate the posture of the organism.
More than, sensor 10, the 10A that one or more technical schemes of the disclosure are related to are illustrated based on embodiment,
But the disclosure is not limited to the embodiment.Without departing from the objective of the disclosure, those skilled in the art are expected each
Kind deformation application also includes in present embodiment and/or the form that the inscape in different embodiments is combined and formed
In the scope of the present disclosure.
In the above-described embodiment, sensor 10,10A presumption organism posture be it is upright, hang down leg sit, tailor seat and
Which of lie on the back, but not limited to this.For example, it is also possible to estimate organism whether be facing with transmission antenna 20,20A with
And the posture in reception antenna 30, the 30A vertical direction of orientation.Specifically, can also estimate is towards Fig. 1 or figure
The posture in the y directions in 5, or relative to the horizontal posture in y directions.For example, in the case where people is towards y directions, with not having
Situation towards y directions is compared, and RCS values diminish.In addition, refer to the appearance towards x directions relative to the horizontal posture in y directions
Gesture.
In above-mentioned embodiment 1, N number of transmission antenna element 21 is configured to be arranged in the 1st predetermined direction on horizontal plane,
Also, M reception antenna element 31 is configured to be arranged in the 2nd predetermined direction on horizontal plane, but not limited to this.That is,
1st predetermined direction and the 2nd predetermined direction are not limited to the direction on horizontal plane, such as can also be the planes for including vertical direction
On direction, can also be from the direction in the plane of horizontal plane.In this case, circuit 40 is estimated pre- including the 1st
Determine the position of the organism in the plane of direction and the 2nd predetermined direction.
Claims (5)
1. a kind of sensor, possesses：
Transmission antenna, it has N number of transmission antenna element, and N is more than 2 natural number, N number of transmission antenna element respectively to
Organism preset range that may be present sends signal；
Reception antenna, it has M reception antenna element, and M is more than 2 natural number, and the M reception antenna element connects respectively
The part that packet receiving is included in the N number of transmission signal sent by N number of transmission antenna element sends signal and passes through the organism
N number of reception signal of reflected signal after reflection；
Circuit；And
Memory,
The circuit,
According to the every of the N number of reception signal received in each of the M reception antenna element with the scheduled period
One, calculate N × M the 1st matrix, the 1st matrix of the N × M is to represent each and institute of N number of transmission antenna element
Each complex transfer function of the propagation characteristic between each of M reception antenna element is stated as composition,
By extracting the 2nd matrix corresponding with scheduled frequency range in the 1st matrix, extract and by the organism
2nd matrix corresponding to the composition of the influence of the sign activity of at least one party including breathing, heartbeat and body in dynamic,
Using the 2nd matrix, position of the organism present in relative to the sensor is estimated,
Based on the position of the position deduced, the position of the transmission antenna and the reception antenna, calculate described in expression
1st distance of the distance of organism and the transmission antenna and represent the of the organism and the distance of the reception antenna
2 distances,
Using the described 1st distance and the 2nd distance, the RCS value to the organism is calculated,
Using the RCS value calculated and be stored in the expression RCS value of the memory with it is described
The information of the corresponding relation of the posture of organism, estimate the posture of the organism.
2. sensor according to claim 1,
The scheduled period is the substantially half in the cycle of at least one party during the breathing, heartbeat and body of the organism are moved.
3. sensor according to claim 1 or 2,
The circuit,
Estimate the organism whether be face it is vertical with the orientation of the transmission antenna and the reception antenna
The posture in direction.
4. sensor according to any one of claim 1 to 3,
The N is more than 3 natural number,
At least three transmission antenna element in N number of transmission antenna element is arranged respectively at vertical direction and horizontal direction
Different positions,
The M is more than 3 natural number,
At least three reception antenna element in the M reception antenna element is arranged respectively at vertical direction and horizontal direction
Different positions,
Represent that the information of the corresponding relation is denoted as vertical direction of the organism present in relative to the sensor
On the upright position of position, the corresponding relation of RCS value and the posture of the organism,
The posture of the organism corresponding to being established in the information for representing the corresponding relation is sat including the upright, leg that hangs down, disk
Leg is sat and lain on the back,
The circuit,
Using the 2nd matrix, the three-dimensional position including the upright position is estimated,
Using the three-dimensional position deduced, the RCS value calculated and it is stored in the memory
The expression corresponding relation information, the posture for estimating the organism is upright, the leg that hangs down is sat, tailor seat and is lain on the back
Which.
5. a kind of presumption method, it is the presumption method realized by sensor,
The sensor possesses：Transmission antenna, it has N number of transmission antenna element, and N is more than 2 natural number；Reception antenna,
It has M reception antenna element, and M is more than 2 natural number；Circuit；And memory,
The presumption method includes：
N number of transmission signal is sent to organism preset range that may be present using N number of transmission antenna element,
Received using multiple reception antenna elements and led to including transmitted N number of part transmission signal for sending signal respectively
The N number of reception signal for the reflected signal crossed after the organism reflection,
According to the every of the N number of reception signal received in each of the M reception antenna element with the scheduled period
One, calculate N × M the 1st matrix, the 1st matrix of the N × M is to represent each and institute of N number of transmission antenna element
Each complex transfer function of the propagation characteristic between each of M reception antenna element is stated as composition,
By extracting the 2nd matrix corresponding with scheduled frequency range in the 1st matrix, extract and by the organism
2nd matrix corresponding to the composition of the influence of the sign activity of at least one party including breathing, heartbeat and body in dynamic,
Using the 2nd matrix, position of the organism present in relative to the sensor is estimated,
Based on the position of the position deduced, the position of the transmission antenna and the reception antenna, calculate described in expression
1st distance of the distance of organism and the transmission antenna and represent the of the organism and the distance of the reception antenna
2 distances,
Using the described 1st distance and the 2nd distance, the RCS value to the organism is calculated,
Using the RCS value calculated and be stored in the expression RCS value of the memory with it is described
The information of the corresponding relation of the posture of organism, estimate the posture of the organism.
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| JP2020075168A (en) | 2020-05-21 |
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