CN107678021B - Synchronous wireless difference frequency phase ranging device and method - Google Patents
Synchronous wireless difference frequency phase ranging device and method Download PDFInfo
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- CN107678021B CN107678021B CN201710881204.4A CN201710881204A CN107678021B CN 107678021 B CN107678021 B CN 107678021B CN 201710881204 A CN201710881204 A CN 201710881204A CN 107678021 B CN107678021 B CN 107678021B
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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
- 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
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
Abstract
The invention discloses a synchronous wireless difference frequency phase ranging device. The device comprises a wireless transmitting device and a wireless receiving device, wherein the wireless transmitting device comprises a clock circuit, a first wireless transmitting circuit and a second wireless transmitting circuit, and the first wireless transmitting circuit and the second wireless transmitting circuit are used for transmitting two wireless signals with different frequencies simultaneously; the wireless receiving device comprises a first wireless receiving circuit, a second wireless receiving circuit, a phase difference calculator, a clock synchronization unit, a first down converter and a second down converter, wherein the clock synchronization unit synchronizes clock signals of the wireless receiving and transmitting circuits, and the phase difference calculator is used for calculating the phase difference of the two wireless signals. The invention can adjust the ranging precision by changing the carrier frequency according to the phase information ranging of different carrier difference frequencies, and can easily realize millimeter-scale ranging precision.
Description
Technical Field
The invention relates to the field of wireless ranging, in particular to a synchronous wireless difference frequency phase ranging device and method.
Background
Radio ranging is a ranging method based on electromagnetic wave application technology. Radio ranging, that is, measuring distance by radio, is one of the basic tasks of radio positioning.
The clocks of the existing wireless ranging are asynchronous, and the clocks of the receiving party and the transmitting party are not synchronized. The asynchronous reception scheme does not get available phase information. In addition, existing wireless ranging techniques directly use information carried by a single or multiple carrier frequencies. Whether the receiving party is synchronous or asynchronous, the carrier signal of a single frequency cannot extract the available phase information.
Disclosure of Invention
The invention aims to provide a synchronous wireless difference frequency phase ranging device and method aiming at the defects in the prior art.
To achieve the above object, in a first aspect, the present invention provides a synchronous wireless difference frequency phase ranging apparatus, which includes a wireless transmitting apparatus and a wireless receiving apparatus,
the wireless transmitting device comprises a clock circuit, a first wireless transmitting circuit and a second wireless transmitting circuit, wherein the first wireless transmitting circuit and the second wireless transmitting circuit are respectively connected with the clock circuit;
the wireless receiving device comprises a first wireless receiving circuit, a second wireless receiving circuit, a phase difference calculator, a clock synchronization unit, a first down converter and a second down converter;
the first down converter and the second down converter are used for respectively reducing the frequencies of two wireless signals received by the first wireless receiving circuit and the second wireless receiving circuit and generating two paths of intermediate frequency signals with the same frequency; the clock synchronization unit is respectively connected with the first wireless receiving circuit and the second wireless receiving circuit and used for synchronizing clock signals of the wireless receiving and transmitting circuits;
the device also comprises a calculation unit for calculating the distance according to the wavelength and the phase difference of the two wireless signals.
Preferably, the clock synchronization unit includes a first phase-locked loop, and a second phase-locked loop and a third phase-locked loop connected to an output terminal of the first phase-locked loop,
the input end of the first phase-locked loop is respectively connected with the output ends of the first down converter and the frequency divider,
the output end of the second phase-locked loop is connected with the first down converter and used for increasing the frequency of a clock signal output by the first phase-locked loop and then using the clock signal as a local oscillator signal of the first down converter;
and the output end of the third phase-locked loop is connected with the second down converter and used for increasing the frequency of the clock signal output by the second phase-locked loop and then using the clock signal as a local oscillator signal of the second down converter.
Preferably, the input end of the frequency divider is connected to the first wireless receiving circuit, and is used for accessing a baseband clock signal of the first wireless receiving circuit.
Preferably, an input end of the frequency divider is connected to an output end of the first phase-locked loop, and is configured to receive a clock signal output by the first phase-locked loop.
Preferably, the phase difference calculator is respectively connected with the intermediate frequency output ends of the first down converter and the second down converter.
Preferably, the phase difference calculator is connected to an output of the frequency divider and an output of the second down converter, respectively.
Preferably, the wireless receiving apparatus further includes an RSSI circuit integrated in the first wireless receiving circuit or the second wireless receiving circuit.
In a second aspect, the present invention further provides a synchronous wireless difference frequency phase ranging method, including the following steps:
two wireless transmitting circuits are adopted to synchronously transmit two wireless signals with different frequencies at one end of the measured distance;
adopting two wireless receiving circuits to respectively receive the two wireless signals at the other end of the measured distance;
carrying out down-conversion processing on the two received wireless signals;
synchronizing clocks of the two receiving circuits and the two sending circuits according to the two signals after the down-conversion treatment;
calculating a phase difference delta phi of the two signals after the down-conversion treatment;
the distance L1 is calculated from the phase difference Δ Φ according to the formula L1 ═ (λ 1 × λ 2) ×/(2 pi × Δ λ), where λ 1 and λ 2 are the wavelengths of the two radio signals with different frequencies, respectively, and Δ λ is the difference between λ 1 and λ 2.
Preferably, the method further comprises the following steps:
adjusting the wavelengths of the two wireless signals to enable the measuring range (lambda 1 x lambda 2)/delta lambda to be larger than 2 times of the maximum error of the RSSI ranging;
roughly measuring a distance L2 by using an RSSI circuit;
calculating the number N of ranges contained in the RSSI circuit coarse side distance L2, wherein N is L2/[ (lambda 1 x lambda 2)/delta lambda ];
splitting the integer and the remainder of N to obtain an integer N1 and a remainder M;
comparing the distance L1 and M ranges with one half of the ranges, when L1 and M are simultaneously smaller than 1/2 ranges or simultaneously larger than 1/2 ranges, the number of the actual ranges is N2-N1, when L1 is smaller than 1/2 ranges and M is larger than 1/2 ranges, the number of the actual ranges is N2-N1 +1, when L1 is larger than 1/2 ranges and M is smaller than 1/2 ranges, the number of the actual ranges is N2-N1-1;
according to the number N2 of the actual measuring ranges, calculating the length L3 to N2 measuring ranges N2 (lambda 1 lambda 2)/delta lambda
The measured distance L is calculated as: L-L1 + L3
Has the advantages that: the invention can adjust the ranging precision by changing the carrier frequency according to the phase information ranging of different carrier difference frequencies, and can easily realize millimeter-scale ranging precision.
Drawings
Fig. 1 is a schematic diagram of a wireless transmitting device provided by an embodiment of the invention;
fig. 2 is a schematic diagram of a wireless receiving device provided in an embodiment of the present invention;
fig. 3 is a schematic diagram of a wireless receiving device according to another embodiment of the present invention.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific examples, which are carried out on the premise of the technical solution of the present invention, and it should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1 to 3, an embodiment of the present invention provides a synchronous wireless difference frequency phase distance measuring device, which includes a wireless transmitting device and a wireless receiving device, the wireless signal transmitting device includes a clock circuit 1, a first wireless transmitting circuit 2 and a second wireless transmitting circuit 3, the clock circuit 1 is respectively connected to the first wireless transmitting circuit 2 and the second wireless transmitting circuit 3 for synchronizing clocks of the first wireless transmitting circuit 2 and the second wireless transmitting circuit 3, and the first wireless transmitting circuit 2 and the second wireless transmitting circuit 3 are used for simultaneously transmitting two wireless signals with different frequencies.
The wireless receiving device comprises a first wireless receiving circuit 4, a second wireless receiving circuit 5, a phase difference calculator 6, a clock synchronization unit, a first down converter 8 and a second down converter 9, wherein after the first wireless receiving circuit 4 and the second wireless receiving circuit 5 receive two wireless signals with different frequencies, the frequencies of the wireless signals are respectively reduced through the first down converter 4 and the second down converter 5, two paths of intermediate frequency signals with the same frequency are generated, so that the phase difference of the received two wireless signals with different frequencies can be measured, and clocks of the first wireless receiving circuit 4 and the second wireless receiving circuit 5 and clocks of the first wireless transmitting circuit and the second wireless transmitting circuit can be synchronized.
The phase difference calculator 6 is used for calculating the phase difference of the two paths of intermediate frequency signals. The clock synchronization unit is respectively connected with the first wireless receiving circuit 4 and the second wireless receiving circuit 5, and is used for synchronizing the clock of the wireless receiving and transmitting circuit.
The embodiment of the invention also comprises a calculating unit which is used for calculating the distance according to the wavelength and the phase difference of the two wireless signals.
The clock synchronization unit preferably used in the implementation of the present invention includes a plurality of phase-locked loops and at least one stage of frequency divider 10, and the plurality of phase-locked loops and the frequency divider 10 are used to synchronize the clocks of the first and second wireless receiving circuits with the clock of the wireless transmitting circuit for transceiving. The frequency divider 10 can be implemented by multi-stage frequency division stepwise frequency division, and also by one large-amplitude frequency division.
The plurality of phase-locked loops comprise a first phase-locked loop 11, a second phase-locked loop 12 and a third phase-locked loop 13, wherein the output end of the first phase-locked loop 11 is respectively connected with the input ends of the second phase-locked loop 12 and the third phase-locked loop 13, the input end of the first phase-locked loop 11 is respectively connected with the output ends of the first down converter 8 and the frequency divider 10, the first phase-locked loop 11 enables the frequency division signal F (FB) output by the frequency divider 10 to be equal to the output signal F (FI) of the first down converter 8, and outputs a clock signal f (CLK) to make the signals entering the second phase-locked loop 12 and the third phase-locked loop 13 the same, the second phase-locked loop 12 and the third phase-locked loop 13 are respectively connected with the intermediate frequency signal ends of the first down-converter 8 and the second down-converter 9, the second phase-locked loop 12 and the third phase-locked loop 13 are respectively used for increasing the frequency of the clock signal f (CLK) output by the first phase-locked loop 11, and the frequency-boosted signal f (lo) is used as the local oscillator signals of the first downconverter 8 and the second downconverter 9. And the signals after the frequency rising of f (CLK) are respectively subjected to frequency division by a frequency divider, so that two identical baseband clock signals f (B) of the first wireless receiving circuit 4 and the second wireless receiving circuit 5 can be obtained, and then the clocks of the first wireless receiving circuit 4 and the second wireless receiving circuit 5 track the clock of the wireless transmitting circuit, so as to realize the receiving and transmitting synchronization.
It should be noted that the first wireless receiving circuit 4 and the second wireless receiving circuit 5 may be both of existing integrated chips. The phase-locked loop, the frequency divider and the down converter can independently adopt a plurality of phase-locked loops, frequency dividers and down converters arranged outside the chip, and can also be used together with the phase-locked loops, the frequency dividers and the down converters arranged outside the chip.
As shown in fig. 2 and 3, an input of the frequency divider 10 may be connected to the first radio receiving circuit 4 for accessing the baseband clock signal. The input of the frequency divider 10 may also be connected to the output of the first phase locked loop 11 for receiving the clock signal output by the first phase locked loop 11.
After the intermediate frequency signal f (fi) output by the first down converter 8 and the signal f (fb) output by the frequency divider enter the first phase-locked loop, f (fb) and f (fi) are equal, so that the phase difference calculation 6 of the embodiment of the present invention has two connection modes. As shown in fig. 2 or fig. 3, the phase difference calculator 6 is connected to the intermediate frequency output ends of the first down converter 8 and the second down converter 9, respectively, and performs phase difference calculation on the intermediate frequency signals f (fi) output by the first down converter 8 and the second down converter 9, respectively, and it can be known from the mathematical property of down conversion that the phase difference of the two intermediate frequency signals is equal to the phase difference of the two wireless signals. The phase difference calculator 6 may also be connected to the output of the frequency divider 10 and the output of the second down-converter, respectively.
In order to get rid of the range limitation, the wireless receiving device of the embodiment of the invention further comprises an RSSI circuit. The RSSI circuit can be integrated in the first wireless receiving circuit 4 or the second wireless receiving circuit 5, the RSSI circuit is used to measure the rough length of the distance, then the number of the ranges contained in the length is calculated according to the length, the quotient and the remainder are selected, then the length of the integral range is calculated, the remainder is calculated by using a phase difference calculation formula, and then the actual distance can be obtained by adding the phase difference calculation formula and the length of the integral range.
The principle on which the invention is based is as follows:
suppose that:
l1: the measured distance;
λ 1: the wavelength of carrier 1;
λ 1: the wavelength of carrier 2;
phi 1: the phase of the carrier 1 at the receiving end relative to the transmitting end is measured, namely the phase of the carrier 1 at the receiving end and the transmitting end is measured at the same time, and then the phase of the transmitting end is subtracted from the phase of the receiving end to obtain phi 1;
phi 2: the phase of the carrier 2 at the receiving end relative to the transmitting end is measured, namely the phase of the carrier 2 at the receiving end and the transmitting end is measured at the same time, and then the phase of the transmitting end is subtracted from the phase of the receiving end to obtain phi 2;
Subtracting the formula 2 from the formula 1 to obtain:
Δ Φ/(2 pi) ═ Δ λ L1/(λ 1 λ 2) formula 3
The delta phi in the formula 3 is the phase difference value of the receiving end, which is measured at the receiving end, so that the limitation that the transmitting end is used as a reference point is eliminated, i.e. the phases of the receiving end and the transmitting end are not required to be measured at the same time, and only the phase of the carrier 1 received by the receiving end is subtracted from the phase of the carrier 2, so that the obtained difference value is the delta phi in the formula 3.
The transformation is carried out by the formula 3 to obtain:
l1 ═ λ 1 × λ 2 × Δ Φ/(2 pi × Δ λ) formula 4
As can be seen from equation 4, the length of the measured distance L1 can be obtained by knowing the wavelength λ 1 of the carrier 1 and the wavelength λ 2 of the carrier 2 for measurement and measuring the phase difference Δ Φ between the carrier 1 and the carrier 2 at the receiving end.
Since the phase difference measuring devices in the prior art can only show the phase angle Δ Φ within 0-2 pi, at present, without any other means, this measuring method has a range limitation, and the upper limit value of the range is L1 λ 1 λ 2/Δ λ when Δ Φ is 2 pi. That is to say, the measured distance l should be less than λ 1 × λ 2/Δ λ without further aids.
In order to solve the above range limitation, the present invention adopts an auxiliary means to get rid of the range limitation, firstly, the RSSI circuit is used to measure the measured distance, since the accuracy of the distance measured by the RSSI circuit is limited, the measured distance is also only a rough value, the principle and technology of the RSSI circuit distance measurement are the prior art, and are not described herein again.
Assuming that the distance roughly measured by the RSSI circuit is L2, the number N of the ranges can be calculated from the ranges (λ 1 × λ 2)/Δ λ within the length of L2 as:
n ═ L2/[ (λ 1 × λ 2)/Δ λ ] formula 5
The wavelengths of the two wireless signals are adjusted to make the measuring range (lambda 1 x lambda 2)/delta lambda larger than 2 times of the maximum error of the RSSI ranging. The distance L2 is roughly measured using the RSSI circuit. The number N of ranges included in the RSSI circuit coarse side distance L2 is calculated as follows:
n ═ L2/[ (λ 1 × λ 2)/Δ λ ] formula 6
Splitting the integer and the remainder of N in the formula 6 to obtain an integer N1 and a remainder M;
comparing the distance L1 and the remainder M measured by the phase difference with one half of the range, when L1 and M are smaller than 1/2 range or larger than 1/2 range at the same time, the number of the actual range is N2-N1, when L1 is smaller than 1/2 range and M is larger than 1/2 range, the number of the actual range is N2-N1 + 1, when L1 is larger than 1/2 range and M is smaller than 1/2 range, the number of the actual range is N2-N1-1. Since (λ 1 × λ 2)/Δ λ is greater than 2 times the maximum error of RSSI ranging, the integer N2 calculated by this method is error-free.
According to the actual number of measuring ranges N2, calculating the length L3 of the N2 measuring ranges as follows:
l3 ═ N2 ═ λ 1 × (λ 2)/Δ λ formula 7
The actual distance L measured is then:
L-L1 + L3 ═ λ 1 × λ 2) × Δ Φ/(2 pi × Δ λ) + N2 × (λ 1 × λ 2)/Δ λ formula 8
Therefore, the problem of range limitation caused by equipment for acquiring the phase angle difference when the measured distance is long is solved, and the method and the device are suitable for various distance measuring occasions. And compared with the method of simply adopting RSSI ranging, the method has the advantage that the measurement accuracy is greatly improved. Other methods can be adopted to measure the distance first, and then the method is used for getting rid of the range limitation, so that the measurement precision can be greatly improved.
The embodiment of the invention also provides a synchronous wireless difference frequency phase ranging method, which comprises the following steps:
step 1: two wireless transmitting circuits are adopted to synchronously transmit two wireless signals with different frequencies at one end of the measured distance;
step 2: adopting two wireless receiving circuits to respectively receive the two wireless signals at the other end of the measured distance;
and step 3: carrying out down-conversion processing on the two received wireless signals;
and 4, step 4: synchronizing clocks of the two receiving circuits and the two sending circuits according to the two signals after the down-conversion treatment;
and 5: calculating a phase difference delta phi of the two signals after the down-conversion treatment;
step 6: the distance L1 is calculated from the phase difference Δ Φ according to the formula L1 ═ (λ 1 × λ 2) ×/(2 pi × Δ λ), where λ 1 and λ 2 are the wavelengths of the two radio signals with different frequencies, respectively, and Δ λ is the difference between λ 1 and λ 2.
In order to get rid of the limitation of the range measurement range, the method also comprises the following steps:
and 7: adjusting the wavelengths of the two wireless signals to enable the measuring range (lambda 1 x lambda 2)/delta lambda to be larger than 2 times of the maximum error of the RSSI ranging;
and 8: roughly measuring a distance L2 by using an RSSI circuit;
and step 9: calculating the number N of ranges contained in the RSSI circuit coarse side distance L2, wherein N is L2/[ (lambda 1 x lambda 2)/delta lambda ];
step 10: splitting the integer and the remainder of N to obtain an integer N1 and a remainder M;
step 11: comparing the distance L1 and M ranges with one half of the ranges, when L1 and M are simultaneously smaller than 1/2 ranges or simultaneously larger than 1/2 ranges, the number of the actual ranges is N2-N1, when L1 is smaller than 1/2 ranges and M is larger than 1/2 ranges, the number of the actual ranges is N2-N1 + 1, when L1 is larger than 1/2 ranges and M is smaller than 1/2 ranges, the number of the actual ranges is N2-N1-1;
step 12: according to the number N2 of the actual measuring ranges, calculating the length L3 to N2 measuring ranges N2 (lambda 1 lambda 2)/delta lambda
Step 13: the measured distance L is calculated as: L-L1 + L3
Based on the embodiment, the ranging precision can be adjusted by changing the carrier frequency according to the phase information ranging of different carrier difference frequencies, and the millimeter-scale ranging precision can be easily realized.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A synchronous wireless difference frequency phase distance measuring device is characterized in that the device comprises a wireless transmitting device and a wireless receiving device,
the wireless transmitting device comprises a clock circuit, a first wireless transmitting circuit and a second wireless transmitting circuit, wherein the first wireless transmitting circuit and the second wireless transmitting circuit are respectively connected with the clock circuit;
the wireless receiving device comprises a first wireless receiving circuit, a second wireless receiving circuit, a phase difference calculator, a clock synchronization unit, a first down converter and a second down converter;
the first down converter and the second down converter are used for respectively reducing the frequencies of two wireless signals received by the first wireless receiving circuit and the second wireless receiving circuit and generating two paths of intermediate frequency signals with the same frequency; the clock synchronization unit is respectively connected with the first wireless receiving circuit and the second wireless receiving circuit and used for synchronizing clock signals of the wireless receiving and transmitting circuits;
the device also comprises a calculation unit used for calculating the distance according to the wavelength and the phase difference of the two wireless signals, and the calculation method comprises the following steps:
calculating a distance L1 from the phase difference Δ Φ according to a formula L1 ═ (λ 1 × λ 2) × Δ Φ/(2 pi × Δ λ), where λ 1 and λ 2 are wavelengths of the two wireless signals having different frequencies, respectively, and Δ λ is a difference between λ 1 and λ 2;
adjusting the wavelengths of the two wireless signals to enable the measuring range (lambda 1 x lambda 2)/delta lambda to be larger than 2 times of the maximum error of the RSSI ranging;
roughly measuring a distance L2 by using an RSSI circuit;
calculating the number N of measuring ranges contained in the RSSI circuit rough measurement distance L2, wherein N is L2/[ (lambda 1 x lambda 2)/delta lambda ];
splitting the integer and the remainder of N to obtain an integer N1 and a remainder M;
comparing the distance L2 and the remainder M with one half of the range, when L2 and M are simultaneously smaller than 1/2 range or simultaneously larger than 1/2 range, the number of the actual range is N2-N1, when L2 is larger than 1/2 range and M is smaller than 1/2 range, the number of the actual range is N2-N1-1;
calculating the length L3 of the N2 ranges to be N2 (lambda 1 lambda 2)/delta lambda according to the number N2 of the actual ranges;
the measured distance L is calculated as: l ═ L1+ L3;
the wireless receiving device further comprises an RSSI circuit integrated within the first wireless receiving circuit or the second wireless receiving circuit.
2. The synchronous wireless difference frequency phase ranging device of claim 1, wherein the clock synchronization unit includes a first phase locked loop and second and third phase locked loops connected to an output of the first phase locked loop,
the input end of the first phase-locked loop is respectively connected with the output ends of the first down converter and the frequency divider, and the output end of the second phase-locked loop is connected with the first down converter and used for increasing the frequency of a clock signal output by the first phase-locked loop to be used as a local oscillation signal of the first down converter;
and the output end of the third phase-locked loop is connected with the second down converter and used for increasing the frequency of the clock signal output by the second phase-locked loop and then using the clock signal as a local oscillator signal of the second down converter.
3. The synchronous wireless difference frequency phase ranging device of claim 2, wherein the input of the frequency divider is connected to the first wireless receiving circuit for accessing a baseband clock signal of the first wireless receiving circuit.
4. The synchronous wireless difference frequency phase ranging device of claim 2, wherein an input terminal of the frequency divider is connected to an output terminal of the first phase-locked loop for receiving the clock signal output by the first phase-locked loop.
5. The synchronous wireless difference frequency phase ranging device of claim 1, wherein the phase difference calculator is connected to the intermediate frequency outputs of the first down-converter and the second down-converter, respectively.
6. The synchronous wireless difference frequency phase ranging device of claim 1, wherein the phase difference calculator is connected to an output of the frequency divider and an output of the second down converter, respectively.
7. A synchronous wireless difference frequency phase ranging method is characterized by comprising the following steps:
two wireless transmitting circuits are adopted to synchronously transmit two wireless signals with different frequencies at one end of the measured distance;
adopting two wireless receiving circuits to respectively receive the two wireless signals at the other end of the measured distance;
carrying out down-conversion processing on the two received wireless signals;
synchronizing clocks of the two receiving circuits and the two sending circuits according to the two signals after the down-conversion treatment;
calculating a phase difference delta phi of the two signals after the down-conversion treatment;
calculating a distance L1 according to a formula L1 ═ (λ 1 × λ 2) × Δ Φ/(2 pi × Δ λ) by the phase difference Δ Φ, where λ 1 and λ 2 are wavelengths of the two wireless signals with different frequencies, respectively, and Δ λ is a difference between λ 1 and λ 2;
further comprising the steps of:
adjusting the wavelengths of the two wireless signals to enable the measuring range (lambda 1 x lambda 2)/delta lambda to be larger than 2 times of the maximum error of the RSSI ranging;
roughly measuring a distance L2 by using an RSSI circuit; the RSSI circuit is integrated in the first wireless receiving circuit or the second wireless receiving circuit;
calculating the number N of measuring ranges contained in the RSSI circuit rough measurement distance L2, wherein N is L2/[ (lambda 1 x lambda 2)/delta lambda ];
splitting the integer and the remainder of N to obtain an integer N1 and a remainder M;
comparing the distance L2 and the remainder M with one half of the range, when L2 and M are simultaneously smaller than 1/2 range or simultaneously larger than 1/2 range, the number of the actual range is N2-N1, when L2 is larger than 1/2 range and M is smaller than 1/2 range, the number of the actual range is N2-N1-1;
calculating the length L3 of the N2 ranges to be N2 (lambda 1 lambda 2)/delta lambda according to the number N2 of the actual ranges;
the measured distance L is calculated as: L-L1 + L3.
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| JP7199322B2 (en) * | 2019-08-26 | 2023-01-05 | 株式会社東芝 | Ranging device and ranging method |
| US11503563B2 (en) * | 2020-02-04 | 2022-11-15 | Alibaba Group Holding Limited | Distance estimation using signals of different frequencies |
| CN113466840B (en) * | 2020-03-30 | 2022-09-20 | 阿里巴巴集团控股有限公司 | Distance measurement method, positioning method, device, equipment and system |
| CN116413713A (en) * | 2021-12-31 | 2023-07-11 | 景玄科技（上海）有限公司 | Regional positioning method, ranging device and electronic equipment |
| CN117420538B (en) * | 2023-12-18 | 2024-03-08 | 深圳捷扬微电子有限公司 | Distance measurement method of ultra-wideband system |
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