CN113109800A - Radio frequency positioning method for measuring position of transceiver - Google Patents
Radio frequency positioning method for measuring position of transceiver Download PDFInfo
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- CN113109800A CN113109800A CN201911346002.5A CN201911346002A CN113109800A CN 113109800 A CN113109800 A CN 113109800A CN 201911346002 A CN201911346002 A CN 201911346002A CN 113109800 A CN113109800 A CN 113109800A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 238000010586 diagram Methods 0.000 description 8
- 230000003287 optical effect Effects 0.000 description 7
- 230000008054 signal transmission Effects 0.000 description 5
- 230000002457 bidirectional effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
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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
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
Abstract
The invention relates to a radio frequency positioning method for measuring the position of a transceiver, which comprises the following steps: arranging at least one positioning label at a plurality of different known coordinate positions; generating a transmission signal electromagnetic wave corresponding to a transmission signal by the transceiver; the positioning tag receives the transmission signal electromagnetic wave and generates a modulation signal electromagnetic wave; the transceiver receives the modulation signal electromagnetic wave and generates a modulation signal; a processing unit demodulates the modulation signal through an identification signal to generate a receiving signal; comparing the transmitting signal with the receiving signal to obtain a frequency difference or comparing an intermediate frequency signal with an initial intermediate frequency signal to obtain a phase difference; and the operation host acquires the relative distance or the distance variation between the positioning label and the transceiver according to the frequency difference or the phase difference, so as to calculate the coordinate position of the transceiver.
Description
Technical Field
A radio frequency positioning method is used for positioning the coordinate position of a transceiver through bidirectional signal transmission of a positioning label and the transceiver.
Background
Positioning techniques applied to surgical positioning include mechanical positioning (mechanical positioning), ultrasonic positioning (ultrasonic positioning), electromagnetic positioning (electromagnetic positioning), optical positioning (optical positioning), radio frequency positioning (radio frequency positioning), and X-ray and CT positioning. Currently, most of the positioning technology products applied to surgical guidance (surgical navigation) in the market adopt infrared positioning in optical positioning technology, and are composed of an optical probe (optical probe) and a reference frame (dynamic reference frame, DRF) embedded with a reflective sphere (reflective sphere), the reference frame is installed on a surgical instrument and an affected part, the relative positions of the surgical instrument and the affected part are tracked by using the optical technology, and then a surgical guidance software is used for assisting a doctor to accurately operate the instrument.
The radio frequency positioning technology product comprises a plurality of transceivers and positioning tags, wherein the transceivers are arranged at known positions, the positioning tags are arranged on a target to be positioned, and then the positions of the positioning tags are tracked through the positions of the transceivers. Compared with the optical positioning device, the radio frequency positioning technology product reduces the problem of direct-view shielding, however, the transceiver has a complex structure, it is difficult to accurately install the actual antenna geometric center of each transceiver at a known position, and the delay caused by signal transmission of the circuit also makes the transceiver antenna phase center not on the antenna geometric center, thereby causing positioning error, and the installation and adjustment of each transceiver are time-consuming, causing inconvenience in operation.
Disclosure of Invention
The invention mainly aims to provide a radio frequency positioning method, which utilizes signal transmission of wireless radio frequency to measure the position of a transceiver.
To achieve the above object, the present invention provides a radio frequency positioning method comprising:
calculating the relative distance between at least one positioning label and a plurality of transceivers when the positioning label is arranged at a plurality of different known coordinate positions, and when the positioning label is arranged at each known coordinate position, carrying out the following steps:
a plurality of transceivers generate a transmitting signal through a transmitting circuit in each transceiver, and generate a transmitting signal electromagnetic wave corresponding to the transmitting signal through a transmitting antenna connected with the transmitting circuit to transmit outwards;
a tag circuit in the at least one positioning tag captures the electromagnetic wave of the transmitted signal through a tag antenna connected with the tag circuit, adds an identification code of the tag antenna, and generates a modulation signal electromagnetic wave by the tag antenna for external transmission;
a receiving circuit in each transceiver receives the modulation signal electromagnetic wave through a receiving antenna connected with the receiving circuit, and the receiving circuit generates a modulation signal according to the modulation signal electromagnetic wave and transmits the modulation signal to a processing unit connected with each transceiver;
after the processing unit receives the modulation signal, an identification signal is generated through an identification circuit in the processing unit, and each processing circuit in the processing unit demodulates the modulation signal through the identification signal to generate a receiving signal;
each processing circuit obtains a frequency difference by comparing the frequencies of the transmitting signal and the receiving signal, and can also mix the transmitting signal and the receiving signal to generate an intermediate frequency signal, and then the frequency difference or the intermediate frequency signal is transmitted to an operation host connected with the processing unit for the operation of the operation host; and
the operation host machine passes the frequency difference and calculates the formula according to the distance D
Calculating the relative distance between the tag antenna and the transceiver in the positioning tag, or comparing the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal by the operation host to obtain a phase difference, and calculating the distance variation according to the calculation formula
Calculating the distance variation between the transceiver and the tag antenna in the positioning tag, wherein D represents the distance, c represents the electromagnetic wave speed, and Δ f representsTable frequency difference, (df/dt) represents a frequency change amount per unit time, Δ D represents a distance change amount, λ represents a wavelength, Δ Φ represents a phase difference, and π represents a circumferential ratio;
the operation host calculates the coordinate position of each transceiver according to the relative distance or the distance variation between the positioning tag and each transceiver when the positioning tag is arranged at a plurality of different known coordinate positions.
The invention calculates the coordinate position of each transceiver through the bidirectional electromagnetic wave signal transmission of the at least one positioning label and the plurality of transceivers, can be applied to the initialization of the radio frequency positioning device, has smaller volume than the transceivers and convenient movement, does not need to accurately install each transceiver at a designated position, and carries out radio frequency positioning calculation through the relative distance or the distance variation of the real installation position of each transceiver and the coordinate position of the at least one positioning label, thereby reducing the complicated flow of accurately installing each transceiver at the designated position, reducing the positioning operation error caused by the fact that the phase center of the transceiver antenna is not positioned on the geometric center of the transceiver due to circuit delay, and improving the installation convenience and the positioning accuracy of the radio frequency positioning device.
Drawings
FIG. 1: the invention relates to a flow chart of a radio frequency positioning method for measuring the position of a transceiver;
FIG. 2: the invention positions the circuit block diagram of the label;
FIG. 3: the circuit block diagram of the transceiver of the present invention;
FIG. 4: the circuit block diagram of the processing unit of the present invention;
FIG. 5: a schematic diagram of a frequency difference Δ f between the transmission signal TX and the reception signal RX. (ii) a
FIG. 6A: the waveform diagrams of the transmitting signals with different frequencies;
FIG. 6B: the waveform diagrams of the transmitted signals of different time periods;
FIG. 6C: the waveform diagrams of the transmitted signals with different frequencies and different time periods;
FIG. 7: the first embodiment of the present invention applied to a three-dimensional space is schematically illustrated;
FIG. 8: a second embodiment of the invention applied to a three-dimensional space is schematically illustrated;
FIG. 9: the invention is applied to the schematic diagram of the positioning of the surgical instrument.
Description of the symbols
10 positioning label
11 tag circuit
12 tag antenna
20. 20a, 20b, 20c, 20d transceiver
21. 21a, 21b, 21c, 21d transmitting circuit
22. 22a, 22b, 22c, 22d receiving circuit
23. 23a, 23b, 23c, 23d transmitting antennas
24. 24a, 24b, 24c, 24d receiving antenna
30 signal module
31 processing unit
311 identification circuit
312. 312a, 312b, 312c, 312d processing circuit
32 multiplexer
33 analog-to-digital converter
40 operation host
TX, TX1, TX2, TX3 and TX4 transmitting signals
RX receiving signal
IF1Initial intermediate frequency signal
IF intermediate frequency signal
Detailed Description
Please refer to fig. 1, which is a flowchart of an rf positioning method for measuring the position of a transceiver according to the present invention:
s101: as shown in fig. 2 and fig. 3, the distance between at least one positioning tag 10 and a plurality of transceivers 20 when the positioning tag 10 is disposed at a plurality of different known coordinate positions is calculated, and when the positioning tag 10 is disposed at each coordinate position, the step proceeds to steps S102 to S107, where the positioning tag 10 includes at least one tag circuit 11, and each tag circuit 11 is connected to a tag antenna 12 corresponding to the positioning tag, the positioning tag 10 may also include a plurality of tag circuits 11 and tag antennas 12 corresponding to the tag circuits 11, for example, one positioning tag includes three tag circuits 11 and three tag antennas 12 corresponding to each other, and each transceiver 20 includes a transmitting circuit 21 and a receiving circuit 22, the transmitting circuit 21 is connected to a transmitting antenna 23, and the receiving circuit 22 is connected to a receiving antenna 24.
S102: a transmitting signal is generated by the transmitting circuit 21 in each transceiver 20 and a transmitting signal electromagnetic wave corresponding to the transmitting signal is generated by the transmitting antenna 23 to transmit outwards.
S103: the tag circuit 11 in the at least one positioning tag 10 captures the electromagnetic wave of the transmission signal transmitted by the transceivers 20 through the tag antenna 12, adds an identification code of the tag antenna 12, and generates a modulation signal electromagnetic wave through the tag antenna 12 for external transmission.
S104: the receiving circuit 22 in each transceiver 20 receives the modulated signal electromagnetic wave through the receiving antenna 24, and the receiving circuit 22 generates a modulated signal according to the modulated signal electromagnetic wave and transmits the modulated signal to a processing unit 31 connected to the transceivers 20.
S105: as further shown in fig. 4, the processing unit 31 has an identification circuit 311 and a plurality of processing circuits 312, after the processing unit 31 receives the modulation signal, the processing circuits 312 demodulate the modulation signal by an identification signal generated by the identification circuit 311 to generate a received signal, wherein the number of the processing circuits 312 in the processing unit 31 is equal to the number of the transceivers 20, and each processing circuit 312 is responsible for receiving the signal transmitted by the corresponding transceiver 20.
S106: referring to fig. 5, the processing circuit 312 may obtain a frequency difference Δ f from the frequencies of the transmitting signal TX and the receiving signal RX, or may obtain an intermediate frequency signal IF after mixing the frequencies of the transmitting signal TX and the receiving signal RX, and then transmit the frequency difference Δ f or the intermediate frequency signal IF to an operation host 40 for the operation host 40 to perform operations.
S107: the operation host 40 calculates the distance D according to the frequency difference
Calculating the relative distance between the tag antenna 12 and each transceiver 20 in the at least one positioning tag 10, or comparing the intermediate frequency signal IF with an initial intermediate frequency signal IF corresponding to the intermediate frequency signal IF by the computing host 401Obtaining a phase difference delta phi and calculating the formula according to the distance variation
Calculating the distance variation between each transceiver 20 and the tag antenna 12 of the at least one positioning tag 10.
S108: the calculation host 40 calculates the coordinate position of each transceiver 20 according to the relative distance or the distance variation between the tag antenna 12 and each transceiver 20 in the at least one positioning tag 10.
In step S101, steps S102 to S107 may be performed by sequentially installing one positioning tag 10 at a plurality of different known coordinate positions, or steps S102 to S107 may be performed by installing a plurality of positioning tags 10 at a plurality of different known coordinate positions, and when each positioning tag 10 is installed at each known coordinate position.
In step S106, each processing circuit 312 of the processing unit 31 can define an intermediate frequency signal obtained by mixing the first transmitting signal and the first receiving signal as an initial intermediate frequency signal IF1。
In step S108, the operation host 40 performs the coordinate position operation of each transceiver 20 according to the relative distance or the distance variation between the plurality of different known coordinate positions of the at least one positioning tag 10 and each transceiver 20, wherein the number of the plurality of different known coordinate positions is determined by the actual application situation of the at least one positioning tag 10 and each transceiver 20, and when the positioning tag 10 and the transceiver 20 are installed in the two-dimensional space, the coordinate (x) of the transceiver 20 needs to be solved because the positioning tag 10 and the transceiver 20 are installed in the two-dimensional spacea,ya) Due to the inclusion of xaAnd yaAt least three different coordinate positions of the positioning tag 10 and the coordinate position relationship of the transceiver 20 form three sets of quadratic equations for solving the two variables to be solved. To solve in three-dimensional spaceThe transceiver 20 coordinates (x)a,ya,za) For example, since x is containeda、ya、zaThe three variables to be solved at least need to be solved by four sets of quadratic equations composed of the four different coordinate positions of each positioning tag 10 and the coordinate position relationship of the transceiver 20, and when the number of different known coordinate positions is larger, the more equations composed of the coordinate positions of the positioning tags 10 and the coordinate position relationship of each transceiver 20 are, the higher the accuracy of solving the coordinate positions of each transceiver 20 in step S108 is.
In the radio frequency positioning method of the present invention, the transmission signals are modulated by frequency, in order to distinguish the transmission signals generated by the transceivers 20, each of the transmission circuits 21 is designed to have different frequency modulation intervals, as shown in fig. 6A, taking the use of three transceivers 20 as an example, three sets of transmission signals TX 1-TX 3 can adopt different frequency modulation intervals to achieve frequency division multiplexing; as shown in fig. 6B, for example, four transceivers 20 are used, and each transmitting circuit 21 is designed to sequentially generate transmitting signals TX 1-TX 4 at different time intervals to achieve time division multiplexing; or as shown in fig. 6C, for example, four transceivers 20 are used, and the four sets of transmitting signals TX 1-TX 4 are divided in a time-division manner, so that the transmitting signals at the same time or frequency do not overlap, thereby achieving the purpose of identifying the partitions.
Referring to fig. 7, the following describes a first embodiment of the steps S102 to S107 by using time division multiplexing operation of four transceivers 20a to 20d in a three-dimensional environment, and a practical application of the method for measuring the coordinate position of the transceiver 20 by using a frequency difference, where at least four different coordinate positions of the positioning tag 10 are required in the three-dimensional environment to solve the coordinate position of the transceiver 20, in this embodiment, known coordinate positions of six different positioning tags 10 are taken as an example, and the positioning tag 10 includes a tag circuit 11 and a tag antenna 12. Positioning the positioning tag 10 at a first known position (x) in the environment1,y1,z1) And fixedly disposing the first to fourth transceivers 20a to 20d at positions (x)a,ya,za)、(xb,yb,zb)、(xc,yc,zc)、(xd,yd,zd) The first to fourth transceivers 20a to 20d are connected to a processing unit 31, the processing unit 31 includes an identification circuit 311 and processing circuits 312a to 312d corresponding to the transceivers 20a to 20d, and the processing unit 31 is connected to an operation host 40.
First, the transmitting circuit 21a in the first transceiver 20a generates a transmitting signal SaAnd transmits the transmission signal S through the transmission antenna 23a connected theretoaCorresponding emission signal electromagnetic wave EaAnd the transmission signal SaAlso to the processing circuitry 312 a; the positioning tag 10 receives the electromagnetic wave E of the transmitted signal through the tag antenna 12aThen, the tag circuit 11 adds an identification code of the tag antenna 12, and the tag antenna 12 generates a modulation signal electromagnetic wave Eat1Transmitting outwards; the receiving antenna 24a receives the modulated signal electromagnetic wave Eat1Then, the receiving circuit 22a generates the electromagnetic wave E with the modulation signalat1A corresponding modulation signal Sat1And transmitted to the processing circuit 312 a; the processing circuit 312a processes the modulated signal S according to an identification signal of the identification circuit 311at1Performing demodulation to generate a received signal Sat1'; the processing circuit 312a compares the transmitting signal SaAnd the received signal Sat1The frequency of' obtains a frequency difference Δ fa1The processing unit 31 compares the frequency difference Δ fa1To the calculation host 40.
Similarly, the transmitting antenna 23a of the first transceiver 20a generates the transmitting signal electromagnetic wave EaThen, the transmitting circuits 21b to 21d of the second to fourth transceivers 20b, 20c and 20d sequentially generate the transmitting signal Sb、Sc、SdAnd outputs a transmission signal electromagnetic wave E through the respective transmission antennas 23b to 23d connected theretob、Ec、Ed(ii) a The positioning tag 10 receives the electromagnetic waves E of the transmitted signals sequentially through the tag antenna 12b、Ec、EdAn identification code of the tag antenna 12 is added by the tag circuit 11, and then passes through the tagThe antenna 12 generates the modulation signal electromagnetic wave Ebt1、Ect1、Edt1Transmitting outwards; the receiving antennas 24 b-24 d receive the modulated signal electromagnetic waves Ebt1、Ect1、Edt1Then, the receiving circuits 22 b-22 d generate electromagnetic waves E respectively corresponding to the modulation signalsbt1、Ect1、Edt1Corresponding modulation signal Sbt1、Sct1、Sdt1And transmitted to the processing circuits 312b to 312 d; the processing circuits 312b to 312d modulate the modulated signals S according to the identification signal of the identification circuit 311bt1、Sct1、Sdt1Performing demodulation to generate a received signal Sbt1'、Sct1'、Sdt1'; the processing circuits 312b to 312d respectively compare the transmitting signals Sb、Sc、SdAnd the corresponding received signals Sbt1'、Sct1'、Sdt1' the frequency results in a frequency difference Δ fb1、Δfc1、Δfd1The processing unit 31 compares the frequency differences Δ fb1、Δfc1、Δfd1To the calculation host 40.
Then, the positioning labels 10 are sequentially placed at a second known position (x)2,y2,z2) A third known position (x)3,y3,z3) A fourth known position (x)4,y4,z4) A fifth known position (x)5,y5,z5) A sixth known position (x)6,y6,z6) The above-mentioned processes S102 to S106 are repeated to obtain the positioning tag 10 placed at the second to sixth known coordinates (x)2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)、(x5,y5,z5)、(x6,y6,z6) At this time, the frequency difference Δ f between the transmitting signal and the receiving signal of the first transceiver 20aa2、Δfa3、Δfa4、Δfa5、Δfa6The frequency difference Δ f between the transmitting signal and the receiving signal of the second transceiver 20bb2、Δfb3、Δfb4、Δfb5、Δfb6Frequency difference Δ f between the transmission signal and the reception signal of the third transceiver 20cc2、Δfc3、Δfc4、Δfc5、Δfc6The frequency difference Δ f between the transmitting signal and the receiving signal of the fourth transceiver 20dd2、Δfd3、Δfd4、Δfd5、Δfd6And the frequency differences Δ f are compareda2～Δfa6、Δfb2～Δfb6、Δfc2～Δfc6、Δfd2～Δfd6To the calculation host 40.
To measure the coordinate position (x) of the first transceiver 20aa,ya,za) For example, in the first embodiment, the operation host 40 can determine the frequency differences Δ fa1～Δfa6According to the formula
The coordinate position (x) of the first transceiver 20a is knowna,ya,za) Respectively associated with first to sixth known coordinate positions (x)1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)、(x5,y5,z5)、(x6,y6,z6) Distance D ofa1、Da2、Da3、Da4、Da5、Da6。
Referring to fig. 8, the following describes a second embodiment of the steps S102 to S107 by using a time division multiplexing operation of four transceivers 20a to 20d in a three-dimensional environment, and a practical application of the method for measuring the coordinate position of the transceiver 20 by using a phase difference is described, and the coordinate position of the transceiver 20 is solved by using at least four different coordinate positions of the positioning tag 10 in the three-dimensional environment, in this embodiment, the coordinate positions of six different positioning tags 10 are taken as an example, and the positioning tag 10 includes a tag circuit 11 and a tag antenna 12. Placing the positioning tag 10 in a first known environmentPosition (x)1,y1,z1) And fixedly disposing the first to fourth transceivers 20a to 20d at positions (x)a,ya,za)、(xb,yb,zb)、(xc,yc,zc)、(xd,yd,zd) The first to fourth transceivers 20a to 20d are connected to a signal module 30, and the signal module 30 is connected to a host computer 40, wherein the signal module 30 includes a processing unit 31, a multiplexer 32 and an analog-to-digital converter 33, the multiplexer 32 is connected to the processing unit 31 and the analog-to-digital converter 33, and the processing unit 31 includes an identification circuit 311 and processing circuits 312a to 312d corresponding to the transceivers 20a to 20 d.
The transmitting circuit 21a in the first transceiver 20a generates a transmitting signal SaAnd generates a transmission signal electromagnetic wave E by the transmission antenna 23a connected theretoaAnd the transmission signal SaAlso to the processing circuitry 312 a; the positioning tag 10 receives the electromagnetic wave E of the transmitted signal through the tag antenna 12aThe tag circuit 11 adds an identification code of the tag antenna 12, and the tag antenna 12 generates a modulated signal electromagnetic wave Eat1Transmitting outwards; the receiving antenna 24a receives the modulated signal electromagnetic wave Eat1The receiving circuit 22a generates the electromagnetic wave E corresponding to the modulation signalat1A corresponding modulation signal Sat1And transmitted to the processing circuit 312 a; the processing circuit 312a processes the modulated signal S according to an identification signal of the identification circuit 311at1Performing demodulation to generate a received signal Sat1'; the processing circuit 312a transmits the transmission signal SaAnd the received signal Sat1' mixing to obtain an initial intermediate frequency signal Sat1", the signal module 30 will send the initial intermediate frequency signal Sat1"to the calculation host 40.
Similarly, the transmitting antenna 23a of the first transceiver 20a generates the transmitting signal electromagnetic wave EaThen, the transmitting circuits 21b to 21d of the second to fourth transceivers 20b, 20c and 20d sequentially generate the transmitting signal Sb、Sc、SdAnd generates a transmission signal electromagnetic wave E by each of the transmission antennas 23b to 23d connected theretob、Ec、Ed(ii) a The positioning tag 10 receives the electromagnetic waves E of the transmitted signals in sequenceb、Ec、EdThe tag circuit 11 adds the identification code of the tag antenna 12, and then the tag antenna 12 generates the modulation signal electromagnetic wave Ebt1、Ect1、Edt1Transmitting outwards; the receiving antennas 24 b-24 d receive the modulated signal electromagnetic waves Ebt1、Ect1、Edt1The receiving circuits 22 b-22 d generate electromagnetic waves E corresponding to the modulation signals respectivelybt1、Ect1、Edt1Corresponding modulation signal Sbt1、Sct1、Sdt1And transmitted to the processing circuits 312b to 312 d; the processing circuits 312b to 312d modulate the modulated signals S according to the identification signal of the identification circuit 311bt1、Sct1、Sdt1Performing demodulation to generate a received signal Sbt1'、Sct1'、Sdt1'; the processing circuits 312b to 312d will process the transmission signal Sb、Sc、SdAnd each of the received signals Sbt1'、Sct1'、Sdt1' mixing to obtain an initial intermediate frequency signal Sbt1"、Sct1"、Sdt1", the signal module 30 will output the initial intermediate frequency signals Sbt1"、Sct1"、Sdt1"to the calculation host 40.
The positioning tag 10 is placed at a second known coordinate (x)2,y2,z2) The transmitting circuit 21a in the first transceiver 20a generates a transmitting signal SaAnd generates a transmission signal electromagnetic wave E by the transmission antenna 23a connected theretoaAnd the transmission signal SaAlso to the processing circuitry 312 a; the positioning tag 10 receives the electromagnetic wave E of the transmitted signal through the tag antenna 12aThe tag circuit 11 adds an identification code of the tag antenna 12, and the tag antenna 12 generates a modulated signal electromagnetic wave Eat2Transmitting outwards; the receiving antenna 24a receives the modulated signal electromagnetic wave Eat2The receiving circuit 22a generates the electromagnetic wave E corresponding to the modulation signalat2A corresponding modulation signal Sat2And transmitted to the processing circuit 312 a; the processing circuit 312a processes the modulated signal S according to an identification signal of the identification circuit 311at2Performing demodulation to generate a received signal Sat2'; the processing circuit 312a transmits the transmission signal SaAnd the received signal Sat2' mixing to obtain an intermediate frequency signal Sat2", the signal module 30 will send the intermediate frequency signal Sat2"to the calculation host 40.
Similarly, the transmitting antenna 23a of the first transceiver 20a generates the transmitting signal electromagnetic wave EaThen, the transmitting circuits 21b to 21d of the second to fourth transceivers 20b, 20c and 20d sequentially generate the transmitting signal Sb、Sc、SdAnd generates a transmission signal electromagnetic wave E by each of the transmission antennas 23b to 23d connected theretob、Ec、Ed(ii) a The positioning tag 10 receives the electromagnetic waves E of the transmitted signals in sequenceb、Ec、EdThe tag circuit 11 adds the identification code of the tag antenna 12, and then the tag antenna 12 generates the modulation signal electromagnetic wave Ebt2、Ect2、Edt2Transmitting outwards; the receiving antennas 24 b-24 d receive the modulated signal electromagnetic waves Ebt2、Ect2、Edt2The receiving circuits 22 b-22 d generate electromagnetic waves E corresponding to the modulation signals respectivelybt2、Ect2、Edt2Corresponding modulation signal Sbt2、Sct2、Sdt2And transmitted to the processing circuits 312b to 312 d; the processing circuits 312b to 312d modulate the modulated signals S according to the identification signal of the identification circuit 311bt2、Sct2、Sdt2Performing demodulation to generate a received signal Sbt2'、Sct2'、Sdt2'; the processing circuits 312b to 312d will process the transmission signal Sb、Sc、SdAnd each of the received signals Sbt2'、Sct2'、Sdt2' mixing to obtain an intermediate frequency signal Sbt2"、Sct2"、Sdt2", the signalThe module 30 converts the intermediate frequency signals Sbt2"、Sct2"、Sdt2"to the calculation host 40.
The positioning tag 10 is sequentially placed at a third known coordinate (x)3,y3,z3) A fourth known coordinate (x)4,y4,z4) A fifth known coordinate (x)5,y5,z5) A sixth known coordinate (x)6,y6,z6) The above-mentioned processes S102 to S106 are repeated to obtain the third to sixth known coordinates (x) of the positioning tag 103,y3,z3)、(x4,y4,z4)、(x5,y5,z5)、(x6,y6,z6) The intermediate frequency signal S of the first transceiver 20aat3"、Sat4"、Sat5"、Sat6", the intermediate frequency signal S of the second transceiver 20bbt3"、Sbt4"、Sbt5"、Sbt6", the intermediate frequency signal S of the third transceiver 20cct3"、Sct4"、Sct5"、Sct6", the intermediate frequency signal S of the fourth transceiver 20ddt3"、Sdt4"、Sdt5"、Sdt6", and the intermediate frequency signals S are combinedat3"～Sat6"、Sbt3"～Sbt6"、Sct3"～Sct6"、Sdt3"～Sdt6"to the calculation host 40.
The computing host 40 converts the intermediate frequency signals S of the first transceiver 20a into the intermediate frequency signals Sat2"、Sat3"、Sat4"、Sat5"、Sat6With the initial intermediate frequency signal Sat1Comparing to obtain the phase difference delta phia2、ΔФa3、ΔФa4、ΔФa5、ΔФa6The intermediate frequency signals S of the second transceiver 20b are respectively transmittedbt2"、Sbt3"、Sbt4"、Sbt5"、Sbt6With the initial intermediate frequency signal Sbt1Comparing to obtain the phase difference delta phib2、ΔФb3、ΔФb4、ΔФb5、ΔФb6Receive and transmit the third signalEach of the intermediate frequency signals S of the device 20cct2"、Sct3"、Sct4"、Sct5"、Sct6With the initial intermediate frequency signal Sct1Comparing to obtain the phase difference delta phic2、ΔФc3、ΔФc4、ΔФc5、ΔФc6The intermediate frequency signals S of the fourth transceiver 20d are respectively transmitteddt2"、Sdt3"、Sdt4"、Sdt5"、Sdt6With the initial intermediate frequency signal Sdt1Comparing to obtain the phase difference delta phid2、ΔФd3、ΔФd4、ΔФd5、ΔФd6。
To measure the coordinate position (x) of the first transceiver 20aa,ya,za) For example, in the second embodiment, the operation host 40 can determine the phase difference Δ Φa2～ΔФa6According to the formula Δ D ═ λ Δ Φ/2 pi, the positioning tag 10 can be known to be located at the second to sixth coordinate positions (x ═ 2 pi)2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)、(x5,y5,z5)、(x6,y6,z6) Time respectively with the first coordinate position (x)1,y1,z1) Distance variation amount Δ D ofa2、ΔDa3、ΔDa4、ΔDa5、ΔDa6。
In step S108, the computing host 40 in the first embodiment obtains the coordinate position (x) of the first transceiver 20a from the following relationship matrixa,ya,za)：
In step S108, the host 40 in the second embodiment knows the first transceiver 20a according to the following relation matrixCoordinate position (x)a,ya,za)：
Similarly, in step S108, the operation host 40 can obtain the relationship matrix of the second to fourth transceivers 20b to 20d in the first and second embodiments by the above method, thereby calculating the coordinate positions (x) of the second to fourth transceivers 20b to 20db,yb,zb)、(xc,yc,zc)、(xd,yd,zd)。
In summary, the present invention can locate and find the coordinate position of the transceiver 20 based on the bidirectional electromagnetic wave signal transmission between the positioning tag 10 and the transceiver 20. As further shown in fig. 9, the method of the present invention can be applied to the preoperative setting process of the surgical positioning device, without precisely installing the transceivers 20 at the designated positions, the transceiver 20 transmits and receives signals to perform rf positioning calculation, the real coordinate positions of the transceivers 20 are measured, and under the condition that the transceivers 20 are fixed, the surgical positioning device precisely calculates the positions of the positioning tags 10 installed on the surgical instruments and the affected parts of the patient during the surgery according to the coordinate position information of the transceivers 20, so as to reduce the complicated process of precisely installing the transceivers 20 at the designated positions, and reduce the calculation error caused by the fact that the phase center of the antennas of the transceivers 20 is not located at the geometric center of the transceivers 20 due to circuit delay, so that the doctor can more precisely operate the instruments and improve the surgery quality.
Claims (13)
1. A radio frequency location method for measuring a location of a transceiver, comprising:
A. calculating the relative distance between at least one positioning label and a plurality of transceivers when the positioning label is arranged at a plurality of different known coordinate positions, and when the positioning label is arranged at each known coordinate position, carrying out the following steps:
a1. generating a transmitting signal by a plurality of transceivers through a transmitting circuit in each transceiver, and generating a transmitting signal electromagnetic wave corresponding to the transmitting signal through a transmitting antenna connected with the transmitting circuit to transmit outwards;
a2. a tag circuit in the at least one positioning tag captures the electromagnetic wave of the transmitting signal transmitted by each transceiver through a tag antenna connected with the tag circuit, adds an identification code of the tag antenna, and generates a modulation signal electromagnetic wave by the tag antenna for external transmission;
a3. a receiving circuit in each transceiver receives the modulation signal electromagnetic wave through a receiving antenna connected with the receiving circuit, and the receiving circuit generates a modulation signal according to the modulation signal electromagnetic wave and transmits the modulation signal to a processing unit connected with each transceiver;
a4. after the processing unit receives the modulation signal, an identification signal is generated through an identification circuit in the processing unit, and the modulation signal is demodulated through a plurality of processing circuits in the processing unit through the identification signal to generate a receiving signal;
a5. each processing circuit compares the frequencies of the transmitting signal and the receiving signal to obtain a frequency difference, and transmits the frequency difference to an operation host connected with the processing unit for the operation of the operation host; and
a6. the operation host calculates the relative distance between the tag antenna in the at least one positioning tag and each transceiver at the known coordinate position according to a distance calculation formula through the frequency difference;
B. and the operation host calculates the coordinate position of each transceiver according to the relative distance between the positioning tag and each transceiver when the positioning tag is arranged at the plurality of different known coordinate positions.
2. The method of claim 1, wherein in step a, the at least one positioning tag is a positioning tag, and the positioning tag is sequentially disposed at the plurality of different known coordinate positions to perform steps a 1-a 6.
3. The method as claimed in claim 1, wherein the at least one positioning tag is a plurality of positioning tags, and the positioning tags are respectively disposed at the different known coordinate positions to perform steps a 1-a 6.
4. The method as claimed in any one of claims 1 to 3, wherein the plurality of transmitter circuits of the plurality of transceivers generate a plurality of the transmit signals in one of frequency division multiplexing, time division multiplexing and frequency division time division multiplexing, and the frequencies of the transmit signals transmitted at the same time do not overlap.
5. A method as claimed in claim 1, wherein in step a4, the identification circuit generates the identification signal corresponding to the tag antenna.
6. The radio frequency location method of claim 1, wherein in step a6, the distance is calculated as
D represents a distance, c represents an electromagnetic wave velocity, Δ f represents a frequency difference, and (df/dt) represents a frequency change amount per unit time.
7. A radio frequency location method for measuring a location of a transceiver, comprising:
A. calculating the distance variation between at least one positioning tag and a plurality of transceivers when the positioning tag is arranged at a plurality of different known coordinate positions, and when the positioning tag is arranged at each known coordinate position, performing the following steps:
a1. generating a transmitting signal by a plurality of transceivers through a transmitting circuit in each transceiver, and generating a transmitting signal electromagnetic wave corresponding to the transmitting signal through a transmitting antenna connected with the transmitting circuit to transmit outwards;
a2. a tag circuit in the at least one positioning tag captures the electromagnetic wave of the transmitting signal transmitted by each transceiver through a tag antenna connected with the tag circuit, adds an identification code of the tag antenna, and generates a modulation signal electromagnetic wave by the tag antenna for external transmission;
a3. a receiving circuit in each transceiver receives the modulation signal electromagnetic wave through a receiving antenna connected with the receiving circuit, and the receiving circuit generates a modulation signal according to the modulation signal electromagnetic wave and transmits the modulation signal to a processing unit connected with each transceiver;
a4. after the processing unit receives the modulation signal, an identification signal is generated through an identification circuit in the processing unit, and the modulation signal is demodulated through a plurality of processing circuits in the processing unit through the identification signal to generate a receiving signal;
a5. each processing circuit mixes the transmitting signal and the receiving signal to generate an intermediate frequency signal, and the intermediate frequency signal is transmitted to an operation host connected with the processing unit for the operation of the operation host; and
a6. the operation host machine compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, and calculates the distance variation between the tag antenna in the at least one positioning tag and each transceiver at the known coordinate position according to a calculation formula of the distance variation;
B. and the operation host calculates the coordinate position of each transceiver according to the distance variation between the positioning tag and each transceiver when the positioning tag is arranged at the plurality of different known coordinate positions.
8. The method of claim 7, wherein in step A, the at least one positioning tag is a positioning tag, and the positioning tag is sequentially disposed at the plurality of different known coordinate positions to perform steps a 1-a 6.
9. The method as claimed in claim 7, wherein the at least one positioning tag is a plurality of positioning tags, and the positioning tags are respectively disposed at the different known coordinate positions to perform steps a 1-a 6.
10. The method as claimed in any one of claims 7 to 9, wherein the plurality of transmitter circuits of the plurality of transceivers generate a plurality of the transmit signals in one of frequency division multiplexing, time division multiplexing and frequency division time division multiplexing, and the frequencies of the transmit signals transmitted at the same time do not overlap.
11. The method of claim 7 wherein in step a4, the identification circuit generates the identification signal corresponding to the tag antenna.
12. The method according to claim 7, wherein in step a5, the intermediate frequency signal obtained by mixing the first transmitting signal and the first receiving signal in each processing circuit is the initial intermediate frequency signal.
13. The method according to claim 7, wherein the distance variation is calculated by the formula of step a6
Δ D is the distance variation, λ is the wavelength, ΔPhi is the phase difference and pi is the circumference ratio.
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