CN116413713A - Regional positioning method, ranging device and electronic equipment - Google Patents
Regional positioning method, ranging device and electronic equipment Download PDFInfo
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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
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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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Abstract
The application discloses a region positioning method, which comprises the following steps: transmitting a ranging signal to a measured target; the measured target calculates and generates a feedback signal according to the ranging signal; and comparing the ranging signal with the feedback signal, obtaining the phase difference between the ranging signal and the feedback signal, and calculating the distance between the ranging device and the measured target according to the phase difference and the light speed. The method can realize positioning and ranging of the mobile terminal equipment, has good universality and can obtain millimeter-level measurement accuracy in a wide range. The application also discloses a distance measuring device and electronic equipment capable of realizing the method, so that equipment such as a communication base station and the like can be used for measuring the distance while carrying out communication of multiple users or measuring the distance while carrying out communication between users.
Description
Technical Field
The invention belongs to the technical field of radio communication, and particularly relates to a region positioning method, a distance measuring device and electronic equipment.
Background
In wireless location technology, distance measurement is the basis for determining location information and positioning navigation of a device under test. Using a radio positioning system, the distances between a plurality of reference stations and the tested device can be measured by a distance measurement technology based on time synchronization or non-time synchronization, and then the position information of the tested device can be obtained by a geometric calculation mode. The accuracy of the position information is limited by the ranging accuracy and the geometric distribution of the reference stations, so the universality and accuracy of the distance measurement technology are important to radio positioning navigation.
In the prior art, for example, chinese patent publication No. CN1184748C discloses a radio communication and ranging system, and the patent adds one or a few low-frequency sinusoidal signals as positioning signals based on the original communication system, and obtains a ranging result by comparing the phase changes of the positioning signals through measuring the phase differences.
In implementing the embodiments of the present application, the inventors have found that the above-mentioned techniques have at least the following drawbacks: the method is limited by the influence of chips, electronic components and cost, the distance measurement precision of the prior art in a long distance is relatively low, the distance measurement precision and the distance measurement range cannot be considered under the determined hardware condition, the precision is necessarily lower for large-range distance measurement, and if the distance measurement precision is improved from the hardware, the chips and the electronic components with higher precision are needed to be selected, so that the cost is easily increased.
Disclosure of Invention
In view of this, the present application aims to provide a region positioning method, which solves the problems that in the prior art, the ranging accuracy is low in a wide range, the measuring accuracy and the measuring range cannot be considered, and the like, and realizes the millimeter-level measuring accuracy in the wide range.
The regional positioning method disclosed by the application comprises the following steps:
transmitting a ranging signal to a measured target;
the measured target calculates and generates a feedback signal according to the ranging signal;
comparing the ranging signal with the feedback signal, obtaining the phase difference of the ranging signal and the feedback signal, and obtaining the measuring distance by calculating the phase difference;
calculating the distance between the distance measuring device and the measured target according to the phase difference and the light speed;
the ranging signal further comprises a first positioning frequency spectrum and a second positioning frequency spectrum, and the first positioning frequency spectrum is provided with a first difference frequency;
setting a first measurement range according to the first difference frequency;
first ranging a measured target in a first measurement range by using a first positioning frequency spectrum;
obtaining a first distance value through first distance measurement;
using the second positioning spectrum to measure the distance of the measured target for the second time;
the first distance value is determined to be the second distance value by the second ranging.
Further, the first positioning spectrum at least comprises two signals with different frequencies, the second positioning spectrum at least comprises one signal, and the frequency of the signal in the second positioning spectrum is larger than the frequency of any signal in the first positioning spectrum.
Further, the second positioning spectrum is provided with a second difference frequency, the first distance measurement is performed on the measured target in the first measurement range by using the second difference frequency, a first distance value is obtained through the first distance measurement, the second distance measurement is performed on the measured target by using the second positioning spectrum, and the first distance value is determined to be a second distance value through the second distance measurement.
Further, the second difference frequency is greater than the first difference frequency.
Further, the method further comprises the following steps: the measured object is measured in a first measuring range by using a first difference frequency.
Based on the above object, the present application further provides a ranging apparatus comprising: the generating module is used for outputting a positioning signal and a carrier frequency signal; the modulation module is connected with the generation module and used for modulating and synthesizing the positioning signal and the carrier frequency signal into a ranging signal; the receiving and transmitting module is connected with the modulation module and used for transmitting the ranging signal to the tested target and receiving the feedback signal transmitted by the tested target; a computing module, at least part of which is connected with the generating module, and can receive the positioning signal output by the generating module; at least part of the calculation module is also connected with the transceiver module and is used for demodulating the feedback signal and comparing the feedback signal with the positioning signal to obtain the phase difference between the feedback signal and the positioning signal; the positioning signals are provided with at least two groups of positioning spectrums and initial phase information thereof, the calculation module compares the initial phase information with the phase information in the feedback signals, and the frequency of at least one group of positioning spectrums is smaller than or equal to the first frequency.
Further, the positioning signal comprises a first difference frequency generated by the first positioning frequency spectrum, the second positioning frequency spectrum and the first positioning frequency spectrum; the first difference frequency is used to determine a first measurement range within which to measure in a first positioning spectrum.
Further, the frequency of the first positioning frequency spectrum is smaller than or equal to the first frequency, the frequency of the second positioning frequency spectrum is larger than or equal to the second frequency, and the first frequency is smaller than the second frequency.
Further, the device also comprises a circulator, at least part of the circulator is connected with the modulation module, at least part of the circulator is connected with the receiving and transmitting module, and the ranging signal is transmitted to the receiving and transmitting module through the circulator. The circulator is at least partially connected with the computing module, and the feedback signal received by the receiving and transmitting module is transmitted to the computing module through the circulator.
Based on the above object, the present application further provides an electronic device, including: and a memory for storing a computer program. And the processor is used for realizing the steps of any area positioning method when executing the program stored in the memory.
Compared with the prior art, the benefit of this application is: the regional positioning method provided by the application is low in cost and wide in application range, can be widely applied to radio positioning systems with different hardware conditions, and can achieve millimeter-level measurement accuracy while taking into account a large range.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a undue limitation. In the drawings:
FIG. 1 is a flow chart of an implementation of a region location method;
FIG. 2 is a schematic diagram of the structure of an electronic device;
FIG. 3 is a schematic view of the structure of the distance measuring device;
FIG. 4 is a schematic diagram of the operation of the frequency generator;
fig. 5 is a spectrum structure of a ranging signal;
FIG. 6 is a schematic diagram of a computing module
FIG. 7 is a schematic diagram of the operation of the distance measuring device;
fig. 8 is a schematic diagram of an implementation for achieving spatial positioning of a device under test.
Detailed Description
According to the embodiment of the application, the problems that in the prior art, the ranging accuracy is low under a large range, the measuring accuracy and the measuring range cannot be considered, and the like are solved, and the millimeter-level measuring accuracy under the large range is achieved.
The technical scheme in this embodiment of the present application is to solve the problems existing in the above prior art, and the overall thought is as follows:
modulating at least two groups of positioning frequency spectrums on a carrier frequency signal sent to a measured object, enabling one group of positioning frequency spectrums to be in a low frequency range, enabling the other group of positioning frequency spectrums to be in a high frequency range, determining a maximum range by using a difference frequency generated by the low frequency positioning frequency spectrums, measuring the distance of the measured object by using the low frequency positioning frequency spectrums, and obtaining a first measurement result. The high-frequency positioning spectrum is further utilized to measure the distance of the measured object, a second measurement result is obtained, and millimeter-level measurement accuracy can be obtained in the maximum range by combining the first measurement result with the second measurement result.
In general, high frequency means a radio wave having a frequency band of 3MHz or more, and low frequency means the lowest frequency range applied to a certain technical field, and in a radio band, a frequency in a range of 30KHZ or more and 300KHZ or less is a low frequency.
The present invention will be described in detail below with reference to specific embodiments shown in the drawings, but these embodiments are not limited to the present application, and structural, method, or functional modifications made by those skilled in the art based on these embodiments are included in the scope of the present application.
As shown in fig. 1, an embodiment of the present application provides a method for locating a region, which specifically includes the following steps:
transmitting a ranging signal to a measured target;
the measured target calculates and generates a feedback signal according to the ranging signal;
comparing the ranging signal with the feedback signal, obtaining the phase difference of the ranging signal and the feedback signal, and obtaining the measuring distance by calculating the phase difference;
calculating the distance between the distance measuring device and the measured target according to the phase difference and the light speed;
the ranging signal further comprises a first positioning frequency spectrum and a second positioning frequency spectrum, and the first positioning frequency spectrum is provided with a first difference frequency;
setting a first measurement range according to the first difference frequency;
first ranging a measured target in a first measurement range by using a first positioning frequency spectrum;
obtaining a first distance value through first distance measurement;
using the second positioning spectrum to measure the distance of the measured target for the second time;
the first distance value is determined to be the second distance value by the second ranging.
It should be noted that the first positioning spectrum includes at least two signals with different frequencies, the second positioning spectrum includes at least one signal, and the frequency of the signal in the second positioning spectrum is greater than the frequency of any signal in the first positioning spectrum. Because the measurement accuracy of the first positioning spectrum is limited, the first distance value obtained by the first distance measurement is within a dynamic range (the dynamic range may be ±1 meter), the first distance value is further determined to be a second distance value by the second distance measurement, the second distance value is also within a dynamic range (the dynamic range may be ±1 millimeter), it can be understood that the dynamic range accuracy of the second distance value is greater than the dynamic range of the first distance value, that is, the second distance value is more accurate than the first distance value, and the millimeter-level measurement accuracy can be achieved by the method according to the embodiment under the condition that the measurement range is not affected.
As another implementation manner, the second positioning spectrum is provided with a second difference frequency, the measured target is subjected to first ranging by using the second difference frequency in the first measuring range, a first distance value is obtained through the first ranging, the measured target is subjected to second ranging by using the second positioning spectrum, and the first distance value is determined to be a second distance value through the second ranging. Through setting up the second difference frequency in the second location frequency spectrum, utilize the second difference frequency to carry out first range finding to the measured target for can not be limited by the setting of first group location frequency spectrum when to the range finding, further measure through selecting the second difference frequency, make more flexibility when measuring, under the limited circumstances of survey looks precision, can improve measurement accuracy greatly, leave more redundancies.
It should be noted that, the signal frequencies set in the first positioning spectrum are all at low frequencies, and the signal frequencies set in the second positioning spectrum are all at high frequencies, and it is easy to understand that the second difference frequency set in the second positioning spectrum is greater than the first difference frequency set in the first positioning spectrum.
As shown in fig. 2, the present application further provides an electronic device 100, where the electronic device 100 includes a memory 11 and a processor 12, the memory 11 is used to store a computer program, and the processor 12 is used to execute the program stored on the memory, so as to implement the steps of the above-mentioned area positioning method. The memory 11 may be a RAM (Random Access Memory ) or a nonvolatile memory (non-volatile memory), such as at least one magnetic disk memory. The processor 12 may be a general purpose processor including: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital SignalProcessing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
In the prior art, the objects to be measured or positioned are communication equipment such as interphones or telephones mainly used for communication, and along with the development of the times, the communication equipment is changed into a smart phone or a mobile terminal, and for a regional positioning method or a distance measuring equipment, the use and application scene are greatly changed, so that the use requirement of the scene cannot be met in the prior art.
As shown in fig. 3, according to an object of the present application, an embodiment of the present application further provides a ranging apparatus 200, including: the device comprises a signal generation module 21, a modulation module 22, a transceiver module 23, a calculation module 24 and a circulator 25, wherein the signal generation module 21 is used for outputting a positioning signal and a carrier frequency signal. The modulation module 22 is connected to the signal generation module 21, and the modulation module 22 is configured to modulate the positioning signal and the carrier frequency signal and synthesize the positioning signal and the carrier frequency signal into a ranging signal. The transceiver module 23 is connected to the modulation module 22, and the transceiver module 23 is configured to send a ranging signal to the target and receive a feedback signal sent by the target. At least part of the calculation module 24 is connected with the signal generation module 21 and is capable of receiving the positioning signal output by the signal generation module 21, and at least part of the calculation module 24 is also connected with the transceiver module 23 and is used for demodulating the feedback signal and comparing the feedback signal with the positioning signal to obtain the phase difference of the feedback signal and the positioning signal. The circulator 25 is at least partially connected to the modulation module 22, the circulator 25 is at least partially connected to the transceiver module 23, and the ranging signal is transmitted to the transceiver module 23 through the circulator 25. The circulator 25 is also at least partially connected to the calculation module 24, and the feedback signal received by the transceiver module 23 can be transmitted to the calculation module 24 via the circulator 25. Wherein, at least two groups of positioning spectrums and initial phase information thereof are set in the positioning signal, the calculating module 24 compares the initial phase information with the phase information in the feedback signal, and the frequency of at least one group of positioning spectrums is less than or equal to the first frequency. The first frequency is the boundary of the low frequency signal and may typically be 300KHZ.
As shown in fig. 3, as an implementation, the signal generating module 21 includes a carrier frequency signal generator 211 and a positioning signal generator 212, where the carrier frequency signal generator 211 is configured to output a frequency ω 01 The carrier frequency signal generator 211 is connected with the modulation module 22, and the carrier frequency signal output by the carrier frequency signal generator 211 is input to the modulation module 22 for modulation. The positioning signal generator 212 is configured to output a positioning signal, one end of the positioning signal generator 212 is connected to the modulation module 22, the other end of the positioning signal generator 212 is connected to the calculation module 24,the positioning signal can be transmitted to the modulation module 22 to be modulated with the carrier frequency signal and synthesized into a ranging signal. The positioning signals can also be transmitted to the computing module 24 and stored in the computing module 24. As another implementation, as shown in fig. 4, the signal generating module 21 is a frequency generator 213, one end of the frequency generator 213 is connected to the modulating module 22, and the frequency generator 213 can output a frequency ω 01 Carrier frequency signals of (a) and frequency are omega respectively 11 、ω 12 、ω 12 -ω 11 、ω 21 、ω 22 And omega 22 -ω 21 Six positioning signals are provided, and the frequency generator 213 transmits the carrier frequency signal and the positioning signals to the modulation module 22, and the modulation module 22 can respectively transmit the positioning signals ω 11 Locating signal omega 12 Locating signal omega 21 Locating signal omega 22 And carrier frequency signal omega 01 Modulating and synthesizing the modulated signals into ranging signals for output. The other end of the frequency generator 213 is connected to the calculation module 24, and the frequency generator 213 can generate the positioning signal ω 11 Locating signal omega 21 Locating signal omega 12 -ω 11 And a positioning signal omega 22 -ω 21 The four positioning signals are transmitted to the calculation module 24.
The modulation module 22 includes several modulators, which may be multipliers for an amplitude modulation scheme, frequency modulators for a frequency modulation scheme, and encoders for a code scheme, and in the embodiment of the present application, the modulators employ an amplitude modulation scheme, and the mathematical expression of the ranging signal output after modulation by the modulators is cos (ω) 01 + - Ω) t, wherein Ω is a localization signal. Specifically, referring to fig. 4, the modulation module 22 includes a first modulator 221, a second modulator 222, a third modulator 223, a fourth modulator 224, and a power synthesizer 225, one end of the first modulator 221 is connected to the frequency generator 213, the other end of the first modulator 221 is connected to the power synthesizer 225, one end of the second modulator 222 is connected to the frequency generator 213, the other end of the second modulator 222 is connected to the power synthesizer 225, one end of the third modulator 223 is connected to the frequency generator 213,the other end of the third modulator 223 is connected to the power combiner 225, one end of the fourth modulator 224 is connected to the frequency generator 213, and the other end of the fourth modulator 224 is connected to the power combiner 225. Carrier frequency signal ω output from frequency generator 213 01 Simultaneously to the first modulator 221, the second modulator 222, the third modulator 223 and the fourth modulator 224, the positioning signal omega 11 Applied to the carrier frequency signal omega by the first modulator 221 01 Modulated, the modulated signal is transmitted to a power synthesizer 225 by a first modulator 221, and the positioning signal omega is located 12 Applied to the second modulator 222 for a carrier frequency signal omega 01 Modulated by the second modulator 222, and transmitted to the power synthesizer 225 for locating the signal omega 21 Applied to the third modulator 223 for the carrier frequency signal omega 01 Modulated by the third modulator 223, and the modulated signal is transmitted to the power synthesizer 225 to locate the signal omega 22 Applied to the fourth modulator 224 for the carrier frequency signal omega 01 The modulated signals are transmitted to a power combiner 225 by a fourth modulator 224, and the four sets of signals are combined into a ranging signal by the power combiner 225, and the ranging signal has a spectrum structure shown in fig. 5.
As an implementation manner, the transceiver module 23 may be an antenna, which is a component for transmitting or receiving electromagnetic waves, and has the capability of transmitting radio and receiving radio, where in practical applications, the size of the antenna or the capability of resisting interference of an obstacle may be different, and the carrier frequency signal in the ranging signal may be different according to practical needs. The circulator 25 is sequentially provided with the connection modulation module 22, the transceiver module 23 and the calculation module 24, so that the signal transmission and the signal reception of the ranging device 200 can share one antenna, and the structural design of the ranging device 200 can be simplified.
As shown in fig. 6, the calculation module 24 includes a low noise amplifier 241, a local oscillator 242, a mixer 243, an intermediate frequency amplifier 244, a demodulator 245, a band pass filter unit 246, a digital processor 247, and a phase detector 248. The low noise amplifier 241 is used as a pre-amplifier of the calculation module 24 for pre-amplifying signals, one end of the low noise amplifier 241 is connected with the circulator 25, and low noise is achievedThe other end of the acoustic amplifier 241 is connected to the mixer 243, and the signal received by the transceiver module 23 enters the low noise amplifier 241 through the circulator 25, and is pre-amplified by the low noise amplifier 241 and then output to the mixer 243. Local oscillator 242 includes a first oscillator for generating a frequency F 1 Is a first oscillating signal (F) 1 ＝F 0 +F 00 ，F 0 For carrier frequency, F 00 The IF intermediate frequency (Intermediate Frequency)), the first oscillator is connected to the mixer 243, and the first oscillation signal is mixed with the signal output from the low noise amplifier 241 by the mixer 243. The mixer 243 is connected to the intermediate frequency amplifier 244, the signal output by the mixer 243 is a difference frequency component of the first oscillation signal, the signal output by the mixer 243 is amplified by the intermediate frequency amplifier 244 and then output to the demodulator 245, the demodulator 245 is used for recovering the baseband signal and transmitting the baseband signal to the band-pass filtering unit 246, and it should be noted that the demodulator 245 may be a detector of an amplitude-modulated signal or one of a frequency discriminator and a decoder. The band-pass filtering unit 246 comprises a first filter group and a second filter group, the first filter group being capable of filtering out the component with ω, respectively 11 With omega 12 Through omega 11 And omega 12 Calculating to obtain the difference frequency omega 12 -ω 11 And will carry omega 11 And with omega 12 -ω 11 Is input to digital processor 247, and is provided with ω by digital processor 247 11 And with omega 12 -ω 11 Is subjected to phase measurement. The second filter group can filter out the omega band 21 And (2) signals with omega 22 Through omega 21 And omega 22 Calculating to obtain the difference frequency omega 22 -ω 21 And will carry omega 21 And has omega 22 -ω 21 Is input to digital processor 247, and is provided with ω by digital processor 247 21 And has omega 22 -ω 21 Is subjected to phase measurement. The digital processor 247 is connected to the phase detector 248, and the digital processor 247 is capable of transmitting the results of the above-described phase measurements to the phase detector 248. Phase detector 248 is also coupled to a signal generation module21 are connected, and the positioning signal omega output by the signal generating module 21 11 Locating signal omega 21 Locating signal omega 12 -ω 11 And a positioning signal omega 22 -ω 21 And transmitted to the phase detector 248, the phase detector 248 compares the phase result output by the digital processor 247 with the initial phase of the positioning signal output by the signal generating module 21, the phase difference between the two is calculated by the phase detector 248, and the ranging result is obtained through phase difference conversion. The phase discrimination method of the phase discriminator 248 may be one of a time measurement method, a digital correlation coefficient phase discrimination method, or a frequency domain fourier phase discrimination method.
Specifically, as a working manner of the ranging device 200, as shown in fig. 7, the ranging device 200 may be capable of measuring a distance between the ranging device 200 and a device 300 to be measured (which is equivalent to a measured object in an area positioning method), in practical application, the ranging device 200 may be a communication base station, the device 300 to be measured is a mobile terminal used by a user, communication and distance measurement of multiple users by the communication base station are implemented through the application, and the device 300 to be measured may also be a communication base station, and distance measurement between the communication base station and the communication base station is implemented through the application. The distance measuring device 200 can be a mobile terminal used by a user, and the tested device 300 can also be a mobile terminal used by a user, so that the distance measurement between the users is realized.
The device under test 300 includes a signal generating module 31, a transceiver module 33, a modulation module 32, a calculation module 34, and a circulator 35, where the transceiver module 33 has substantially the same structure and function as the transceiver module 23, the modulation module 32 has substantially the same structure and function as the modulation module 22, the calculation module 34 has substantially the same structure and function as the calculation module 24, and the circulator 35 has substantially the same structure and function as the circulator 25, and will not be described again. The signal generating module 31 in the tested device 300 is a carrier frequency signal generator 311 for outputting a frequency ω 02 Carrier frequency signals of (a) are provided. The ranging signal cos (ω) output by the ranging device 200 01 + - Ω) t, the transceiver module 33 receives the ranging signal, and if the distance between the ranging apparatus 200 and the device 300 under test is D, the mathematical expression of the ranging signal received by the device 300 under test is: cos (omega) 01 ±Ω)(t+Δt), wherein Δt=d/c, c is the speed of light. The ranging signal enters the calculation module 34 through the circulator 35, the calculation module 34 calculates the ranging signal, and the mathematical expression of the calculated signal is: cos (Ω+Ω Δt). It should be noted that, the calculating module 34 is connected to the modulating module 32, the signal generating module 31 is also connected to the modulating module 32, the calculated signal (cos (Ω+Ω Δt)) is added to the modulating module 32 together with the carrier frequency signal, and after being modulated by the modulating module 32, a feedback signal is output to the circulator 35, where the mathematical expression of the feedback signal is: cos (omega) 02 (+ /) omega) (t + Δt), the feedback signal is transmitted through circulator 35 to transceiver module 33, and transceiver module 33 sends the feedback signal to ranging device 200. The mathematical expression of the feedback signal received by the transceiver module 23 is: cos (omega) 02 (+/-) (t+2Δt), the feedback signal is transmitted to the calculation module 24 via the circulator 25, the calculation module 24 calculates the feedback signal, and the mathematical expression of the calculated signal is: cos (Ω+2Ω Δt), and by comparing the calculated signal with the positioning signal cos Ω t output from the signal generating module 21, the phase difference Δphi=2Ω Δt is measured by the phase detector 248, and the distance between the ranging apparatus 200 and the device 300 under test is equal to
Wherein F is Ω In order to measure the frequency of the signal, the ranging accuracy is related to the wavelength and the phase measurement accuracy of the ranging signal. For a fixed phase measuring instrument, the phase measuring precision can only reach a certain constant value, thus the frequency F of the ranging signal Ω The higher the wavelength is, the smaller the range is, the higher the range accuracy is, and conversely, the F of the range signal is Ω The lower the wavelength, the greater the ranging accuracy. As an implementation, when F Ω When the maximum measuring range of D is 750 m and the phase measuring precision is 0.5 degree, the phase measuring precision of the distance measuring device 200 is selected to be 1/720=1.4x10 -3 For a range of 750 meters, the ranging accuracy can reach 1 meter.
As an alternative to the implementation of this method,selecting the phase measurement precision of the distance measuring device 200 to be 0.5 degree, and setting a positioning signal omega 11 And a positioning signal omega 12 As a first positioning spectrum in the ranging signal, a positioning signal omega is set 21 As a second positioning spectrum in the ranging signal. The frequency of the first positioning frequency spectrum is smaller than or equal to the first frequency, in the implementation mode, the first frequency is 300KHz, when omega 11 =200 KHz, and ω 12 In the case of =202 KHz, the difference frequency ω is obtained after mixing the two 12 -ω 11 =2khz is the first difference frequency generated by the first positioning spectrum. Therefore, the measurement frequency included in the ranging signal includes F Ω =200 KHz and F Ω =2khz by a first difference frequency F Ω Obtain a first measurement range of 75 km radius with the distance measuring device 200 as the center of a circle by using 2KHz, and pass the distance measuring device 200 through a first difference frequency F Ω The distance between the device 300 to be measured can be roughly measured in the first measurement range by using 2KHz, the relative position between the distance measuring device 200 and the device 300 to be measured can be determined by roughly measuring, and further, the measurement frequency F is used Ω The first precision measurement is performed on the device 300 under test at 200KHz, by which the first distance between the ranging device 200 and the device 300 under test can be determined, due to the measurement frequency F Ω The measurement accuracy of 200KHz is limited, the first accurate measurement can determine the first distance within a dynamic range (the error of the dynamic range is within ±1 meter), and by combining the measurement results of the rough measurement and the first accurate measurement, the absolute measurement accuracy of the ranging device 200 within the first measurement range with the whole radius of 75 km can reach 1 meter, and the relative measurement accuracy can reach 1.3x10 -5 。
The frequency of the second positioning frequency spectrum is greater than or equal to the second frequency, the second frequency is a boundary of the high-frequency signal, it is easy to understand that the first frequency is smaller than the second frequency, and in this implementation mode, the second frequency is 3MHz. Selecting omega based on the first positioning frequency spectrum 21 =50 MHz, and therefore the measurement frequency that the ranging signal also possesses includes F Ω =50 MHz, further using the measurement frequency F Ω Micro-testing the device 300 at 50MHz, by which the first distance can be determined to be dynamicWithin the range (the error of the dynamic range is within + -4 mm), the ranging device 200 can achieve an absolute measurement accuracy of 4 mm and a relative measurement accuracy of 5.3x10 within a first measurement range with an entire radius of 75 km by combining measurement results of rough measurement, first accurate measurement and micro measurement -8 。
In addition, as another implementation, the positioning signal ω is set in the second positioning spectrum 21 And a positioning signal omega 22 Selecting omega 21 ＝100MHz、ω 22 After mixing the two signals at 100.1MHz, the difference frequency ω is obtained 22 -ω 21 The second difference frequency generated by the second positioning spectrum is =100 KHz. The distance measuring device 200 uses the second difference frequency F Ω The second accurate measurement is performed on the device 300 at 100KHz, the second accurate measurement can determine the first distance within a dynamic range (the error of the dynamic range is ±2 meters), the micro measurement is performed on the device 300 at 100MHz with the measurement frequency fΩ=100 MHz, the first distance can be further determined within a dynamic range (the error of the dynamic range is ±2 millimeters) by the micro measurement, and the absolute measurement accuracy of the ranging apparatus 200 in the first measurement range with the whole radius of 75 km can be up to 2 millimeters by combining the measurement results of the rough measurement, the second accurate measurement and the micro measurement. Under the condition of limited phase measurement precision, the requirement on the phase measurement precision can be reduced through the implementation mode, and the measurement is not limited to the setting of the first positioning frequency spectrum by selecting the second difference frequency of the second positioning frequency spectrum, so that larger redundancy can be reserved, and the measurement precision is improved.
According to the implementation manner, the embodiment of the application combines the measurement results of the first positioning spectrum and the second positioning spectrum with the measurement range, so that the ranging device 200 can achieve an absolute measurement accuracy of 2 millimeters in the measurement range with a radius of 75 kilometers, and a relative measurement accuracy of 2.7x10 -8 . In the present application, the measurement accuracy of rough measurement is lower than that of fine measurement, the measurement accuracy of fine measurement is lower than that of micro measurement, the measurement range of micro measurement is required to be greater than or equal to the error of fine measurement, and the measurement range of fine measurement is required to be greater than or equal to the error of rough measurement, so thatThe uncertainty of the ranging device 200 in the measuring process can be effectively avoided through the arrangement.
As shown in fig. 8, the embodiment of the present application further provides an implementation manner capable of measuring the spatial location of the device 300 under test, selecting at least three ranging devices 200 with known coordinates, using the area location method provided by the present application, measuring the distance between each ranging device 200 and the device 300 under test, combining the measurement results of each ranging device 200, and obtaining the spatial location of the device 300 under test according to the combined measurement results, so as to further determine the location and height of the device 300 under test. Specifically, the distance D between the distance measuring device 200 and the device 300 under test is measured according to three of the known coordinates (X, Y, Z three-dimensional coordinates) 1 、D 2 And D 3 According to the distance D 1 、D 2 And D 3 The coordinate value of X, Y, Z of the tested device 300 is solved by setting a formula, and the distance D measured by the fourth distance measuring device 200 is obtained 4 Error checking is performed so as to accurately acquire three-dimensional coordinate values of the device 300 under test. In addition, the ranging device 200 measures the device 300 according to different measurement scenarios, such as selecting at least one measurement device 200 with known coordinates, that is, the one-dimensional spatial position of the device 300 (such as a measurement scenario of a tunnel) can be located, so as to obtain the one-dimensional coordinates of the device 300. If at least two measuring devices 200 with known coordinates are selected, the device 300 to be measured on the same plane is measured, that is, the two-dimensional space position of the device 300 to be measured can be located, and the two-dimensional coordinates of the device 300 to be measured are obtained.
In the claims, the word "comprising" does not exclude other elements or steps; the word "a" or "an" does not exclude a plurality. In the claims, use of ordinal terms such as "first," "second," etc., to modify a claim element does not by itself connote any priority, order, or temporal order of execution of acts by one claim element over another, but rather is merely for distinguishing elements of one claim from elements of another. Although certain features may be separately described in mutually different dependent claims, this does not imply that these features cannot be used in combination. The various aspects of the invention may be used alone, in combination, or in a variety of arrangements not specifically discussed in the embodiments described in the foregoing and is therefore not limited in its application to the details and arrangement of components set forth in the foregoing description or illustrated in the drawings. For example, aspects described in one embodiment may be combined with aspects described in other embodiments in any manner. The steps, functions, or features recited in the blocks or units may be performed or performed by one block or unit. The steps of the methods disclosed herein are not limited to being performed in any particular order, as may be possible when some or all of the steps are performed in other orders. Any reference signs in the claims shall not be construed as limiting the scope of the claims.
Although the preferred embodiments of the present application have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the application as disclosed in the accompanying claims.
Claims (10)
1. The regional positioning method is characterized by comprising the following steps of:
transmitting a ranging signal to a measured target;
the measured target calculates and generates a feedback signal according to the ranging signal;
comparing the ranging signal with the feedback signal, obtaining the phase difference between the ranging signal and the feedback signal, and obtaining a measuring distance by calculating the phase difference;
calculating the distance between the distance measuring device and the measured target according to the phase difference and the combination of the light speed;
the ranging signal further comprises a first positioning frequency spectrum and a second positioning frequency spectrum, and the first positioning frequency spectrum is provided with a first difference frequency;
setting a first measurement range according to the first difference frequency;
first ranging the measured target in the first measurement range by using the first positioning spectrum;
obtaining a first distance value through the first distance measurement;
using the second positioning spectrum to measure the distance of the measured target for the second time;
and determining the first distance value as a second distance value through the second ranging.
2. The method for locating a region according to claim 1, wherein,
the first positioning spectrum comprises at least two signals with different frequencies;
the second positioning spectrum comprises at least one signal;
the frequency of the signal in the second positioning spectrum is greater than the frequency of any signal in the first positioning spectrum.
3. The method for locating a region according to claim 1, wherein,
the second positioning frequency spectrum is provided with a second difference frequency;
first ranging the measured target in the first measuring range by using the second difference frequency;
obtaining the first distance value through the first distance measurement;
using the second positioning spectrum to measure the distance of the measured target for the second time;
and determining the first distance value as a second distance value through the second ranging.
4. A method of locating a region as claimed in claim 3 wherein the second difference frequency is greater than the first difference frequency.
5. The area locating method according to claim 1, further comprising:
and measuring the measured target in the first measuring range by using the first difference frequency.
6. A ranging apparatus, comprising:
the generating module is used for outputting a positioning signal and a carrier frequency signal;
the modulation module is connected with the generation module and used for modulating the positioning signal and the carrier frequency signal and synthesizing the positioning signal and the carrier frequency signal into a ranging signal;
the receiving and transmitting module is connected with the modulation module and is used for transmitting the ranging signal to a tested target and receiving a feedback signal transmitted by the tested target;
a computing module, at least partially connected to the generating module, capable of receiving the positioning signal output by the generating module; at least part of the calculation module is also connected with the transceiver module and is used for demodulating the feedback signal and comparing the feedback signal with the positioning signal to obtain the phase difference between the feedback signal and the positioning signal;
the positioning signals are provided with at least two groups of positioning spectrums and initial phase information thereof, the calculation module compares the initial phase information with the phase information in the feedback signals, and at least one group of positioning spectrums are smaller than or equal to a first frequency.
7. The distance measuring device according to claim 6, wherein,
the positioning signal comprises a first positioning frequency spectrum, a second positioning frequency spectrum and a first difference frequency generated by the first positioning frequency spectrum;
the first difference frequency is used to determine a first measurement range over which to measure with the first positioning spectrum.
8. The distance measuring device according to claim 7,
the frequency of the first positioning frequency spectrum is smaller than or equal to a first frequency;
the frequency of the second positioning frequency spectrum is more than or equal to a second frequency;
the first frequency is less than the second frequency.
9. The ranging apparatus of claim 6, further comprising a circulator at least partially coupled to the modulation module, the circulator at least partially coupled to the transceiver module, the ranging signal being transmitted to the transceiver module via the circulator;
the circulator is at least partially connected with the computing module, and the feedback signal received by the receiving and transmitting module is transmitted to the computing module through the circulator.
10. An electronic device, comprising:
a memory for storing a computer program;
a processor configured to implement the steps of the area locating method according to any one of claims 1 to 5 when executing the program stored in the memory.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111668425.6A CN116413713A (en) | 2021-12-31 | 2021-12-31 | Regional positioning method, ranging device and electronic equipment |
| PCT/CN2022/139286 WO2023125041A1 (en) | 2021-12-31 | 2022-12-15 | Area positioning method, distance measurement apparatus, and electronic device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111668425.6A CN116413713A (en) | 2021-12-31 | 2021-12-31 | Regional positioning method, ranging device and electronic equipment |
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| CN116413713A true CN116413713A (en) | 2023-07-11 |
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| CN202111668425.6A Pending CN116413713A (en) | 2021-12-31 | 2021-12-31 | Regional positioning method, ranging device and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1184748C (en) * | 2000-08-25 | 2005-01-12 | 何国瑜 | Radio communication, ranging and region positioning system |
| KR20190016254A (en) * | 2017-08-08 | 2019-02-18 | 삼성전자주식회사 | Method and apparatus for measurment of distance |
| CN107678021B (en) * | 2017-09-26 | 2021-09-24 | 南京索尔维电子科技有限公司 | Synchronous wireless difference frequency phase ranging device and method |
| US10962632B2 (en) * | 2017-12-18 | 2021-03-30 | Texas Instruments Incorporated | Electronic device and method for low power RF ranging |
| CN109975752B (en) * | 2019-03-25 | 2021-05-04 | 深圳市联智物联网科技有限公司 | Phase type distance measuring method |
| JP7499773B2 (en) * | 2019-08-19 | 2024-06-14 | ソニーセミコンダクタソリューションズ株式会社 | Distance measuring device and method |
| JP7199331B2 (en) * | 2019-09-19 | 2023-01-05 | 株式会社東芝 | Ranging device and ranging method |
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