CN1688895A - Near field electromagnetic positioning system and method - Google Patents

Abstract

A system for measuring distance between a first locus and a second locus includes: (a) at least one beacon device; a respective beacon device of the at least one beacon device being situated at the first locus and transmitting a respective electromagnetic signal; and (b) at least one locator device; a respective locator device of the at least one locator device being situated at the second locus and receiving the respective electromagnetic signal. The respective locator device is situated at a distance from the respective beacon device within near-field range of the respective electromagnetic signal. The respective locator device distinguishes at least two characteristics of the respective electromagnetic signal. The respective locator device employs the at least two characteristics to effect the measuring.

Description

The system and method that is used near field electromagnetic positioning

Technical field

The present invention relates generally to and utilize near field electromagnetic signal behavior measuring distance or range finding, and be particularly related to a kind of system and method for estimating the distance between transmitter or beacon and receiver or the steady arm.More particularly, the invention describes a kind of device, be used to be determined to the distance of only launching (transmit-only) beacon, and do not require synchronously, and do not rely on the variation in the signal amplitude.The present invention can be advantageously used for the part of following more general-purpose system, and this system is used for determining position (distance and direction) or is used for following the tracks of (near determining the position in real time).

Background technology

Relevant technologies

Be used to use electromagnetic signal to determine the various technology of direction and distance known in this field.These technology are sometimes referred to as wireless orientation and wireless distance finding.Jenkins provides the good summary to state-of-art in the wireless orientation.[ Small-Aperture?Radio?Direction-Finding，by?Herndon?H.Jenkins；Artech?House，Boston；1991；pp.1-23.]

The time difference that arrives and declinate mutually

A kind of technology that is used for wireless orientation be called the time difference of arrival (time difference of arrival, TDOA).This technology is used a pair of copolar antenna of being separated by with parallax range.Receive simultaneously by two antennas with arrival signal perpendicular to the direction incident of baseline.When incident direction is not orthogonal to baseline, an antenna will receive signal prior to another.The difference of the time of arrival (toa) of each antenna can be relevant with incident angle.The difference of this time of arrival can be handled to be similar to the mode that differs in ground of equal value.Use this technology, can determine the arrival direction of incident plane wave.This TDOA technology can promote the use of the network of receiving antenna in known location.In the time of arrival of each receiving antenna signal, can determine the plane of incidence wave line of propagation by relatively.Under a lot (but needn'ting all) situation, the direction that the plane wave of arrival arrives is the direction that the target transmitter exists.The early stage example of such wireless pointing system comprises the (U.S. Patent No. 716,134 by J.S.Stone; U.S. Patent No. 716,135; U.S. Patent No. 899,272; U.S. Patent No. 961,265) and the disclosed orientation system of Roos (U.S. Patent No. 984,108).The phase-detection that is used for the angle of arrival of the current mode of generally understanding in this area is by Fritz (U.S. Patent No. 2,160,135), by Rung (U.S. Patent No. 2,234,654) and open by Budenbom (U.S. Patent No. 2,423,437).The wireless orientation of the 3-D that use differs is open by Jansky (U.S. Patent No. 2,437,695).Lioio etc. (U.S. Patent No. 5,724,047) disclose phase place and time difference wireless pointing system.

The antenna radiation pattern angle of arrival

The another kind of technology that is used for wireless orientation relates to uses the antenna of its response as the function of angle.In one implementation, people can use directional antenna, and it has narrow relatively beamwidth at the specific axle (boresight) or the direction of maximum signal.Change the direction of antenna, up to the signal maximum that receives, thereby the direction of the axle of antenna and arrival signal is aimed at.In substituting realization, people can use such antenna, and it has null value specific zero to (null direction) or the direction of minimum signal strength.

In an early stage invention, Erskine etc. (U.S. Patent No. 1,342,257) disclose the use of tours antenna, and it is around the axle rotation on the plane that is arranged in ring.Robinson (U.S. Patent No. 1,357,210) discloses similar device, and it allows to find minimum value or zero when received signal.Can be with having two tours antenna electricity combination of orthogonal axes, so that produce the virtual-antenna of directional signal maximal value (or minimum value) direction.Bellini (U.S. Patent No. 1,297,313) discloses capacitive in conjunction with arranging or clinometer rule, and Goldschmidt etc. (U.S. Patent No. 1,717,679) discloses transformer or induction coupling clinometer rule.Can be with little annular of electricity or the combination of electricity little whiplike (or dipole) antenna, to be created in the cardiod type directional diagram that special azimuth direction has obvious null value.The direction of antenna can change, and up to making the signal minimum that receives, then zero direction is aimed at the direction of arrival signal.Taylor (U.S. Patent No. 1,991,473), Bailey (U.S. Patent No. 1,839,290) and Busignies (U.S. Patent No. 1,741,282) disclose the example of this technology.Fischer (U.S. Patent No. 2,539,413) also discloses carry out the clinometer rule technology of combination from the directional antenna signal

Amplitude is the angle of arrival relatively

The another kind of technology that is used for the angle of arrival of definite radiowave is the relatively angle of arrival of amplitude.The signal amplitude that compares two or more antennas is so that determine the angle of arrival.If for example first aerial signal amplitude is very big and second aerial signal amplitude is very little, people can infer that radiowave arrives from the directional diagram maximal value of first antenna and the directional diagram minimum value direction of second antenna.If signal is sizable, radiowave may have the direction arrival of suitable directivity from the directional diagram of two antennas so.This is similar to already mentioned traditional clinometer rule angle of arrival technology.The example of this technology comprises by Earp (U.S. Patent No. 2,213,273), Wagstaffe (U.S. Patent No. 2,213,874), Budenbom (U.S. Patent No. 2,234,587) and the disclosed content of Clark (U.S. Patent No. 2,524,768).

Doppler (Doppler) angle of arrival

The another kind of technology that is used for wireless orientation is utilized Doppler-Fei Suo (Doppler-Fizeau) effect.If receiving antenna is around the axle high speed rotating perpendicular to the direction of arrival signal, that arrival signal becomes greatly when receiving antenna frequency when the direction of arrival signal moves so, and the direction that deviates from the arrival signal when receiving antenna when moving frequency diminish.In fact, be infeasible with sufficiently high angular velocity rotating antenna easily to observe this effect.But, can place many receiving antennas in circle, and sequential scanning is at high speed sampled also with the simulation rotation.Earp (U.S. Patent No. 2,651,774) and Steiner (U.S. Patent No. 3,025,522) disclose such system.

Mix the angle of arrival

In the advantageously combination of prior art that is used to arrive angular measurement discussed above.For example, Edwards etc. (U.S. Patent No. 2,419,946) disclose amplitude and the combination of bit comparison mutually in wireless pointing system.Murphy etc. (U.S. Patent No. 5,541,608) disclose in wireless pointing system in conjunction with amplitude and bit comparison mutually.Murphy etc. do not utilize their disclosed mechanism to come measurement range or distance, and they do not utilize the near field behavior of the electromagnetic signal of lecturing as the present invention.

Triangulation

From the network of two or more distributed locations, various wireless pointing systems are measured the feasible position that can determine the target transmitter.Utilized triangulation by its a kind of technology that can realize this task.For example, if be determined to the direction of target transmitter, then can on figure, draw the orientation of three directions, and the position of target transmitter is in the point of crossing in orientation, perhaps near the delta-shaped region that is defined by the point of crossing in orientation from three known location.Maloney etc. (U.S. Patent No. 4,728,959) disclose the example of such system.

Wireless distance finding

Wireless distance finding can be finished by triangulation from the set of orientation survey.But the shortcoming of this existing ranging technology is: even obtain single scope or distance calculation also requires measuring from least two diverse locations.Distance is definite reliably in order to obtain, and the position must be separated by baseline, and it is a pith of wanting measuring distance.

Radar

There is multiple other method that can measuring distance.A kind of technology is radio detection and range finding (RADAR), as disclosed by Plaistowe (U.S. Patent No. 2,207,267).Radar Technology depends on the scattering of signal from target.Radar is worked finely in the ship that detects aerial aircraft in open sky or ocean surface, but when the target of following the tracks of is in the environment of the confusion that is full of scatterer, it is more and more difficult that detections of radar becomes, and this scatterer is suitable with the xsect of the target of wishing to follow the tracks of.

Passive label (passive tag) range finding

The target of passive cooperation, PASSIVE REPEATER (transponder) or passive label produce the performance more performance that reaches than with disoperative radar target.In passive label range measurement system, the signal that the transmitter radiation is received by PASSIVE REPEATER.PASSIVE REPEATER obtains the energy that receives and transmits once more.Fa She signal receives also and the comparison of the signal of original transmission at initial transmitter once more.This relatively may relate to the comparison between signal of transmitting and receiving that phase place, time delay or other can carry out range observation.Lichtenberg etc. (U.S. Patent No. 4,757,315) disclose the example of such system.The shortcoming of passive label range finding is: owing to the low-power that can be used for launching once more that is obtained by label, coverage is shorter relatively often.

The active transponder range finding

Initiatively cooperative target is generally more effective than passive target in range operation.Active transponder is listened attentively to special inquiry (interrogaroty) signal, and responds with special answer signal.The frequency of answer signal needn't be identical with interrogating signal, and the intensity of return signal does not rely on the intensity of the interrogating signal that is received by target.This technology can be called the active transponder range finding.From the interrogator transmitter to the transponder and the run duration of getting back to receiver, can determine by the bit comparison mutually of the initial signal that transmits with receive from remote forwarder.In certain embodiments, the phase bit comparison can be carried out by the modulation that is applied on interrogating signal and the answer signal.Know the velocity of wave of signal, run duration can be converted into distance.The example of head-end type range measurement system comprises the (U.S. Patent No. 1 by Green, 750,668), Nicolson (U.S. Patent No. 1,945,952), Gunn (U.S. Patent No. 2,134,716), Holmes (U.S. Patent No. 2,198,113) and Strobel (U.S. Patent No. 2,248,727) disclosed content.Deloraine etc. (U.S. Patent No. 2,408,048) disclose the system of modulating pulse service time in the transponder range measurement system.Nosker (U.S. Patent No. 2,470,787) system of the 3-D position measurement of using the transponder range finding is disclosed, and Williams (U.S. Patent No. 3,243,812) especially simple transponder system is disclosed, relate to transmit with the transponder signal that receives between the cycle count of bit comparison mutually.The shortcoming of transponder range finding is that it requires the active target received signal, and some property effects of the interrogating signal that generally received of the emission of return signal.

Only emission range finding

Simpler emission ranging scheme uses and only launches target.A kind of method that realizes only launching range measurement system is to measure the amplitude of the signal that receives from the transmitter of known transmit power.The amplitude distance-finding method of this wireless distance finding is by Forest (U.S. Patent No. 749,436; U.S. Patent No. 758,517; U.S. Patent No. 1,183,802) open.In some cases, amplitude reduces with the distance to receiver in predictable mode.For example in free space, the power that receives changes with square distance is reciprocal.Know the character of emissive power, received power and antenna, people can use such as the known relation of Friis law and infer distance.

The Friis law has provided emissive power (P in the far-field R F link _TX) and received power (P _RX) relation:

$P_{\mathrm{RX}}=P_{\mathrm{TX}}\frac{G_{\mathrm{TX}}{G}_{\mathrm{RX}}{\mathrm{\λ}}^2}{4{\mathrm{\π}}^2{r}^2}---\left[1\right]$

Wherein, G _TXBe transmitter antenna gain (dBi),

G _RXBe receiving antenna gain,

λ is the RF wavelength, and

R is the distance between transmitter and receiver.

Power is as the inverse of square distance (that is, power reduces with the distance increase) descends (roll off) in the far field.Near field links is not observed this relation.Near field power descends (rolloff) typically four times with the power that is higher than square inverse Or higher inverse.

This near field behavior has several important results.The first, available power is often far above will be from common far field Friis law Relationship Prediction in the near field links.This causes higher signal to noise ratio (snr) and better carries out link.The second because the near field has so fast relatively power roll off, so distance relatively limit often with limited.Like this, near field system is less may be disturbed mutually with another RF system, and this RF system runs on outside the operating distance of near field system.

Infer that from the signal power or the amplitude that receive distance is the most debatable.Although have any problem, the amplitude range measurement system still is used.For example, Moulin (U.S. Patent No. 5,955,982) discloses a kind of method and apparatus, is used to detect and locate the people who is embedded under the snowslide, and wherein signal amplitude is used to locate the snowslide victim.

There are various other methods, can obtain range information from only launching target by these method receivers.Ranger (U.S. Patent No. 1,639,667) discloses at transmitter with in the idea of the synclator of remote receiver.Receiver can compare the number that knocks of the number of 360 ° of phase shifts or time per unit, to infer the variation of distance.In a series of inventions, Gage (U.S. Patent No. 1,825,531; U.S. Patent No. 1,939,685; U.S. Patent No. 1,939,686; Patent No.1,961,757) disclose with different frequency and launched a pair of signal with different propagation characteristics and differential declines constant.By the amplitude ratio of the signal that relatively receives, can infer distance.Runge (U.S. Patent No. 2,134,535) discloses and has been conceived in the received signal directly or reflected ray overlapping, infers the distance of transmitter.Herson (U.S. Patent No. 2,314,883) discloses to inferring distance, the changes in amplitude speed of the signal that estimation receives.Hammerquist (U.S. Patent No. 4,788,548) discloses multichannel receiver, is used to carry out phase measurement, the range observation that its permission will be carried out.Nearer, Sullivan (U.S. Patent No. 5,999,131) discloses the network of a kind of isolation from the receiver of the direct-path signal of transmitter.Relative differences measurement in the network between receiver is converted to the difference distance estimations that is used to locate transmitter.The system of Sullivan has such shortcoming: require in common time reference or the network between all receivers synchronously.

If transmitter and receiver is synchronous, the accurate phase measurement at receiver can produce range information so, until 360 ° of phase place uncertainties.In other words, with respect to the beginning and the end of wavelength, synchronous receiver can be determined the position of transmitter, but can not determine that the position of transmitter whether is positioned at the distance of (for example) the 7th or the 8th or certain other wavelength.If determine at first absolute (or with reference to) position of transmitter by other device, so receiver can track transmitter with respect to the variation of the position of the reference of setting up.Precise synchronization is basic to obtain significant range information in such system.Any clock drift of only launching between target and receiver causes distance error.Precise synchronization is very difficult, and often implements very expensive but in fact.

Use the network of synchronous receiver, only the emission range finding also can be launched realization of goal with nonsynchronous.Relative difference in the receiving phase can be converted to the relative difference of position, is limited by 360 ° of phase ambiguities.

All these are only launched distance-finding method and depend on following " far field " supposition: people must suppose and only launch target and receiver location at a distance of half wavelength at least.If only launch target and receiver mutually apart from the half wavelength or littler, fuzzy the making near field is determined accurate distance difficulty so.

What only launch range measurement system simply is attracting.But existing emission range measurement system locks into significant disadvantage.Some only launch the precise synchronization that range measurement system depends on receiver network, and it implements complexity, difficulty and expensive often.In order to multiply by the signal speed computed range by the time, some only launch range measurement system depend on transmit and receive between precise time measure.Some only launch range measurement system depend on transmitter and receiver same difficulty synchronously.Can determine before the absolute distance that some are only launched range measurement system and depend on transmitter calibration to known location.Some are only launched range measurement system and depend on predictable variation between the distance that seldom obtains in the real world and amplitude.

Known to the inventor, the electromagnetism of prior art is followed the tracks of and range measurement system depends on the far field: the electromagnetic field of radiation the farther magnitude of wavelength or (usually) apart from reception.Even such as the inventor of the Ranger (U.S. Patent No. 1,639,667) that discloses in the operation of the distance of wavelength or littler magnitude, also hint supposition far-field signal behavior.There is not the range measurement system of inventor's known systems in carrying out range finding or range observation, to utilize the near-field signals phenomenon.The present invention advantageously utilizes the near-field signals phenomenon, and dependence and the shortcoming do not mentioned in the range measurement system of prior art.

History environment

Some wireless communication systems the earliest relate near field or induction coupling.Example relates to the coupling telegraphic signal between mobile train and the contiguous telegraph wire.Along with the discovery (being realized by such innovator such as Makeni (Marconi), Lodge (Lodge) and tesla (Tesla)) of hertz (Herz), the inundatory emphasis of RF exploitation focuses on long distance, far field system.By coeval standard, frequency is low relatively.Exploitation the earliest is with (30kHz-300kHz) at low frequency (LF), and enters intermediate frequency (MF) band (300kHz-3MHz) not long ago, and some forward positions work expand to high frequency (HF) band (3-30MHz).This workplace is to complete experiential thing.The slip-stick artist is absorbed in the actual techniques that is used to transmit and receive signal.What is not almost done work and define or understand basic physics, this basic physics makes wireless frequency (RF) technology become possibility.For example, outstanding RF expert Frederic Ternan in 1932 we can say: " understanding from the equation inference of the mechanism of channel radiation energy and this radiation of quantization means is comprised the unfamiliar notion of common slip-stick artist " [ Radio Engineering, First Edition, by Frederic Emmons Terman; McGraw Hill, Book Co.Inc., New York; 1932; P.494.].At that time the forward position of RF technology just begun to explore very high frequency(VHF) (VHF) band (30MHz-300MHz) than low side.A textbook in that period provides spectrogram, it with " 30,000kHz-60,000kHz: experiment with and amateurish using;＞60,000kHz: of no use now " finish [ Radio Physics Course, Second Edition, by Alfred A.Ghirardi; Farrar﹠amp; Rinehart, Inc., New York; 1942; P.330.].

Wireless direction finding and ranging continues to concentrate on long distance, the far field is used, as is the wireless navigation and the wireless guidance system of aircraft.The Japanese they to the attack in Pearl Harbor in target goal follow the trail of the wireless base station, Honolulu [ Joe Carr's Loop Antenna Handbook, First Edition, by Joseph J.Carr; Universal Radio Research, Reynoldsburg, Ohio; 1999; P.85.].Only at 1940 ' s,, theoretically in the RF technology emphasize to have caught up with emphasizing of long experience along with the exploitation of radar.The RF forward position has been passed through VHF and UHF rapidly, and moves to microwave but till that time.LF, MF and even HF band become the stagnant water of the notice of enlivening away from most of RF slip-stick artists day by day.

In brief, when RF slip-stick artist begins the active applications basic electromagnetic when theoretical, RF slip-stick artist not have initiatively pooled applications, and this is theoretical to the wireless distance finding problem at low frequency, those in being with as LF, MF and HF.Substantially, inundatory emphasis tends in the far field system of the scope running that surpasses wavelength rather than the near field system that turns round in the scope of about wavelength in the RF technology

Low frequency has and exceeds high-frequency some advantage.Low frequency is diffraction better around the barrier often, therefore can be used for non-line-of-sight applications, as on the mountain or around buildings.Because the long wavelength that is associated with lower frequency, so compare with high-frequency, it far is not big problem that multipath disturbs.And then low frequency often more can penetrate leaf and typical building materials, as wood, brick or concrete.The often easier manufacturing of low frequency RF circuit, and robust (robust) more.The element that is used in low RF frequency is used in high-frequency often more cheap and can obtain easilier than those.

Approximately the operation in the near field in the wavelength coverage also produces some advantage.The near-field signals level is often far above the inverse from common square distance The far-field radiation Relationship Prediction.By contrast, the signal level in the near field is than reducing sooner in the far field, conduct on the intensity Function reduce.As a result, the electromagnetic interference problem between adjacent near field system is less, makes than from the littler cell size of common far field forecasting institute expectation, reuses identical frequency easilier.In brief, electromagnetic field is different with behavior in the far field in the near field, and the inventor has been found that the continuous and predictable variation of some electromagnetic parameter can be as passing the signal of near field in the far field way, to determine scope or range information.

Although these near field advantages just known to the inventor, do not have the such system of description of the Prior Art: wherein, utilize the near-field signals phenomenon and the predictable behavior of those phenomenons when they change the far field behavior into from the near field, so that obtain scope or range information.

Existence is to the needs of electromagnetic positioning apparatus and method, and these apparatus and method can be operated asynchronously, do not require transmitted from transmitter to receiver synchronously, perhaps in the network of receiver synchronously.

Existence further needs the electromagnetic positioning apparatus and method, and these apparatus and method can not have awkward and long calibration process and operate, and come in handy in a variety of communication environments.

Existence is to another needs of electromagnetic positioning apparatus and method, and these apparatus and method can be used as the part of place (location) or position (position) tracker.

Also existing further needs system and method, and this system and method is used to be found to distance of electromagnetic signal source of position the unknown or its position.

Also exist the system and method to electromagnetic positioning further to need, this system and method uses low relatively frequencies operations, and utilizes the feature near field.

Summary of the invention

A kind of system that is used to measure distance between the primary importance and the second place comprises: (a) at least one beacon equipment; Each beacon equipment at least one beacon equipment is positioned at primary importance and launches each electromagnetic signal; And (b) at least one positioner equipment; Each positioner equipment at least one positioner equipment is positioned at the second place and receives each electromagnetic signal.Each positioner equipment arrives the distance of each beacon equipment in the distance of near field of each electromagnetic signal.Each positioner equipment is distinguished at least two features of each electromagnetic signal.At least two features of each positioner equipment utilization realize measuring.

A kind of method that is used to measure distance between the primary importance and the second place comprises step: (a): from primary importance emission electromagnetic signal; (b) receive electromagnetic wave in the second place; The second place is in the near field range of electromagnetic signal; (c) with not specific order: (1) detects first feature of electromagnetic signal; And (2) detect second feature of electromagnetic signal; (d) measure difference between first feature and second feature; And (e) utilize difference to come computed range.

Electromagnetic positioning device of the present invention utilizes the near field electromagnetic behavior to measure the emission beacon and receives distance between the steady arm.Steady arm comprises: (a) to the electricity (E) field sensitive first receiving antenna, (b) to second receiving antenna of magnetic (H) field sensitive, (c) be used to receive device from first signal of first receiving antenna, (d) be used to receive device from the secondary signal of second receiving antenna, (e) be used for determining the device of difference between first signal and the secondary signal, and (f) be used to use difference to determine the device of the distance from the steady arm to the beacon.

The present invention's explanation can utilize the phase differential between electricity and the magnetic field to be determined to beacon, as the distance of transmitter or other electromagnetic wave or signal source.Typical realization can be determined the distance to beacon between about 0.05 λ and 0.50 λ, and wherein λ is the wavelength by the electromagnetic signal of beacon emissions.The more high performance realization of the present invention may operate in the littler and bigger distance of ratio 0.50 λ than 0.05 λ.

The purpose of this invention is to provide a kind of electromagnetic positioning apparatus and method, can operate this apparatus and method asynchronously, and do not require transmitted from transmitter to receiver synchronously or in the network of receiver synchronously.

Further target of the present invention provides a kind of electromagnetic positioning apparatus and method, can operate these apparatus and method, and not have awkward and long calibration process, and these apparatus and method are useful in a variety of communication environments.

Another object of the present invention provides a kind of electromagnetic positioning apparatus and method, and these apparatus and method can be as the part of place or positioning control system.

Other purpose of the present invention provides a kind of system and method, is used to find distance in electromagnetic source of position the unknown or its position.

Another object of the present invention provides a kind of system and method for electromagnetic positioning, and this system and method uses low relatively frequencies operations, and utilizes the feature near field.

By following instructions and claims, and in conjunction with the accompanying drawing that illustrates the preferred embodiments of the present invention, further purpose of the present invention and feature will be clearly, in the accompanying drawings, use similar label mark similar elements in each figure.

Description of drawings

Fig. 1 is for the desirable electric little annular in the free space, as the electricity of distance function and the diagrammatic representation of magnetic field phase relation.

Fig. 2 is the form that operating distance and frequency are interrelated of near field range measurement system.

Fig. 3 is the synoptic diagram that is used for by the system of relatively more electric and the range finding of magnetic field orthotropic phase place near field.

Fig. 4 is the synoptic diagram that is used for by the system of relatively more electric and the range finding of homophase phase place near field, magnetic field.

Fig. 5 is the synoptic diagram that is used for by the system of relatively more electric and the range finding of phase place near field, magnetic field.

Fig. 6 is the synoptic diagram of details of the preferred embodiment of following system, and this system is used for by relatively find range in electricity and phase place near field, magnetic field.

Fig. 7 is the synoptic diagram of following system, and this system is combined in beacon and locator function in the single single equipment, is used for by relatively electricity and phase place near field, magnetic field range finding.

Fig. 8 is the synoptic diagram that is used for the representational antenna configurations of following near field range measurement system, and this system has vertical polarization beacon and vertical polarization omnidirectional steady arm.

Fig. 9 is the synoptic diagram that is used for the representational antenna configurations of following near field range measurement system, and this system has horizontal polarization beacon and horizontal polarization omnidirectional steady arm.

Figure 10 is the synoptic diagram that is used for the representational antenna configurations of following near field range measurement system, and this system has vertical polarization beacon and the directed steady arm of vertical polarization.

Figure 11 is the synoptic diagram that is used for the representational antenna configurations of following near field range measurement system, and this system has horizontal polarization beacon and the directed steady arm of horizontal polarization.

Figure 12 is the synoptic diagram of the details of the exemplary receiver in the diagram electromagnetic positioning system.

Figure 13 is the synoptic diagram of diagram according to the near field range measurement system of fixed beacon-mobile locator structural arrangements.

Figure 14 is the synoptic diagram of diagram according to the near field range measurement system of fixing/mobile locator-mobile beacon structural arrangements.

Figure 15 is the synoptic diagram of diagram according to the near field range measurement system of the beacon-locator structure configuration of mutual (reciprocal).

Figure 16 is the synoptic diagram that diagram is used the near field range measurement system of passive label construction configuration.

Figure 17 is the synoptic diagram that diagram is used the near field range measurement system of the long-range induction structure configuration near field.

Figure 18 is the process flow diagram of diagram method of the present invention.

Embodiment

The invention general view

Referring now to more complete the present invention, the preferred embodiments of the present invention shown in the drawings of describing in detail of accompanying drawing.But the embodiment that the present invention should not be regarded as being limited to propose here provides these embodiment to make that the disclosure will be thorough with completely on the contrary, and scope of the present invention is conveyed to those skilled in the art fully.Carry throughout, similarly label refers to similar elements.

Analytical model

Suppose that only launching target uses performance to be similar to the minute loop antenna of time domain magnetic dipole.Magnetic dipole can be thought the little current loop of regional A, and is electric current I=I of dependence time ₀T (t), wherein I ₀Be initial or characteristic current, and T (t) is a time dependence.Supposing that dipole is positioned at the x-y plane, is the center with the initial point, and its axle is in the z direction.The magnetic moment m of dipole is: m=AI ₀T (t), or m=m ₀T (t).The magnetic field of this minor loop or " H-field " are:

$H\left(t\right)=\frac{m_0}{4\mathrm{\π}{r}^2}(\frac{T}{r}+\frac{T}{c})+(2\cos \mathrm{\θ}\hat{r}+\sin \mathrm{\θ}\widehat{\mathrm{\θ}})+\frac{m_0\stackrel{\·\·}{T}\sin \mathrm{\θ}}{4\mathrm{\π}{c}^{2}r}\widehat{\mathrm{\θ}}---\left[2\right]$

And electric field or " E-field " are:

Wherein r is the distance to initial point, and c is the light velocity, ε ₀Be the magnetic permeability of free space, to the derivative of time by an expression.Suppose sinusoidal excitation T (t)=sin ω t, wherein ω is an angular frequency: ω=2 π f.So $\stackrel{\·}{T}=\mathrm{\ω}\cos \mathrm{\ωt},$ $\stackrel{\·\·}{T}=-{\mathrm{\ω}}^2\sin \mathrm{\ωt}$

$H\left(t\right)=\frac{m_0}{4\mathrm{\π}{r}^2}(\frac{\sin \mathrm{\ωt}}{r}+\frac{\mathrm{\ω}\cos \mathrm{\ωt}}{c})(2\cos \mathrm{\θ}\hat{r}+\sin \mathrm{\θ}\widehat{\mathrm{\θ}})-\frac{m_0{\mathrm{\ω}}^2\sin \mathrm{\ω}t\sin \mathrm{\θ}}{4\mathrm{\π}{c}^{2}r}\widehat{\mathrm{\θ}}---\left[4\right]$

And:

There are the various methods that can obtain range information from the near field.For example, people can compare first vertically or radially ( ) component and first cross stream component ( Or ).People can compare first vertically or radially (

The cross stream component of component and second field ( Or ).People can compare first vertically or radially ( Component and first vertically or radially (

) component.People can compare first vertically or radially ( ) component and second field vertically or radially ( ) component.People can compare first cross stream component (

Or

) and first cross stream component ( Or ).People can compare first cross stream component (

Or

) and the cross stream component of second field ( Or

).These relatively can comprise the comparison of phase place, the comparison of amplitude or the comparison of other signal properties.

The inventor have been found that an advantageous particularly and useful relatively be the comparison of the phase place of the phase place of electromagnetic electric component and electromagnetic magnetic component.

To the desirable minor loop of this free space, be as electric field (E-field) phase place of representing with the number of degrees of the function of distance:

${\mathrm{\φ}}_E=\frac{180}{\mathrm{\π}}(\frac{\mathrm{\ωr}}{c}+{\cot }^{-1}\frac{\mathrm{\ωr}}{c})---\left[6\right]$

The horizontal H-field phase place of representing with the number of degrees as the function of distance is:

${\mathrm{\φ}}_H=\frac{180}{\mathrm{\π}}(\frac{\mathrm{\ωr}}{c}+{\cot }^{-1}(\frac{\mathrm{\ωr}}{c}-\frac{c}{\mathrm{\ωr}}))---\left[7\right]$

Notice that equation [6] is in distance $r=\frac{1}{2\mathrm{\π}}\mathrm{\λ}$ Has branch's cutting.Phase change is provided by following:

The measurement of these relation supposition in the loop plane (θ=90 °).Can similarly be concerned other direction.

Fig. 1 is for the desirable electric little annular in the free space, as the electric field of distance function and the diagrammatic representation of magnetic field phase relation.In Fig. 1, Figure 100 comprises differing or Δ φ curve 106 of magnetic or H-Field phase curve 102, electricity or E-Field phase curve 104 and expression 102,104 difference of curve.Along first axle 108 curve plottings 102,104,106, this expression is as the phase place (preferably with the number of degrees) of the function of distance, and this distance is represented with the wavelength of the electromagnetic signal considered (preferably with kg-m-second unit, as rice) on second axle 110.Like this, in diagrammatic representation 100, illustrate the relation of equation [6]-[8].H-Field phase curve 102 90 ° of beginnings of E-Field phase curve 104 out-phase by equation [7] description about describing by equation [6].When distance when about 0.05 λ increases to about 0.50 λ, H-Field phase curve 102 begins to reduce, and increases then.Similarly, when distance when about 0.05 λ increases to about 0.50 λ, at first E-Field phase curve 104 increases gradually, and when distance increases with cumulative speed increase.The difference that E-Field phase curve 104 and H-Field phase curve are 102 is by 106 expressions of Δ φ curve.With about 90 ° of beginnings (that is), and reach 0 ° (, homophase phase place) during near the far field when the distance that surpasses 0.50 λ in the near field of Δ φ curve 106 in the distance of 0.05 λ in quadrature phase.Δ φ curve 106 has been described on mathematics in the equation [8].To between about 0.50 λ, the transformation of Δ φ curve 106 from quadrature phase to the homophase phase place is continuous substantially and predictable, and advantageously used by the present invention at about 0.05 λ.Use more accurate measurement, be benefited apart from using this phase transition in 0.05 λ and outside 0.50 λ.

Equation [8] expression differs Δ φ as the function of distance (r).Equation [8] is to surmount relation, and it cannot reverse and produce the expression formula of distance as the function that differs.But, can use multiple mathematical method to determine distance after given the differing.By other mathematical method, as example and not as restriction, as numerical value find the solution, produce look-up table, figure is found the solution, and can advantageously utilize equation [8].

In the far field of distance greater than a wavelength, electricity and magnetic field is phase-locking all.Boundary in the far field, with the fixed rate of 360 ° of each wavelength, the phase place of each and another change with acting in agreement.This is the common relation by those technician's expectations in RF field.As rule, in the prior art, by the irregular seldom discussion at all of near field phase place of the preferred embodiments of the present invention utilization.The work that exception is one of inventor of this rule.[ Electromagnetic?Energy?Around?Hertzain?Dipoles，by?H.Schantz；IEEE?Antennas?and?Propagation?Magazine，April?2001；pp.50-62.]

Fig. 2 is used for the distance that makes operation of near field range measurement system and the form that frequency interrelates.Among Fig. 2, table 200 makes frequency and the selected distance represented according to the wavelength of the signal of considering interrelates.Key character of the present invention is: can utilize the phase difference φ between electricity and magnetic field, determine from the steady arm receiver to beacon or the distance of other electromagnetic wave source.This near field distance-finding method allows accurately to determine about 0.05 λ to the distance to beacon between 0.50 λ, and wherein λ is the wavelength by the electromagnetic signal of beacon emissions.Obtaining optimum performance from scope to the distance of about 0.08 λ of beacon to the distance of about 0.30 λ.Use more accurate measurement, this phase change can be used within 0.05 λ and 0.50 λ outside distance.Corresponding characteristic manipulation distance as the function of frequency is provided in the table 200 of Fig. 2.Lower frequency allows in long distance operation; Higher frequency is more suitable for short distance.It is in order to illustrate that (Fig. 2) particular frequencies that table 200 is listed is provided, rather than in order to limit.

Determine that from the Δ φ that differs between electric field and the magnetic field distance may be more complicated than the free space result of equation [8] indication.In fact, people may wish (for example to use more complicated analysis or computation model, the model of the influence that is included on the actual ground rather than propagates in the free space), perhaps uses the experimental data of wishing to carry out the environment of range operation from people, come the calibration range system.

The present invention allows in the range finding at least 3000 feet of the wave band of 160-190kHz, at AM radio broadcasting wave band at least to 900 feet, and in higher frequency to shorter distance.By using other frequency can obtain a variety of other operating distances.Use lower frequency can reach bigger distance.Even the longest distance also can reach the inch with interior precision.

For the example of simple explanation of the present invention is provided, promptly in order to illustrate rather than in order to limit, mobile beacon and static steady arm have been stated in this description, but those skilled in the art will readily recognize that: beacon can be fix and steady arm move, perhaps beacon and steady arm all move.For avoiding wordy in following the discussion, single steady arm and single beacon only are discussed sometimes.This should not be interpreted as getting rid of a plurality of beacons and steady arm like this, and they are used as more complicated location, determine the part of position or tracker.

The system that is used for the near field range finding

Fig. 3 is the synoptic diagram that is used for by the system of relatively more electric and the range finding of magnetic field orthotropic phase place near field.Illustrate the range measurement system 300 that is used for the near field range finding among Fig. 3, this range finding is to realize by electricity and magnetic field phase place at electricity that closely compares quadrature and field signal (90 ° of out-phase).Beacon 310 comprises transmitter 312 and emitting antenna 337.Electromagnetic wave or signal 315 that beacon 310 emissions have wavelength X.

Steady arm 320 receiving electromagnetic signals 315.Steady arm 320 comprises the first electric field antenna 332, is used to receive E-field signal 301; And second magnetic field antenna 331, its receives H-field signal 302.If the distance 304 between beacon 310 and the steady arm 320 is, 0.05 λ for example, E-field signal 301 and H-field signal 302 are in antenna 331,332 about 90 ° of out-phase so.Steady arm 320 is measured this and is differed Δ φ, and indicates in distant-indicator 306 apart from equaling 0.05 λ.

Fig. 4 is the synoptic diagram that is used for by the system of relatively more electric and the range finding of homophase phase place near field, magnetic field.Illustrate the range measurement system 400 that is used for the near field range finding among Fig. 4, this range finding is by realizing at the electricity of remote relatively homophase and the electricity and the magnetic field phase place of field signal (0 ° differs).Beacon 410 comprises transmitter 412 and emitting antenna 437.Electromagnetic wave or signal 415 that beacon 410 emissions have wavelength X.

Steady arm 420 receiving electromagnetic signals 415.Steady arm 420 has the first electric field antenna 432, and it receives E-field signal 401; And second magnetic field antenna 431, its receives H-field signal 402.If the distance 404 between beacon 410 and the steady arm 420 is 0.50 λ, E-field signal 401 and H-field signal 402 about 0 ° of out-phase (homophase) so.Steady arm 420 is measured this and is differed Δ φ, and indicates in distant-indicator 406 apart from equaling 0.50 λ.

Steady arm 320 or 420 can use differing Δ φ and concerning apart from the free space between the r of describing on the mathematics in the equation [8], can use the analysis expression more accurately of the influence of considering soil and overland propagation, can use the theoretical simulation of communication environments, perhaps can use in the particular propagation environment about differing and the empirical data of distance, or be used to determine to differ Δ φ and apart from the other foundation that concerns between the r.

The basic structure that is used for the system of near field range finding

Fig. 5 is the synoptic diagram that is used for by the system of relatively more electric and the range finding of phase place near field, magnetic field.Illustrate the range measurement system 500 that is used for the near field range finding among Fig. 5, this range finding is by relatively the electricity and the magnetic field phase place of electricity and field signal realize.Beacon 510 comprises transmitter 512 and emitting antenna 536.Beacon 510 can be that move or fixing, or even the unknown of the electromagnetic radiation of electromagnetic signal form or uncooperative source.Emitting antenna 536 can be ring rod shape (loopstick) antenna or other type antenna, and it is not subjected to the influence that changes in the adjacent communication environments basically.Emitting antenna 536 also can be a whip antenna, and its size is big as the restriction that is applied by relevant rule or application-specific is allowed.Beacon 510 emission electromagnetic signals 515.

Steady arm 520 is positioned at the place apart from r of beacon 510, and receiving electromagnetic signals 515.Steady arm 520 comprises: first antenna 531, first receiver 525, second antenna 532, second receiver 527, signal comparator 580 and distance detector 590.Signal comparator 580 receives first representative signal and receives second representative signal from second receiver 527 from first receiver 525.Signal comparator 580 receives first and second representative signal, and distinguishes the difference between first and second representative signal.The difference that picks out can be the difference of phase place, the difference of amplitude or other difference between first and second representative signal.Signal comparator 580 produces the 3rd signal, and it is proportional or relevant with the difference that is picked out by signal comparator 580.Distance detector 590 receives the 3rd signal from signal comparator 580, and utilize the 3rd signal receiving determine between beacon 510 and the steady arm 520 apart from r.

In a preferred embodiment of the invention, dispose first antenna 531 and produce first representative signal to allow first receiver 525, this signal offers signal comparator 580, as with the proportional or representational signal of first component of electromagnetic signal 515.And then in a preferred embodiment of the invention, dispose second antenna 532 and produce second representative signal to allow second receiver 527, this signal offers signal comparator 580, as proportional with the second component of electromagnetic signal 515 or represent its signal.First component of electromagnetic signal 515 may be different in polarization or other detectable properties with second component.In the range measurement system of near field favourable difference be electromagnetic signal vertically or radially ( ) component and cross stream component ( Or

) between difference.

In another preferred embodiment of the present invention, first antenna 531 is electricity or E-field antenna, it allows first receiver 525 to produce first representative signal, this signal offers signal comparator 580, as proportional with first component of electromagnetic signal 515 or represent its signal, and second antenna 532 be magnetic or H-field antenna, it allows second receiver 527 to produce second representative signal, this signal offers signal comparator 580, as proportional with the second component of electromagnetic signal 515 or represent its signal.

In most of preferred embodiments of the present invention, first antenna 531 is H-field antennas, first receiver 525 is H-field receivers, second antenna 532 is E-field antennas, second receiver 527 is E-field receivers, signal comparator 580 is phase detectors, and distance detector 590 utilizes the phase information that receives from signal comparator-phase detectors 580, determine between beacon 510 and the steady arm 520 apart from r.

Like this, in the most of preferred embodiments of the present invention, first (H-field) antenna 531 is in response to the magnetic or the H-field component of electromagnetic signal 515, and allows first (H-field) receiver 525 to detect magnetic or proportional first signal of H-field component with electromagnetic signal 515.Not as restriction, comprise annular and ring rod shape antenna as example in response to the magnetic of electromagnetic signal or the antenna of H-field component.First (H-field) receiver 525 receives signal from first (H-field) antenna 531, and the magnetic of generation and electromagnetic signal 515 or proportional first representative signal of H-field component.Representative signal can be, for example has the simulating signal of voltage, this voltage directly and the amplitude of the magnetic of electromagnetic signal 515 or H-field component proportional.Perhaps, representative signal can be, for example passes on the digital signal of the data of the magnetic that belongs to electromagnetic signal 515 or H-field component.First (H-field) receiver 525 can comprise the sort of adjusting gear of practitioner's common sense in filtering, amplification, analog to digital conversion and RF field.

In response to the electricity of electromagnetic signal 515 or second (E-field) antenna 532 of E-field component, allow the electricity or the proportional secondary signal of E-field component of 527 detections of second (E-field) receiver and electromagnetic signal 515.As example and not as restriction, comprise whiplike, dipole or monopole antenna in response to the antenna of electromagnetic electricity or E-field component.The input signal that second (E-field) receiver 527 detects from second (E-field) antenna 532, and the electricity of generation and electromagnetic signal 515 or the proportional secondary signal of E-field component.Representative signal can be, simulating signal for example, its voltage directly and the amplitude of the electricity of electromagnetic signal 515 or E-field component proportional.Perhaps, representative signal can be, for example passes on the digital signal of the data of the electricity that belongs to electromagnetic signal 515 or E-field component.Second (E-field) receiver 527 can comprise the sort of adjusting gear of practitioner's common sense in filtering, amplification, analog to digital conversion and RF field.

If electromagnetic signal 515 is single frequency sinusoidal ripples, to first (H-field) receiver 525 and second (E-field) receiver 527, hope be to use the very wave filter of narrow bandwidth so that minimum noise and maximize signal to noise ratio (S/N ratio).But, to the wave filter that uses in first (H-field) receiver 525 and second (E-field) receiver 527, it is also important that to have the logical group delay of constant band, make that the relative phase feature of first representative signal and second representative signal is stable and predictable.The inventor has advantageously utilized Bezier (Bessel) wave filter as the starting point of optimizing.

First (H-field) antenna and second (E-field) antenna 532 preferably lead and come substantially polarization in response to electromagnetic signal 515.In substituting embodiment, steady arm 520 can use extra (H-field) antenna, extra (E-field) antenna, extra H-field receiver and extra E-field receiver, so that detect a plurality of polarization, perhaps so that detect electromagnetic signal from other incident direction.Because electromagnetic signal 515 has near-field signature, so polarization can advantageously comprise longitudinal polarization, it has the component of the direction of propagation that is parallel to the incident electromagnetic signal.

Signal comparator 580 (preferably in phase detectors, implementing) obtain with the magnetic of electromagnetic signal 515 or proportional first representative signal of H-field component and with the electricity or proportional second representative signal of E-field component of electromagnetic signal 515, and determine differing between first and second representative signal.Phase detectors 580 can be regarded as (for the purpose that illustrates rather than limit) frequency mixer, it receives first and second representative signal, and the quasistatic between the generation and first and second representative signal differs proportional quasi-static signal.In substituting embodiment, phase detectors 580 can be used with door (ANDgate) and realize, should make first and second representative signal as input with door, and its output offer integrator.The output of integrator be and first representative signal and second representative signal between quasistatic differ proportional quasi-static signal.Term in context " quasistatic " means that in time change is similar to the change on phase place substantially, is similar to electromagnetic signal 515 substantially and there is no need time or period.In other embodiments, phase detectors 580 can receive or catch time-domain signal, and detect the shape facility of zero crossing or other ripple, so that determine effectively differing between first representative signal and second representative signal.The phase detectors that are fit to can easily obtain-for example, as example and not as restriction, analog machine parts no.AD8302.Another embodiment of phase detectors 580 can obtain numerical information from first (H-field) receiver 525 and second (E-field) receiver 527, and calculates differing between first numerical information and second numerical information.

Can in can being transformed into differing of measurement apart from any device of r, implement distance detector 590.In simple especially example, distance detector 590 can be the analog voltmeter with scale of calibration, with read as the function of the voltage that applies from phase detectors 580 apart from r.The more complex embodiments of distance detector 590 can, for example preferably utilize analog to digital converter and microprocessor or microprocessor, the voltage that applies that receives from phase detectors 580 comes computed range r.Distance detector 590 can comprise that video, audio frequency or other output gives the user with indication apart from r, a part of perhaps can be used as comprehensive tracking, determining position or positioning system pass on measure give far-end apart from r, be used for further analysis.

Usually can think that steady arm 520 comprises: device is used for detecting and receiving first signal; Device is used for detecting and receiving secondary signal; Device is used for determining the difference between first and second representative signal relevant with first and second signals; And device, be used for determining distance after the difference between given first and second representative signal.

Usually can think that beacon 510 comprises the device that is used to launch electromagnetic signal.Beacon 510 can be the reference point of fixing, distance or scope r that mobile locator 520 is determined with respect to this reference point.Perhaps, fixing steady arm 520 can measure mobile beacon 510 apart from r, perhaps steady arm 520 can be the mobile unit apart from r of measuring mobile beacon 510.In addition, beacon 510 can be other source of disoperative transmitter or electromagnetic signal 515, people wish to know they with respect to the position of steady arm 520 apart from r.

Preferred embodiment

Fig. 6 is the synoptic diagram of details that is used for the preferred embodiment of the system that finds range by relatively electricity and phase place near field, magnetic field.In Fig. 6, range measurement system 600 comprise beacon 610 and with the steady arm 620 of beacon 610 standoff distance r.Beacon 610 comprises can mobile or fixed transmitter 612 and emitting antenna 636.Transmitter 612 can comprise the device of the character of the electromagnetic signal 615 that changes emission, comprise: as an illustration and not as restriction, input or excitation in response to the control signal that for example receives from data bus 695, according to predetermined pattern, change frequency, phase place, polarization or the amplitude of electromagnetic signal 615.In substituting embodiment, the electromagnetic signal 615 that transmitter 612 can modulate emission is so that convey a message.Such information can comprise information or out of Memory that identifies beacon 610 or the remote measurement of giving user's value.For example, can on the electromagnetic signal 615 of emission, realize binary phase shift keying (binary phaseshift keying), and not damage range performance of the present invention.In another embodiment, in response to control signal,, can open or close transmitter 612 according to predetermined pattern perhaps in response to certain other input or excitation from data bus 695.Such input or excitation can comprise (but being not necessarily limited to) signal from accelerometer, timer, motion detector, other sensor (transducer) or other inductor (sensor).

To transmitter 612, be operated in higher instantaneous power in some applications and lower dutycycle may be useful.For example, transmitter 612 may be operated in the average power level that approximately decuples permission, but only in 10% emission of eigenperiod, keeps similar substantially average transmit power level like this.Such intermittently operated can access more high s/n ratio (SNR) signal.The periodical operation of beacon 610 is to disturbing the operation under existing also useful.When beacon 610 peace and quiet (that is, not launching), steady arm 620 can be described the special coherent noise source such as the feature of undesired signal, in case and beacon 610 begin emission once more, can compensate the existence of this coherent noise.

In the application of safety particular importance, beacon 610 can operation technique so that electromagnetic signal 615 more be difficult to detect by the earwig.These technology can comprise: frequency modulation method, periodical operation, change emissive power are accurately measured the minimum power of needs with use, perhaps provide to make signal 615 be not easy other device that is detected by the earwig.In the smaller units size, emissive power control can more help tolerance frequency and reuse.

Determine that the first step apart from r between beacon 610 and the steady arm 620 is beacon 610 emission electromagnetic signals 615.In a preferred embodiment, electromagnetic signal 615 is vertical polarizations, but horizontal polarization or alternant polarization also are available.For avoiding unnecessary complicated, the electromagnetic coupled between beacon 610 and the steady arm 620 is described according to the electromagnetic wave that comprises electromagnetic signal 615.Because between beacon 610 and the steady arm 620 apart from r usually less than the wavelength of electromagnetic signal 615, electromagnetic signal 615 is not from beacon 610 uncoupled radiated electromagnetic waves usually, as distance r finds in the far field of a wavelength of electromagnetic signal 615.Should be appreciated that the electromagnetic wave that comprises electromagnetic signal 615 electromagnetic wave that normally react or coupling, rather than radiation or uncoupled electromagnetic wave.

Steady arm 620 receives electromagnetic signal 615.In a preferred embodiment, steady arm 620 comprises first (H-field) channel 625, second (H-field) channel 626, the 3rd (E-field) channel 627, local oscillator 650, first phase detectors 681, second phase detectors 682 and distance detector 690 (comprising modulus (A/D) converter 691 and microprocessor 692).Optionally data bus 695 can be used to provide following apparatus, and this device is used for exchanging between a plurality of beacons and steady arm (Fig. 6 is not shown specifically) and control and data signal.

First (H-field) channel 625 comprises first (H-field) antenna 630, the preselected wave filter 6400 of first (H-field), first (H-field) frequency mixer 6420, the main IF wave filter 6430 of first (H-field), the main IF amplifier 6440 of first (H-field), the inferior IF wave filter 6450 of first (H-field), the inferior IF amplifier 6460 of first (H-field) and first (H-field) automatic gain control 6480.First (H-field) channel 625 has first (H-field) antenna port 6270, first (H-field) adjusts port 6230, first (H-field) received signal volume indicator (RSSI) port 6220 and first (H-field) signal output port 6210.

Second (H-field) channel 626 comprises second (H-field) antenna 631, the preselected wave filter 6401 of second (H-field), second (H-field) frequency mixer 6421, the main IF wave filter 6431 of second (H-field), the main IF amplifier 6441 of second (H-field), the inferior IF wave filter 6451 of second (H-field), the inferior IF amplifier 6461 of second (H-field) and second (H-field) automatic gain control 6481.Second (H-field) channel 626 has second (H-field) antenna port 6271, second (H-field) adjusts port 6231, second (H-field) received signal volume indicator (RSSI) port 6221 and second (H-field) signal output port 6211.

The 3rd (E-field) channel 627 comprises the 3rd (E-field) antenna 632, the preselected wave filter 6402 of the 3rd (E-field), the 3rd (E-field) frequency mixer 6422, the main IF wave filter 6432 of the 3rd (E-field), the main IF amplifier 6442 of the 3rd (E-field), the inferior IF wave filter 6452 of the 3rd (E-field), the inferior IF amplifier 6462 of the 3rd (E-field) and the 3rd (E-field) automatic gain control 6482.The 3rd (E-field) channel 627 has the 3rd (E-field) antenna port 6272, the 3rd (E-field) adjusts port 6232, the 3rd (E-field) received signal volume indicator (RSSI) port 6222 and the 3rd (E-field) signal output port 6212.

The magnetic or the H-field component of first (H-field) antenna 630 response electromagnetic signals 615, and provide with the magnetic of electromagnetic signal 615 or the proportional received signal of H-field component to the preselected wave filter 6400 of first (H-field).

The preselected wave filter 6400 of first (H-field) makes with the magnetic or proportional first representative signal of H-field component of electromagnetic signal 615 and passes through, but refusal has the signal of not wanting frequency.The preselected wave filter 6400 of first (H-field) can be, for example bandpass filter or low-pass filter.The preselected wave filter 6400 of common first (H-field) will make following frequency pass through, and beacon 610 can be relevant application emission electromagnetic signal 615 in this frequency.The selection of frequency band will depend on various factors, including but not necessarily limited to the restriction of regulations, the dissemination of electromagnetic signal 615 and the operating distance r of hope.

First (H-field) frequency mixer 6420 will be from the preselected wave filter 6400 of first (H-field) first representative signal that receives and the local oscillator signals mixing that is produced by local oscillator (LO) 650, to produce first intermediate frequency (or IF) representative signal.Local oscillator 650 can be traditional sine-wave oscillator, Direct Digital compositor (Direct Digital Synthesizer, DDS) or other oscillator or waveform template source.

The IF representative signal that 6430 acceptance of first main (H-field) IF wave filter are wanted is also refused other undesired signal.Crystal filter can be advantageously used for first main (H-field) IF wave filter 6430.The feature of such crystal filter is extremely narrow passband, and more preferably has constant group delay in the passband.Narrow passband works, and conveys to first main (H-field) IF amplifier 6440 with an IF representative signal that allows to wish, refuses adjacent undesired signal simultaneously.First main (H-field) IF amplifier 6440 increases the amplitude of an IF representative signal, and passes on an IF representative signal of amplifying to give (H-field) IF wave filter 6450 for the first time.The IF representative signal that 6450 acceptance of (H-field) IF wave filter are for the first time wanted is also refused other undesired signal.Crystal filter can be advantageously used for (H-field) IF wave filter 6450 for the first time.The feature of such crystal filter is extremely narrow passband, and more preferably has constant group delay in the passband.Narrow passband works, so that an IF representative signal that allows to want conveys to (H-field) IF amplifier 6460 for the first time, refuses adjacent undesired signal simultaneously.(H-field) IF amplifier 6460 increases the amplitude of an IF representative signal for the first time, and an IF representative signal is communicated to signal output port 6210 and controls (AGC) 6480 to first automatic gain.

First main (H-field) IF amplifier 6440 and the gain of (H-field) IF amplifier 6460 are for the first time adjusted in first automatic gain control 6480, to keep the level of hope of an IF representative signal.By at first main (H-field) IF amplifier 6440 with cut apart the full gain of wanting between (H-field) IF amplifier 6460 for the first time, can be with than high full gain of stability higher in the independent single amplifier stage and reliability maintenance and big dynamic range.Similarly, by leading (H-field) IF wave filter 6430 and cut apart the filtering of wanting between (H-field) IF wave filter 6450 for the first time, can realize narrower passband with the single filtering stage more independent higher stability and reliability than use first.First automatic gain control 6480 more preferably comprises received signal volume indicator (RSSI), and passes on the RSSI level to RSSI output 6220.

The magnetic or the H-field component of second (H-field) antenna 631 response electromagnetic signals 615, and provide with the magnetic of electromagnetic signal 615 or the proportional received signal of H-field component to the preselected wave filter 6401 of second (H-field).

The preselected wave filter 6401 of second (H-field) makes with the magnetic or proportional first representative signal of H-field component of electromagnetic signal 615 and passes through, but refusal has the signal of not wanting frequency.The preselected wave filter 6401 of second (H-field) can be, for example bandpass filter or low-pass filter.The preselected wave filter 6401 of common second (H-field) will make following frequency pass through, and beacon 610 can be relevant application emission electromagnetic signal 615 in this frequency.The selection of frequency band will depend on various factors, including but not necessarily limited to the restriction of regulations, the dissemination of electromagnetic signal 615 and the operating distance r of hope.

Second (H-field) frequency mixer 6421 will be from the preselected wave filter 6401 of second (H-field) first representative signal that receives and the local oscillator signals mixing that is produced by local oscillator (LO) 650, to produce second intermediate frequency (or IF) representative signal.Local oscillator 650 can be traditional sine-wave oscillator, Direct Digital compositor (DDS) or other oscillator or waveform template source.

The 2nd IF representative signal that 6431 acceptance of second main (H-field) IF wave filter are wanted is also refused other undesired signal.Crystal filter can be advantageously used for second main (H-field) IF wave filter 6431.The feature of such crystal filter is extremely narrow passband, and more preferably has constant group delay in the passband.Narrow passband works, and conveys to second main (H-field) IF amplifier 6441 with the 2nd IF representative signal that allows to wish, refuses adjacent undesired signal simultaneously.Second main (H-field) IF amplifier 6441 increases the amplitude of the 2nd IF representative signal, and passes on the 2nd IF representative signal of amplifying to give (H-field) IF wave filter 6451 for the second time.The 2nd IF representative signal that 6451 acceptance of (H-field) IF wave filter are for the second time wanted is also refused other undesired signal.Crystal filter can be advantageously used for (H-field) IF wave filter 6451 for the second time.The feature of such crystal filter is extremely narrow passband, and more preferably has constant group delay in the passband.Narrow passband works, so that the 2nd IF representative signal that allows to want conveys to (H-field) IF amplifier 6461 for the second time, refuses adjacent undesired signal simultaneously.(H-field) IF amplifier 6461 increases the amplitude of the 2nd IF representative signal for the second time, and passes on the 2nd IF representative signal to signal output port 6211 with to second automatic gain control (AGC) 6481.

Second main (H-field) IF amplifier 6441 and the gain of (H-field) IF amplifier 6461 are for the second time adjusted in second automatic gain control 6481, to keep the level of hope of the 2nd IF representative signal.By at second main (H-field) IF amplifier 6441 with cut apart the full gain of wanting between (H-field) IF amplifier 6461 for the second time, can be with than high full gain of stability higher in the independent single amplifier stage and reliability maintenance and big dynamic range.Similarly, by leading (H-field) IF wave filter 6431 and cut apart the filtering of wanting between (H-field) IF wave filter 6451 for the second time second, can be to realize narrower passband than using with independent single filtering stage higher stability and reliability.Second automatic gain control 6481 more preferably comprises received signal volume indicator (RSSI), and passes on the RSSI level to RSSI output 6221.

The electricity or the E-field component of the 3rd (E-field) antenna 632 response electromagnetic signals 615, and provide with the electricity of electromagnetic signal 615 or the proportional received signal of E-field component to the preselected wave filter 6402 of the 3rd (E-field).

The preselected wave filter 6402 of the 3rd (E-field) passes through electricity or the proportional third generation table of the E-field component signal with electromagnetic signal 615, but refusal has the signal of not wanting frequency.The preselected wave filter 6402 of the 3rd (E-field) can be, for example bandpass filter or low-pass filter.The preselected wave filter 6402 of common the 3rd (E-field) will make following frequency pass through, and beacon 610 can be relevant application emission electromagnetic signal 615 in this frequency.The selection of frequency band will rely on various factors, including but not necessarily limited to the restriction of regulations, the dissemination of electromagnetic signal 615 and the operating distance r of hope.

The 3rd (E-field) frequency mixer 6422 will be from the preselected wave filter 6402 of the 3rd (E-field) third generation table signal that receives and the local oscillator signals mixing that is produced by local oscillator 650 (LO), to produce the 3rd intermediate frequency (or IF) representative signal.Local oscillator 650 can be traditional sine-wave oscillator, Direct Digital compositor (DDS) or other oscillator or waveform template source.

The 3rd IF representative signal that 6432 acceptance of the 3rd main (E-field) IF wave filter are wanted is also refused other undesired signal.Crystal filter can be advantageously used for the 3rd main (E-field) IF wave filter 6432.The feature of such crystal filter is extremely narrow passband, and more preferably has constant group delay in the passband.Narrow passband works, and conveys to the 3rd main (E-field) IF amplifier 6442 with the 3rd IF representative signal that allows to wish, refuses adjacent undesired signal simultaneously.The 3rd main (E-field) IF amplifier 6442 increases the amplitude of the 3rd IF representative signal, and passes on the 3rd IF representative signal of amplifying to give (E-field) IF wave filter 6452 for the third time.The 3rd IF representative signal that 6452 acceptance of (E-field) IF wave filter are for the third time wanted is also refused other undesired signal.Crystal filter can be advantageously used for for the third time (E-field) IF wave filter 6452.The feature of such crystal filter is extremely narrow passband, and more preferably has constant group delay in the passband.Narrow passband works, so that the 3rd IF representative signal that allows to want conveys to for the third time (E-field) IF amplifier 6462, refuses adjacent undesired signal simultaneously.(E-field) IF amplifier 6462 increases the amplitude of the 3rd IF representative signal for the third time, and passes on the 3rd IF representative signal to signal output port 6212 with to the 3rd automatic gain control (AGC) 6482.

Second main (E-field) IF amplifier 6442 and the gain of (E-field) IF amplifier 6462 for the third time adjusted in the 3rd automatic gain control 6482, the level of the 3rd IF representative signal of wanting with maintenance.By at the 3rd main (E-field) IF amplifier 6442 with cut apart the full gain of wanting between (E-field) IF amplifier 6462 for the third time, can be with than high full gain of stability higher in the independent single amplifier stage and reliability maintenance and big dynamic range.Similarly, by leading (E-field) IF wave filter 6432 and cut apart the filtering of wanting between (E-field) IF wave filter 6452 for the third time the 3rd, can be to realize narrower passband than using with independent single filtering stage higher stability and reliability.The 3rd automatic gain control 6482 preferably includes received signal volume indicator (RSSI), and passes on the RSSI level to RSSI output 6222.

Local oscillator 650 also can be advantageously used for tuner, to select in a plurality of electromagnetic signals 615 by a plurality of beacon 610 emissions.The specified beacon 610 of emission certain electric magnetic signal 615 can be different slightly with transmission frequency other beacon 610 of other electromagnetic signal 615 distinguish.Like this, single steady arm 620 can be followed the tracks of a lot of different beacons 610.Various other methods that are used to follow the tracks of a plurality of beacons 610 are possible, comprise, for example, time division multiple access (TDMA).If beacon 610 uses the electromagnetic signal 615 of identification information modulate emission, then people can distinguish a plurality of beacons 610 that are operated on the same frequency.Similarly, a lot of different steady arms 620 can measure common beacon 610 apart from r.

Though do not require between beacon 610 and the steady arm 620 synchronously, public local oscillator 650 works, to keep the synchronous of 625,626,627 of a plurality of channels in the single steady arm 620.625,626,627 of a plurality of channels relatively is favourable to the precise phase between the signal of realizing being received by a plurality of channels 625,626,627 synchronously in the steady arm 620.

In other embodiments, local oscillator 650 can be adjusted first channel 625, second channel 626 or the 3rd channel 627 (or various combinations of channel 625,626,627), with inswept interested various frequencies.Microprocessor 692 can monitor and compile the data from RSSI port 6220,6221,6222 (or various combinations of RSSI port 6220,6221,6222), to describe the feature of noise and interference environment.Microprocessor 692 can pass on appropriate control signals to give a plurality of beacons 610 by data bus 695, thereby behind the given noise and interference environment with feature, selects optimal working frequency and pattern.Similarly, in the intensive signal environment that the beacon 610 of much working is simultaneously arranged, microprocessor 692 can supervisory signal, and pass on appropriate control signals to give a plurality of beacons 610 by data bus 695, for ease of in a plurality of beacons 610 or between coexistence, between a plurality of beacons 610, distribute frequency optimum traffic and pattern.In addition, microprocessor 692 can surveillance distance r, and pass on appropriate control signals to give each beacon 610 by data bus 695, give each beacon 610, make each beacon 610 be adapted at detectedly working apart from r to distribute the frequency optimum traffic and the pattern that are fit to each beacon 610.

In other embodiments, can use channel, make steady arm 620 can follow the tracks of a plurality of beacons 610 that produce electromagnetic signal 615 at different frequency simultaneously except channel 625,626,627.In addition, can advantageously utilize extra channel, come detection noise and interference environment, and describe the feature of noise and interference environment.In other embodiments, the extra channel that is associated with alternant polarization can make range measurement system 600 measure, and is not subjected to the infringement of beacon 610 about the relative direction of steady arm 620.

In range measurement system 600 (Fig. 6), first phase detectors 681 receive an IF representative signal from first signal output port 6210, and receive the 3rd IF representative signal from the 3rd signal output port 6212, and determine differing between the first and the 3rd IF representative signal.Second phase detectors 682 receive the 2nd IF representative signal from secondary signal output port 6211, and receive the 3rd IF representative signal from the 3rd signal output port 6212, and determine differing between the second and the 3rd IF representative signal.In a preferred embodiment, steady arm 620 has two H-field channels (first (H-field) channel 625 and second (H-field) channel 626) and the 3rd (E-field) channel 627.In the preferred embodiment of the electromagnetic signal 615 of using vertical polarization, the 3rd electric antenna 632 is vertical whips, and it has omni-directional mode in first plane perpendicular to the axle of whip.In a preferred embodiment, magnetic antenna the 630, the 631st, tours antenna, it has omni-directional mode in second plane that is basically perpendicular to first plane (being associated with the whip antenna of the 3rd electric antenna 632).For the susceptibility of acquisition to the magnetic component of the electromagnetic signal 615 of any direction incident, have two magnetic antennas the 630, the 631st, favourable.If have only a magnetic antenna 630 or 631, then steady arm 620 is often insensitive to the beacon 610 of the zero direction that is positioned at single magnetic antenna 630 or 631.By having two magnetic antennas 630,631, steady arm 620 can be determined to any direction beacon 610 apart from r.The other advantage that has two magnetic antennas 630,631 is: except range information, steady arm 620 can use prior art to obtain angle of arrival information.

In order to obtain the optimal performance of phase detectors 681,682, it is favourable that the amplitude of first, second and the 3rd IF representative signal remains in the amplitude restriction of hope. Automatic gain control 6480,6481,6482 is worked, thereby the amplitude that keeps wanting for first, second and the 3rd IF representative signal limits.Phase detectors 681,682 can utilize the signal level of logarithmic amplifier to remain unchanged, as (the phase detectors IC) that uses in analog machine parts no.AD8302.Perhaps, channel 625,626,627 can comprise that limiter (not showing among Fig. 6) is with the restriction level output signal.

Distance detector 690 will be converted to apart from r from the differing of measurement that phase detectors 681,682 receive.In a preferred embodiment, distance detector 690 comprises analog to digital converter 691 microprocessors (or microcontroller) 692, and they are according to one or two signal that receives from phase detectors 681,682, and computed range r cooperates.In a preferred embodiment, distance detector 690 also monitors the RSSI level from RSSI port 6220,6221,6222, makes distance detector 690 can select in the phase detectors 681,682 any one (or two) to use when determining apart from r.Distance detector 690 also can be relatively from the RSSI level of RSSI port 6220,6221,6222, to determine the angle of arrival of electromagnetic signal 615.If beacon 610 is arranged in the directional diagram of first magnetic field antenna 630 usually, then preferentially select first phase detectors 681; And if beacon 610 is arranged in the directional diagram of second magnetic field antenna 631, then preferentially select first phase detectors 682.Ideally, distance detector 690 will optionally utilize the signal that receives from phase detectors 681,682 to make the range observation optimization.Such optimization may also comprise, for example, steady arm 620, its makes the invalid or maximization of undesired signal want the antenna radiation pattern of signal in conjunction with the signal that receives from magnetic field antenna 630,631 with generation.RSSI level from RSSI port 6220,6221,6222 also can be used by distance detector 690, to replenish or to supply the information from phase detectors 681,682 when determining apart from r.

Distance detector 690 can comprise that video, audio frequency or other output form give the user with indication apart from r, perhaps can be used as comprehensive location, tracking or a positioning system part and passes on the distance of measuring to give far-end, is used for further analysis.Distance detector 690 also can comprise the device of controlling local oscillator 650, comprises that (but being not necessarily limited to) is provided with the frequency of local oscillator signals.

Data bus 695 is optionally, and allows communicating data and control signal between beacon 610 and steady arm 620 when using.Data bus 695 can comprise wireless network (for example 802.11b network), hard cable network (for example Ethernet connects or serial cable), perhaps can utilize the modulation by the electromagnetic signal 615 of beacon 610 emissions.A plurality of steady arms 620 and beacon 610 can be shared public data bus 695.A plurality of steady arms 620 like this and beacon 610 can collaborative work to set up comprehensive tracking, to determine position or positioning system.Use wireless data bus 695, beacon 610 no longer strictness is a transmitter.Because it is necessary having only 515 pairs of electromagnetic positioning systems of electromagnetic signal of emission, can remove the wireless data link accurate timing that traditional transponder range measurement system requires.Timing information can be passed on by wireless data link.

Can think that steady arm 620 comprises: device is used for detecting or receiving first (H-field) signal; Device is used for detecting or receiving second (H-field) signal; Device is used for detecting or receiving the 3rd (E-field) signal; Device is used for determining that first between the first and the 3rd signal differs; Device is used for determining that second between the second and the 3rd signal differs; And device, be used for given first and second and determine apart from r when differing.Also can advantageously comprise the device that is used to adjust steady arm 620 in the steady arm 620, can obtain being used for a plurality of beacon 610 any one range data thus, each beacon produces electromagnetic signal in different frequencies.

The device that is used for communicating data between a plurality of steady arms 620 and a plurality of beacon by interpolation can also produce more superiority to steady arm 620.Such device (for example, data bus or Radio Link 695) can be advantageously utilised in comprehensive tracking, location or positioning system.

Should keep firmly in mind: the function of steady arm 620 and element need not realized in single unit.For example, can advantageously first (H-field) antenna 630, second (H-field) antenna 631 and the 3rd (E-field) antenna 632 be placed on each position away from other element of steady arm 620 and functional block.If because the reason of security reason, economic cause, operation, easily use or any other reason wish away from, then antenna can for example connect by the RF cable.Similarly, steady arm 620 can be realized input and reception a position, and realizes phase-detection in another position.Steady arm also 620 can be realized phase-detection a position, and Data transmission is used for determining apart from r for the distance detector 690 of far-end.

In conjunction with beacon-steady arm

Fig. 7 is the synoptic diagram of system, is used for simultaneously beacon and locator function being combined in the single single equipment by the relatively near field range finding of electricity and magnetic field phase place.Among Fig. 7, the beacon-positioner device 700 of configuration combination is as beacon work, and this beacon can be measured by the long range positioning device apart from r to the long range positioning device remote beacon-positioner device 710 of steady arm work (for example as).Perhaps, beacon-positioner device 700 can be used as steady arm work, and this steady arm measures the distance (for example, remote beacon-positioner device 710 of operating as beacon) of another beacon.

Beacon-positioner device 700 comprises: first magnetic (H-field) antenna 730, second (E-field) antenna 732, send-receive switch 728, transmitter 712 and steady arm receiver 720.Steady arm receiver 720 comprises: first (H-field) receiver 722, second (E-field) receiver 742, phase detectors 781 and distance detector 790.Optionally data bus 795 allow between a plurality of beacon-steady arms, beacon, steady arm or the miscellaneous equipment or among communication.

Be in the beacon-steady arm of the combination of steady arm pattern

Remote beacon-positioner device 710 (being operated in beacon patterns) emission electromagnetic signal 715, this signal is received by the beacon-fixture system 700 that is operated in the steady arm pattern.The magnetic component sensitivity of the electromagnetic signal 715 of 730 pairs of incidents of first (H-field) antenna, and will convey to the antenna port 7270 of first (H-field) receiver 722 with the proportional representative magnetic signal of the magnetic component of electromagnetic signal 715.

First (H-field) receiver 722 receives representative magnetic signal at first antenna port 7270, and receives local oscillator signals at local oscillator (LO) port 7230 from local oscillator 750.Use common known filtering, amplification and the mixer device (having described their example in conjunction with Fig. 6) of practitioner in RF field, first (H-field) receiver 722 provides first to receive intermediate frequency (IF) representative signal at first output port 7210, and provides RSSI signal at RSSI port 7220.

Because beacon-positioner device 700 is operated in the steady arm pattern, so send-receive switch 728 is arranged to connect second (E-field) antenna 732 to second (E-field) receiver 742.In substituting embodiment, send-receive switch 728 can be circulator or miscellaneous equipment, and it allows beacon-steady arm, and for example beacon-positioner device 700, simultaneously as beacon and steady arm operation.The electric component sensitivity of the electromagnetic signal 715 of 732 pairs of incidents of second (E-field) antenna, and will convey to the antenna port 7271 of second (E-field) receiver 742 with the proportional representative electrical signal of the electric component of electromagnetic signal 715.

Second (E-field) receiver 742 receives representative electrical signal at second antenna port 7271, and receives local oscillator signals in local oscillator ports 7231 from local oscillator (LO) 750.Use common known filtering, amplification and the mixer device (having described their example in conjunction with Fig. 6) of practitioner in RF field, second (E-field) receiver 742 provides second to receive intermediate frequency (IF) representative signal at second output port 7211, and provides RSSI signal at RSSI port 7221.

Phase detectors 781 receive first representative signal from output port 7210, and receive second representative signal from output port 7211.Phase detectors 781 produce and first and second representative signal between differ proportional output signal that differs, and will differ output signal and be communicated to distance detector 790.

Distance detector 790 comprises analog to digital converter 791 and microprocessor 792.Distance detector 790 receives the RSSI signal from RSSI port 7220,7221, and differs output signal from phase detectors 781 receptions.Analog to digital converter 791 these conversion of signals become digital signal, and pass on them to arrive microprocessor 792.Microprocessor 792 is according to the digital signal input computed range r that receives from analog to digital converter 791.Can determine apart from the method for r by its microprocessor 792 to be, for example: 1) the free space theory that provides in the equation [8], 2) more accurate analysis or numerical model, comprise other influence of ground and communication environments, and 3) model measured based on experience.Can only comprise from the more complicated model calculating of the input of RSSI port 7220,7221 apart from r from phase place input or use.

Microprocessor 792 can be regulated the frequency of local oscillator 750, to adjust first (H-field) receiver 722 and second (E-field) receiver 742.This make beacon-positioner device 700 can measure various other beacons 710 that are operated in different frequency or beacon-steady arm 700 apart from r.Microprocessor 792 also makes beacon-positioner device 700 can use frequency-hopping system or power control scheme, to obtain extra security and robustness.

Microprocessor 792 can have user's interface device, shows as audio or video, to provide range observation to the user.In addition, as rely on following the tracks of and the part of the system ensemble of location input, perhaps be other purpose, microprocessor 792 can by optional data bus 795 will apart from or out of Memory convey to another position.

Exemplary beacon-positioner device 700 has two channels: first (H-field) receiver 722 and second (E-field) receiver 742.If wish more performance, can be the preferred extra channel of cost with extra complicacy and cost.Can use such extra channel to detect E-field and the H-field component in the alternant polarization, include but not limited to along the polarization components of incident electromagnetic signal 715 directions.Like this, beacon-positioner device 700 can lessly depend on the specific direction of incident electromagnetic signal 715, and therefore provides the more performance of robust.To not combining, also produce identical benefit to form the steady arm of beacon-steady arm with beacon.

Be in the beacon-steady arm of the combination of beacon patterns

When beacon-positioner device 700 was operated in beacon patterns, microprocessor 792 triggered send-receive switch 728, thereby transmitter 712 is connected to antenna 732.Microprocessor 792 also is provided with suitable frequency for transmitter 712.Exemplary beacon-positioner device 700 makes electricity consumption antenna 732 as the beacon emissions antenna.Magnetic antenna 730 is in the state that is easy to be used.The selection of the antenna that the firing operation in the beacon patterns will be used relies on Several Factors, comprises, for example near performance, polarization, coupling and the communication environments directional diagram, other object.

Remote beacon-positioner device 710 comprises electric antenna 735 and magnetic antenna 733.Transmitter 712 sends the RF signal to emitting antenna 732.Emitting antenna 732 electromagnetic radiation signals 716, when remote beacon-positioner device 710 was operated in the steady arm pattern, this signal received by electric antenna 735 with by magnetic antenna 733.Remote beacon-positioner device 710 receives the H-field signal from magnetic antenna 733, and receives the E-field signal from electric antenna 735, therefore allow remote beacon-positioner device 710 be determined to beacon-positioner device 700 apart from r.

Optionally data bus 795 allows beacon-positioner device 700 to interact and cooperate with remote beacon-positioner device 710.For example, beacon-positioner device 700 can trigger remote beacon-positioner device 710 so that remote beacon-positioner device 710 emission and allow beacon-positioner device 700 be determined to remote beacon-positioner device 710 apart from r.The triggering that is fit to can comprise, for example maybe will be from the additional features that transmits of remote beacon-positioner device 710 radiation about data, frequency-hopping mode, the power Control and Feedback of communication frequency.Triggering can also comprise sign or authorization information.

Transmitter 712 can be come with information modulated electromagnetic 716 by microprocessor 792 controls.Multiple modulation technique is possible.Binary phase shift keying (BPSK) is that a preferred modulation is selected.BPSK is because its simply is favourable.In addition, because the present invention relies on the relative difference between electricity and the magnetic field phase place, so commonality schemata phase shift (as using BPSK and similarly modulation generation) does not influence the ability of measuring distance r of the present invention.Such information can comprise sign or authorization information, and perhaps out of Memory is perhaps given the value of user's remote measurement.

Antenna configurations

Fig. 8-11 shows the various antenna configurations that are used for range measurement system 800,900,1000,1100.Fig. 8 is the synoptic diagram that is used for the representational antenna configurations of following near field range measurement system, and this system has vertical polarization beacon and vertical polarization omnidirectional steady arm.Among Fig. 8, range measurement system 800 comprises vertical polarization beacon 810 and steady arm 820.The vertical polarized antenna 836 that is associated with vertical polarization beacon 810 is the whiplike or dipole antenna of vertically-guided normally, but may be ring ring rod shape antenna, and guiding is come the electromagnetic signal 815 in the direction radiation vertical polarization of hope.In a lot of the application, the omnidirectional of the whip antenna of single vertically-guided covers the directive directional diagram that has more of the tours antenna that is better than traditional vertical polarization.Steady arm 820 comprises electric antenna 832, first magnetic antenna 831, and guiding is perpendicular to second magnetic antenna 833 of first magnetic antenna 831.Electricity antenna 832 is the whiplike or dipole antenna of vertically-guided normally.First magnetic antenna 831 and second magnetic antenna 833 normally encircle ring rod shape antenna, and guiding responds the electromagnetic signal 815 of vertical polarization.Steady arm 820 can be selected first magnetic antenna 831 or second magnetic antenna 833, so that receive the signal optimum of (H-field).Steady arm 820 also can both use the signal from first magnetic antenna 831 also to use signal from second magnetic antenna 833.

Fig. 9 is the synoptic diagram that is used for the representational antenna configurations of near field range measurement system, and this system has horizontal polarization beacon and horizontal polarization omnidirectional steady arm.Among Fig. 9, range measurement system 900 comprises horizontal polarization beacon 910 and steady arm 920.The horizontally-polarized antenna 937 that is associated with horizontal polarization beacon 910, the ring rod ring shape of the vertically-guided that leads in surface level guiding antenna normally, but can be whiplike or dipole antenna, guiding is come the electromagnetic signal 915 in the direction radiation level polarization of hope.In a lot of the application, the omnidirectional of single ring ring rod shape antenna covers the directive directional diagram that has more of the whiplike or dipole antenna that is better than traditional horizontal polarization.Steady arm 920 comprises magnetic antenna 931, the first electric antennas 932 and the second electric antenna 934.Magnetic antenna 931 is the ring rod ring shape of vertically-guided guiding antenna in the surface level normally.The first electric antenna 932 and the second electric antenna 934 be dipole or whip antenna normally, and guiding is come the electromagnetic signal 915 of level of response polarization.Steady arm 920 can be selected the first electric antenna 932 or the second electric antenna 934, so that receive the signal optimum of (E-field).Steady arm 920 also can both use the signal from the first electric antenna 932 also to use signal from the second electric antenna 934.

Figure 10 is the synoptic diagram that is used for the representational antenna configurations of near field range measurement system, and this system has vertical polarization beacon and the directed steady arm of vertical polarization.Among Figure 10, range measurement system 1000 comprises vertical polarization beacon 1010 and steady arm 1020.Whiplike or the dipole antenna of vertically-guided that the vertical polarized antenna 1036 that is associated with vertical polarization beacon 1010 normally leads in vertical plane, but can be ring ring rod shape antenna, guiding be come the electromagnetic signal 1015 of radiation vertical polarization on the direction of hope.In a lot of the application, the omnidirectional of the whip antenna of single vertically-guided covers the directive directional diagram that has more that is better than traditional vertical polarization tours antenna.Steady arm 1020 comprises electric antenna 1032 and magnetic antenna 1031.Electricity antenna 1032 is the whiplike or dipole antenna of vertically-guided normally.Magnetic antenna 1031 normally encircles ring rod shape antenna, and guiding responds the electromagnetic signal 1015 of vertical polarization.Steady arm 1020 must lead usually and make signal optimum from magnetic antenna 1031.In addition, the arrival direction of the zero direction guiding electromagnetic signal 1015 by making magnetic antenna 1031, and observe the decline of RSSI level, can determine the arrival direction of electromagnetic signal 1015.If the response of electric antenna 1032 and magnetic antenna 1031 is added up, the arrival direction of the zero direction guiding electromagnetic signal 1015 by making the directional diagram of effectively adding up, and observe the decline of the amplitude of the response of adding up, can determine the arrival direction of electromagnetic signal 1015.

Figure 11 is the synoptic diagram that is used for the representational antenna configurations of near field range measurement system, and this system has horizontal polarization beacon and the directed steady arm of horizontal polarization.Range measurement system 1100 comprises horizontal polarization beacon 1110 and steady arm 1120 among Figure 11.The ring rod shape antenna or the tours antenna of the vertically-guided that the horizontally-polarized antenna 1137 that is associated with horizontal polarization beacon 1110 normally leads in surface level, but the whiplike or dipole antenna that can be, guiding come the electromagnetic signal 1115 in the direction radiation level polarization of hope.In a lot of the application, the omnidirectional of single ring ring rod shape antenna covers the optionally directional diagram that has more that is better than the whiplike or dipole antenna of traditional horizontal polarization.Steady arm 1120 comprises electric antenna 1132 and magnetic antenna 1131.Electricity antenna 1132 is the whiplike or dipole antenna of horizontally-guided normally.Magnetic antenna 1131 normally encircles ring rod shape antenna, and guiding is come the electromagnetic signal 1115 of level of response polarization.Steady arm 1120 must lead usually and make signal optimum from electric antenna 1132.In addition, the arrival direction of the zero direction guiding electromagnetic signal 1115 by making electric antenna 1132, and observe the decline of the RSSI level that is associated, can determine the arrival direction of electromagnetic signal 1115.If the response of magnetic antenna 1131 and electric antenna 1132 is added up, the arrival direction of the zero direction guiding electromagnetic signal 1115 by making the directional diagram of effectively adding up, and observe the decline of the amplitude of the response of adding up that is associated, can determine the arrival direction of electromagnetic signal 1115.

The selection of polarization can be influenced by the details of particular propagation environment, is subjected to the influence of existence of the potential undesired signal of particular polarization, or is subjected to the influence of the requirement of application-specific.Vertical polarization is preferred to the propagation in such environment usually, and undesirable coupling level often in this environment is as near ground.Horizontal polarization is preferred to the propagation in such environment usually, in this environment undesirable coupling vertical often, as the part of the steel by vertically-guided.Circular Polarisation is preferred to the important system of direction independence wherein usually.Some such coupling is actually hope, if the direction guide electromagnetic waves that this coupling is often being wanted.

The important antenna parameter that is used for design consideration range measurement system of the present invention comprises: antenna radiation pattern, coupling, waveform factor (form factor), performance and cost.Another important parameters is the catching and the electric component of the electromagnetic signal of incident and the differentiation between the magnetic component of electromagnetic signal of incident.Multiple suitable sky line options is known to the technician in RF field.

Exemplary receiver

The inventor has realized the range measurement system as the present invention's instruction.This system works 10.7MHz and from about 5 feet to about 35 feet distance accuracies that have within the inch.Because at 10.7MHz wavelength (λ) is 92 feet, this corresponding to 0.054 λ to 0.38 λ.According to instruction of the present invention, by utilizing much lower frequency, much longer distance is possible.

Figure 12 is the synoptic diagram of the details of exemplary receiver in the explanation electromagnetic positioning system.Among Figure 12, range measurement system 1200 comprises beacon 1210 and steady arm 1220.The electromagnetic signal 1215 that beacon 1210 emissions are received by steady arm 1220.Steady arm 1220 comprises the electric antenna 1232 to the electric component sensitivity of electromagnetic signal 1215.Electricity antenna 1232 detects electric component proportional first (electricity or the E-field) signal with electromagnetic signal 1215, and passes on the antenna port 1270 of first signal to first receiver 1225, and this receiver is included in the steady arm 1220.Steady arm 1220 also comprises the magnetic antenna 1231 to the magnetic component sensitivity of electromagnetic signal 1215.Magnetic antenna 1231 detects magnetic component proportional second (magnetic or the H-field) signal with electromagnetic signal 1215, and passes on secondary signal to second receiver 1227 that is included in the steady arm 1220.Substantially similarly construct second receiver 1227 with receiver 1225; In order to simplify the description of range measurement system 1200, omit the structure detail of receiver 1227 among Figure 12.

If be large enough to avoid undesirable intercoupling at interval, and the wavelength X of electromagnetic signal 1215 is very little relatively at interval, the accurate interval between so electric antenna 1232 and the magnetic antenna 1231 is unimportant.The inventor has arranged the separately distance of 1%-3% (0.03 λ-0.01 λ) magnitude of wavelength of electric antenna 1232 and magnetic antenna 1231.In substituting embodiment, can arrange electric antenna 1232 and magnetic antenna 1231 in the unit of single integral body, this unit has the first terminal that produces the E-field response and produces second terminal of H-field response.Though preferably the wavelength X of electromagnetic signal 1215 is very little relatively for the interval between antenna, if but phase detectors 1280 in the steady arm 1220 and distance detector 1290 are just compensated than the influence of large-spacing, then can tolerate 1231 bigger intervals of electric antenna 1232 and magnetic antenna.

Steady arm 1220 also comprises selective filter 1242 in advance, and it receives first () signal from antenna port 1270.Selective filter 1242 makes and wants first in the frequency band () signal to pass through in advance, but refusal has the signal of not wanting frequency.Usually selective filter 1242 passes through such frequency band in advance, and beacon 1210 is relevant application emission electromagnetic signal 1215 in this frequency band.The selection of frequency band will rely on various factors, including but not necessarily limited to, the dissemination of the restriction of regulations, electromagnetic signal 1215 and the operating distance r of hope.The present invention provides optimum performance for the operating distance r of hope, and the operating distance r of this hope approximately is restricted to 0.08 λ to 0.30 λ, and λ is the wavelength by the electromagnetic signal 1215 of beacon 1210 emissions.Typical operating distance usually at 0.05 λ in 0.50 λ.The present invention more high-performance realize being operated in less than 0.05 λ or greater than 0.50 λ apart from r.

Front-end amplifier 1265 increases the amplitude of first () signal.If the noise with other of air is enough low, then following pair amplifier is useful: have enough low noise figure to avoid introducing undesirable noise, dynamic range is enough held the potential variation in first () signal amplitude greatly, and gain is enough to produce suitably significantly first () signal, makes weak signal will suitably drive phase detectors 1281.The inventor has advantageously used small circuit (Mini-Circuits) ZFL-500 amplifier as front-end amplifier 1265, but multiple other amplifier is suitable.

Therefore frequency mixer 1252 produces first intermediate frequency (IF) signal with first () signal and the local oscillator signals mixing that produced by local oscillator (LO) 1250.Local oscillator 1250 can be traditional sine-wave oscillator.Local oscillator 1250 also can be a Direct Digital compositor (DDS), perhaps other waveform template generator.For example, the inventor has used Analog Devices DDS (AD9835) as local oscillator 1250, and Mini-Circuits SBL-3 frequency mixer is as frequency mixer 1252.Multiple substituting realization is possible.

IF amplifier 1262 increases the amplitude of an IF signal.The inventor has been found that it is IF amplifier 1262 suitable embodiment that a pair of operating amplifier with current feedback of about+50dB gain is provided, but can use multiple substitute to the practitioner in RF field.

The IF signal that 1244 acceptance of IF wave filter are wanted and refuse other undesired signal.Crystal filter can be advantageously used for IF wave filter 1244.The feature of such crystal filter is extremely narrow passband, and preferably has constant group delay in the passband.Narrow passband works, so that an IF representative signal that allows to wish conveys to phase detectors 1281, refuses adjacent undesired signal simultaneously.

Local oscillator 1250 also can be advantageously used for tuner, to select in a plurality of electromagnetic signals by a plurality of beacon 1210 emissions.The specified beacon 1210 of emission certain electric magnetic signal can have slightly other beacon region of other electromagnetic signal of different frequency with emission and separate.Like this, single steady arm 1220 can be followed the tracks of a lot of different beacons 1210.Various other methods that are used to follow the tracks of a plurality of beacons are possible, comprise for example time division multiple access (TDMA), CDMA, frequency hopping or other method of the channelizing that is used to realize wish.Similarly, a lot of different steady arms 1220 can measure the distance of specified beacon 1210.Local oscillator 1250 can be thought the assembly of individual reception machine 1225 or 1227, perhaps is used for the public frequency standard of a plurality of receivers 1225,1227.

Phase detectors 1281 are accepted an IF signal from first receiver 1225, and accept the 2nd IF signal from second receiver 1227, and produce and an IF signal and the 2nd IF signal between differ proportional output voltage.In order to illustrate rather than to limit, an exemplary embodiment of phase detectors 1281 is analog machine AD 8302.These specific phase detectors also produce and the proportional output of amplitude difference, and this amplitude difference can help to distinguish and revise propagation anomaly, and provide more accurate distance to determine in some cases.

Distance detector 1290 is included in the steady arm 1220 and accepts the input from phase detectors 1281, be used for determining between beacon 1210 and the steady arm 1220 apart from r.The inventor uses MeasurementComputing Corporation PC-Card-DAS 16/16A/D PCMCIA Card and notebook to implement distance detector 1290, but exists the technician in a lot of RF field can realize the method for distance detector 1290.

The performance that the present invention provides for the operating distance of hope, this distance big between 0.05 λ and 0.50 λ apart from r in, and between 0.08 λ and 0.30 λ apart from r in obtain better performance, λ is the wavelength by the electromagnetic signal 1215 of beacon 1210 emission.The present invention more high-performance realize being operated in less than 0.05 λ or greater than 0.50 λ apart from r.

Fixed beacon-mobile locator structure

Figure 13 is the synoptic diagram of explanation according to the near field range measurement system of fixed beacon-mobile locator structural arrangements.Among Figure 13, fixed beacon-mobile locator range measurement system 1300 comprises first beacon 1310 that is in first known fixed location, and it launches first electromagnetic signal 1315.Steady arm 1320 receives first electromagnetic signal 1315 and determines first apart from r ₁Be in second beacon, 1312 emissions, second electromagnetic signal 1317 of second known fixed location.Steady arm 1320 receives second electromagnetic signal 1317 and determines second distance r ₂Be in the 3rd beacon 1314 emissions the 3rd electromagnetic signal 1319 of the 3rd known fixed location.Steady arm 1320 receives the 3rd electromagnetic signal 1319 and determines the 3rd apart from r ₃Be in the 4th beacon 1316 emissions the 4th electromagnetic signal 1321 of the 4th known fixed location.Steady arm 1320 receives the 4th electromagnetic signal 1321 and determines the 4th apart from r ₄Electromagnetic signal 1315,1317,1319,1321 can be the abundant similar electromagnetic signal with similar substantially frequency, perhaps can be the various electromagnetic signals with different frequency.Electromagnetic signal 1315,1317,1319,1321 can be launched in the fully identical time or at different time.For example, beacon 1310 can be launched the low frequency signal that is fit to long distance simultaneously and be fit to short-range high-frequency signal.Steady arm 1320 service range r ₁, r ₂, r ₃, r ₄Can determine its position.In order to illustrate rather than, to illustrate four beacons 1310,1312,1314,1316 in order to limit.Some is used a beacon be enough to produce useful ranging information.Two beacons produce undefined position at bidimensional, and three beacons can produce clear and definite position at bidimensional, perhaps produce uncertain position in three-dimensional, and four beacons produce clear and definite position in three-dimensional.Use extra beacon that distance is provided, people can utilize the known to the skilled polygon technology in those RF fields, obtain the more accurate position of steady arm 1320.

Steady arm 1320 also can pass on distance and other useful information to be used for analyzing for central controller 1399 by optional data bus 1395.Then, central controller 1399 can be relayed back steady arm 1320 with position or out of Memory by data bus 1395.The controller 1399 of central authorities' couplings (that is, being coupled to all elements of range measurement system 1300) or frequency of operation or other running parameter that steady arm 1320 can be coordinated steady arm 1320 and beacon 1310,1312,1314,1316.Such coordination can comprise: be operated in suitable frequency to avoid interference or to obtain optimum range information.Coordinate also can comprise the time or the dutycycle of scheduling operation.Coordination can also be included as the emissive power control of coexistence, signals security or other reason.

When people wished to follow the tracks of a limited number of assets, if perhaps people wish can obtain position, place, navigation or guidance information in potential a lot of shift position, then fixed beacon-mobile locator system 1300 was favourable.Fixed beacon-mobile locator system 1300 is suitable for offering the fast updating of position in user's (having steady arm 1320) zone, around or spread all over this zone and disposed a plurality of beacons (for example, beacon 1310,1312,1314,1316).Have various application.In order to illustrate rather than purpose, list several application below in order to limit.

For example, fixed beacon 1310,1312,1314,1316 can or be disposed in the golf course of the accurate guiding of wishing equipment, lawn, farm or other zone on every side.Can placement positioning device 1320 on robotug, mower, golf gatherer, harvester, fertilizer applicator or miscellaneous equipment.Steady arm 1320 can be used in the guiding or navigational system of such equipment.Steady arm 1320 also can be used for tracking golf cart or other assets.Steady arm 1320 can be used to help people who plays golf or the position that other people determine them, particularly the position of their relative hole or other interested continental embankment.

Fixed beacon 1310,1312,1314,1316 can people wish to have people or equipment can monitor they the position or shopping plaza, shop, museum, firm, amusement park, city, park, suburb, harbour, lake, house property, family, apartment or other zone or the equipment of position in or dispose on every side.Steady arm 1320 can be carried by the individual, make the individual can monitor he (she) oneself the position or another person's (as kinsfolk, friend or other interested people) position.Steady arm 1320 also can be carried by the individual, makes the individual can determine the position of their relative continental embankment or other interested points or a plurality of points.Steady arm 1320 can merge in such equipment, and this equipment offers the distinctive information of customer location, is used to the information of the target selling, assess or evaluate near relevant as price or other.Steady arm 1320 also can merge in such equipment, and this equipment offers the distinctive information of customer location, near the attracting things this information description, performance, exhibition, risk or the interested feature of other possibility.

Steady arm 1320 can merge in the vehicle so that position, guiding or navigation information to be provided.Example is accurately to guide or navigational system, is used for aircraft such as unmanned aviation delivery vehicle (UAV), ship, automobile, unmanned ground delivery vehicle (UGV) or other vehicles.

Fixing/mobile locator-mobile beacon structure

Figure 14 is the synoptic diagram of diagram according to the near field range measurement system of fixing/mobile locator-mobile beacon structural arrangements.Among Figure 14, fixing/mobile locator-mobile beacon range measurement system 1400 comprises mobile beacon 1410, and it launches first electromagnetic signal 1415, second electromagnetic signal 1417, the 3rd electromagnetic signal 1419, the 4th electromagnetic signal 1421 and the 5th electromagnetic signal 1423.Electromagnetic signal 1415,1417,1419,1421,1423 can be the similar substantially electromagnetic signal with basic similar frequencies, or has the multiple electromagnetic signal of different frequency.Electromagnetic signal 1415,1417,1419,1421,1423 can be in essentially identical time or different time emissions.For example, mobile beacon 1410 can be launched the low frequency signal that is fit to long distance simultaneously and be fit to short-range high-frequency signal.

First fixed locator 1420 receives first electromagnetic signal 1415 and determines first apart from r ₁Second fixed locator 1422 receives second electromagnetic signal 1417 and determines second distance r ₂The 3rd fixed locator 1424 receives the 3rd electromagnetic signal 1419 and determines the 3rd apart from r ₃The 4th fixed locator 1426 receives the 4th electromagnetic signal 1421 and determines the 4th apart from r ₄The 5th mobile locator 1428 receives the 5th electromagnetic signal 1423 and determines the 5th apart from r ₅For illustrative purposes, the 5th mobile locator 1428 is shown as the directed steady arm of that class of describing as directed steady arm 1020 (Figure 10), but the 5th mobile locator 1428 can easily be that class omnidirectional steady arm of describing as omnidirectional's steady arm 820 (Fig. 8).

In order to explain rather than purpose, in Figure 14, illustrate 1420,1422,1424,1426 and mobile locators 1428 of four fixing steady arms in order to limit.Single steady arm is enough used the useful distances information that produces for some.For example, single mobile locator 1428 can make the user can be determined to mobile beacon 1410 apart from r ₅, therefore allow user guiding target tracking mobile beacon 1410.Two steady arms produce undefined position at bidimensional, and three steady arms can produce clear and definite position at bidimensional, perhaps produce uncertain position in three-dimensional, and four locater produces clear and definite position in three-dimensional.Use extra beacon that distance is provided, people can utilize the known to the skilled polygon technology in those RF fields, obtain the more accurate position of beacon 1410

When comprising data bus 1495 in the range measurement system 1400, steady arm 1420,1422,1424,1426,1428 can pass through data bus 1495 transmitting range r ₁, r ₂, r ₃, r ₄, r ₅Give central controller 1499 or be connected to another equipment (not shown among Figure 14) of data bus 1495.Central controller 1499 can be collected apart from r ₁, r ₂, r ₃, r ₄, r ₅, calculate the position of beacon 1410, and relay that positional information and give any miscellaneous equipment that is connected to data bus 1495.

Central controller 1499 (or be connected to another equipment of the data bus 1495) can be coordinated frequency of operation or other running parameter of mobile beacon 1410 and steady arm 1420,1422,1424,1426,1428.Such coordination can comprise: be operated in suitable frequency to avoid interference or to obtain optimum range information.Coordinate also can comprise the time or the dutycycle of scheduling operation.Coordination can also be included as the emissive power control of coexistence, signals security or other reason.

Range measurement system 1400 is for following the tracks of the especially suitably configuration of a large amount of assets, and described a large amount of assets comprise for example from center Position Tracking people or assets.Have various application.In order to illustrate rather than purpose, list several application below in order to limit.

For example, a plurality of fixed locators (for example, steady arm 1420,1422,1424,1426) can be disposed in special area-of-interest or on every side, and people wish to follow the tracks of a plurality of beacons (for example, beacon 1410) that are connected to interested assets in this zone.Range measurement system 1400 be fit to very much assets, retail point, warehouse, cargo hold, the vehicles, goods, container, storage area, hospital in tracking motor, the equipment of renting, part, assembly, instrument or other manufacturing equipment or other wherein people wish to follow the tracks of the equipment of assets.Each mobile beacon 1410 can be placed on each automobile, every the equipment of renting, part, assembly, instrument or other hope are known in the assets of its position.If each mobile beacon 1410 is removed from such zone, in this zone or arranged the facility of fixed locator on every side, mobile locator (for example, mobile locator 1428) can be with the position of the mobile beacon 1410 of helping to determine roaming so.If the mobile beacon 1410 of roaming is connected to stolen property, then this function is particularly useful.Steady arm such as steady arm 1420 can be associated with the facility of traffic signals, tollbooth or other relevant traffic, and can monitor each mobile beacon 1410 in the approaching emergent vehicles, motorbus or the car, therefore allow the accurate control of traffic signals or the supervision of other situation.Here remember that following is useful: the electromagnetic signal that is associated with range measurement system 1400 can be modulated and be comprised information, as the identification information relevant with assets, and the assets that mobile beacon is accompanying.By this way, the sundry assets that carries each mobile beacon 1410 can identify or verify separately in range measurement system 1400.

In addition, a plurality of fixed locators (for example, steady arm 1420,1422,1424,1426) can be deployed in the interested special area or on every side, in this zone, the beacon (for example, beacon 1410) that people wish to follow the tracks of a plurality of people of being attached to or are associated with the people.Like this, range measurement system 1400 is fit to follow the tracks of emergent transponder very much, as fire alarm, police, SWAT Team Member and the healthcare givers of love scene.Range measurement system 1400 can be used for following the tracks of the employee of hazardous environment, as the workman on the equipment limit of the miner in the mine, dangerous material, and perhaps supervisor police officer or convict in the prison.Range measurement system 1400 also can be used for following the tracks of patient, doctor or at other important persons or the equipment of hospital, sanatorium or other structure.

In another illustrative examples, range measurement system 1400 can be followed the tracks of the slider in skiing zone, makes even in emergency circumstances easily locatees the slider in snowslide or other.Use similarly comprise follow the tracks of hiker, climber, glide person, shooter, fisherman, be everlasting outdoorsman people and other be engaged in the movable of potential danger and may need the people that succours or help.

Can be in the amusement park, museum, red-letter day, sports tournament, conference, meeting or other intensive crowd follow the tracks of client.May monitor the participator's of physical culture players such as football player, gridder, baseballer, swimmer, running player and other motion position, to help judge, report or the analysis of sports tournament.Can to follow the tracks of sporting equipment or animal, comprise: in order to illustrate rather than in order to limit football, baseball, Association football, rugby, racing car, racing boat, blood horse or greyhound.

Important persons can be arranged in shop or facility.Can be in, in the neighbourhood, around school, campus or other facilities, monitor the child that needs supervision and other people.Range measurement system 1400 also can be applied to personal emergency responding system (PERS), allowing the rescuer people that wants help of location rapidly, as from the missing patient of sanatorium.Go home or the part of other lower security supervision plan as release, can follow the tracks of the convict.Can monitor that action is limited by the people of binding order or other restriction, violates restrictive clause to stop them.Mobile locator (for example, mobile locator 1428) can be used to help to find to leave the people in such zone, in this zone or placed the facility of fixed locator (for example, fixed locator 1420,1422,1424,1426) on every side.

The part that range measurement system 1400 also can be used as the pet containment is used to follow the tracks of pet, perhaps allows the owner to monitor the position of pet.As the part of protection project, research effort or for other reason, can follow the tracks of wild animal.Range measurement system 1400 also can be used to the animal of following the tracks of and monitor that domestic animal or other are raised and train.

Mutual beacon-steady arm

Figure 15 is the synoptic diagram of explanation according to the near field range measurement system of mutual beacon-locator structure configuration.Among Figure 15, mutual beacon-locator structure 1500 comprises the first beacon-steady arm 1520 and the second beacon steady arm 1522.First beacon-steady arm 1520 emissions first electromagnetic signal 1515.Second beacon-steady arm 1522 receive first electromagnetic signals 1515 and calculate first beacon-steady arm 1520 apart from r.Second beacon-steady arm 1522 also can be launched second electromagnetic signal 1517.First beacon-steady arm 1520 receives second electromagnetic signal 1517 and the computed range r.If first beacon-steady arm 1520 is connected by optional data bus 1595 with second beacon-steady arm 1522, first beacon-steady arm 1520 can trigger second beacon-steady arm 1522 transmissions second electromagnetic signal 1517 so, and the beacon-steady arm 1520 of winning can be determined apart from r.In order to illustrate rather than, only to show two beacon-steady arms in order to limit.But in some applications, it is favourable having extra beacon-steady arm, makes each member of bigger group to follow the tracks of or tracked.

Various application are fit to range measurement system 1500.In order to illustrate rather than, to list several application below in order to limit.It is useful that mutual beacon-steady arm 1500 combines with two-way wireless station, and the user of this wireless station wishes to know how far the communication party has.People also can advantageously be incorporated into beacon-steady arm 1520,1522 in the equipment that allows it is found that each other or the wherein hope group or in the miscellaneous equipment of the Tracking And Communications of the merging between the member of group, allow it is found that equipment father and mother and child, shooter, fisherman or other the outdoorsman people that is everlasting in the amusement park for example each other.Not only to the people, and to the vehicles, the interval that particularly needs in the group of Yi Donging to keep specific or the aircraft and the ship of position, the arrangement of the Tracking And Communications of such merging may be useful.Also be used for special application if be used for directed device, can obtain distance and bearing information so.When visibility was weakened by cigarette or other intervenient wall or object, 1500 pairs of mutual beacon-steady arms allowed the member of team to monitor that mutual position also is useful.In addition, mutual beacon-steady arm 1500 can be advantageously used for the part of communication security system, and this communication security system service range or positional information confirm or verify communication party's identity.

Passive label construction

Figure 16 is the synoptic diagram that the near field range measurement system of passive label construction configuration is used in explanation.Among Figure 16, passive label range measurement system 1600 comprises the steady arm 1620 that is equipped with inquirer's antenna 1638, antenna 1638 radiation inquiry electromagnetic signal 1616.In substituting embodiment, the function of inquirer's antenna 1638 can be carried out by first magnetic antenna 1631, second magnetic antenna 1633 or electric antenna 1632.Inquiry electromagnetic signal 1616 is detected by inquirer's antenna 1639 of passive label 1629.Passive label 1629 from.Inquiry electromagnetic signal 1616 harvest energies, and the energy by passive label emitting antenna 1635 emission collection again is as electromagnetic signal 1617.

Inquiry electromagnetic signal 1616 can have different frequencies or other different character with the electromagnetic signal 1617 of radiation again.Though inquirer's antenna 1639 and passive label emitting antenna 1635 are shown as magnetic antenna, they can be implemented in electric antenna.In addition, passive label 1629 comprises the aggressive device of the electromagnetic signal 1617 of modulating radiation again.Electromagnetic signal 1617 is detected by first magnetic antenna 1631, second magnetic antenna 1633 and electric antenna 1632.Steady arm 1620 uses the distance of near field of the present invention to measure instruction then, be determined to passive label 1629 apart from r, and also may determine direction.

When low cost but high power capacity realizes that when being important purpose, passive label range measurement system 1600 is good product solutions.Passive label 1629 can be attached to hope with high precision know its position luggage, mail, be used for stock control or antitheft assets, I.D. or other people's Artifact, perhaps a plurality of other people or assets.

By responding different inquiry electromagnetic signals 1616, perhaps by being applied to the various modulation of each electromagnetic signal 1617 of launching, multiple adjacent passive label 1629 can be distinguished mutually.

The long-range induction structure near field

Figure 17 is the synoptic diagram that the near field range measurement system of the long-range induction structure configuration near field is used in explanation.Among Figure 17, the long-range induction range measurement system 1700 near field comprises the long-range near field sensor 1720 that is equipped with inquirer's antenna 1738, inquirer's antenna 1738 radiation inquiry electromagnetic signal 1716.In substituting embodiment, the function of inquirer's antenna 1738 can be carried out by first magnetic antenna 1731, second magnetic antenna 1733 or electric antenna 1732.Inquiry electromagnetic signal 1716 incides the object 1719 of long-range induction.When the inquiry electromagnetic signal 1716 of incident object 1719 reflex times, produce the electromagnetic signal 1717 of reflection from long-range induction.The character of electromagnetic signal 1717 of reflection depends on the electricity and the geometric properties of the object 1719 of long-range induction, and depend between the object 1719 of near field sensor 1720 and long-range induction apart from r.The electromagnetic signal 1717 of reflection is detected by first magnetic antenna 1731, second magnetic antenna 1733 or electric antenna 1732.Near field sensor 1720 can be estimated the electromagnetic signal 1717 that reflects, with the character of the object 1719 of inferring long-range induction.

The near field distance-finding method

Figure 18 is the process flow diagram of explanation method of the present invention.Be used to measure the method 1800 of the distance between the primary importance and the second place in 1802 beginnings of beginning (START) piece.As by shown in the piece 1804, method 1800 is launched electromagnetic signal continuously from primary importance.Method 1800 receives electromagnetic wave continuously in the second place; As by shown in the piece 1806, the second place is within the near field range of electromagnetic signal.Method 1800 is carried out continuously with not specific order: (1) detects first feature of electromagnetic signal as by shown in the piece 1808; And (2) detect second feature of electromagnetic signal as by shown in the piece 1810.As by shown in the piece 1812, the difference between method 1800 continuous coverages, first feature and second feature.As by shown in the piece 1814, method 1800 is utilized the difference by the measurement of piece 1812 expressions continuously, calculates the distance between the primary importance and the second place.As by finishing shown in (END) piece 1816, method 1800 finishes.

In order to illustrate rather than purpose, fixed beacon-mobile locator range measurement system 1300 (Figure 13), fixing/mobile locator-mobile beacon range measurement system 1400 (Figure 14), mutual beacon-steady arm range measurement system 1500 (Figure 15), passive label range measurement system 1600 (Figure 16) and the long-range induction range measurement system 1700 near field (Figure 17) are provided in order to limit.Multiple substituting configuration and structure carried out in conjunction with also being possible.For example, fixed locator 1420,1422,1424,1426 (Figure 14) can be in beacon-steady arm configuration, as implementing in beacon-steady arm 1520 (Figure 15).Can dispose fixed locator 1420,1422,1424,1426 (Figure 14) and oneself measure they oneself position separately collaboratively, can dispose fast so that determine position, location or tracker.Special exemplary application together with the structure of each range measurement system described herein provides should not be interpreted as: to each given exemplary application, get rid of the application of different structure.

In another example, passive label 1629 (Figure 16) can (for example, fixed locator 1420,1422,1424,1426 in company with the network of steady arm; Figure 14) use.In addition, any content all should not be construed as in the disclosure: get rid of range finding, location or positioning system and use extra information to refine the estimation of position.The out of Memory that uses can comprise: as example and not as restriction, and the historical record of past position or change in location or from the information in other sensor or source.Especially, the present invention is suitable as replenishing of GPS type tracker very much.The present invention can expand to gps signal with the function of tracking of GPS type and positioning system can not penetrate the zone that maybe can not obtain.And the present invention also can be used to reach the performance level that independent use GPS can not obtain.Any content all should not be construed as in the disclosure: get rid of the present invention and be used to follow the tracks of, determine that together with any other prior art of position or location uses.Similarly, the present invention can be replenished by prior art systems, improves performance of the present invention with the zone or the distance that can not produce reliable results in the present invention separately.

Though for simply, when explanation is of the present invention, the disclosure is absorbed in single polarization, but should be appreciated that instruction of the present invention can easily expand to multiple polarization or have the different system of polarization of a plurality of parallel receive channels, comprises the circularly polarized system that uses.The system that various polarizability allow the present invention to lecture holds the various orientations between beacon or passive label and the steady arm.

For helping to understand the present invention, the disclosure is absorbed in narrow-band continuous wave of the present invention (CW) and is realized.Be appreciated that the stepping that also can use a plurality of frequencies, time domain surge waveform, suitable frequency or the set of scanning, perhaps other realizes the present invention than the independent more complicated signal of arrowband CW signal.For example, differing of CW signal may relate to time delay, perhaps more generally, and the Hilbert of arbitrary signal (Hilbert) conversion.Any waveform (no matter be CW waveform, short pulse, impact, still time domain waveform, sharp-pointed waveform or other waveform) will develop into long-range shape from the near field shape in the following manner, and this mode makes according to the range observation of instruction of the present invention and location facility.

Just for illustrative purposes, provide concrete application, with help the reader understanding wherein the present invention will prove several in useful a lot of environment.Should also be appreciated that: though drawings in detail that provides and concrete example have been described the preferred embodiments of the present invention, but they just for illustrative purposes, apparatus and method of the present invention are not limited to disclosed fine detail and situation, and wherein can carry out various changes and do not deviate from spirit of the present invention by appending claims definition.

Claims (18)

1. system that is used to measure distance between the primary importance and the second place, described system comprises:

(a) at least one beacon equipment; Each beacon equipment of described at least one beacon equipment is positioned at described primary importance and launches each electromagnetic signal; And

(b) at least one positioner equipment; Each positioner equipment of described at least one positioner equipment is positioned at the described second place and receives described each electromagnetic signal; Described each positioner equipment arrives the distance of described each beacon equipment within the distance of near field of described each electromagnetic signal; Described each positioner equipment is distinguished at least two features of described each electromagnetic signal; Described each positioner equipment utilizes described at least two features to realize described measurement.

2. the system that is used to measure distance between the primary importance and the second place according to claim 1, wherein said at least two features are: with proportional first signal characteristic of the magnetic-field component of described electromagnetic signal, and with the proportional secondary signal feature of the electric field component of described electromagnetic signal.

3. the system that is used to measure distance between the primary importance and the second place according to claim 2, wherein said each positioner equipment by measuring described electromagnetic signal described magnetic-field component and described electric field component between differ and utilize described differing to determine that described distance realizes described measurement.

4. the system that is used to measure distance between the primary importance and the second place according to claim 1, wherein selected described at least one beacon equipment and selected described at least one positioner equipment are coupling in the single assembling.

5. the system that is used to measure distance between the primary importance and the second place according to claim 2, wherein selected described at least one beacon equipment and selected described at least one positioner equipment are coupling in the single assembling.

6. the system that is used to measure distance between the primary importance and the second place according to claim 1, wherein selected described at least one beacon equipment is launched described each electromagnetic signal in response to the interrogating signal that receives from selected described at least one positioner equipment.

7. the system that is used to measure distance between the primary importance and the second place according to claim 1, wherein said at least one positioner equipment is n positioner equipment at least, the described positioner equipment of n at least is implemented to the measurement of the selected beacon equipment of described at least one beacon equipment, to find out the position of described selected beacon equipment in the n dimension.

8. the system that is used to measure distance between the primary importance and the second place according to claim 4, wherein said at least two features are: with proportional first signal characteristic of the magnetic-field component of described electromagnetic signal, and with the proportional secondary signal feature of the electric field component of described electromagnetic signal, and wherein said each positioner equipment is by measuring differing and utilize described differing to determine that described distance realizes described measurement between described magnetic-field component and the described electric field component.

9. the system that is used to measure distance between the primary importance and the second place according to claim 6, wherein said at least two features are: with proportional first signal characteristic of the magnetic-field component of described electromagnetic signal, and with the proportional secondary signal feature of the electric field component of described electromagnetic signal, and wherein said each positioner equipment is by measuring differing and utilize described differing to determine that described distance realizes described measurement between described magnetic-field component and the described electric field component.

10. the system that is used to measure distance between the primary importance and the second place according to claim 7, wherein said at least two features are: with proportional first signal characteristic of the magnetic-field component of described electromagnetic signal, and with the proportional secondary signal feature of the electric field component of described electromagnetic signal, and wherein said each positioner equipment is by measuring differing and utilize described differing to determine that described distance realizes described measurement between described magnetic-field component and the described electric field component.

11. a device that is used to realize electromagnetic positioning, described device comprises:

(a) transmitter apparatus is used for launching electromagnetic wave;

(b) receiver device is used to receive described electromagnetic wave; Described receiver device arrives the distance of described transmitter apparatus within the described electromagnetic distance of near field; Described receiver device comprises: be used to detect first receiver apparatus of described electromagnetic first feature, and second receiver apparatus that is used to detect described electromagnetic second feature;

(c) with the measuring equipment of described receiver device coupling, be used to measure the difference between described first feature and described second feature; And

(d) with the described measuring equipment locking equipment really that is coupled, be used to utilize described difference to calculate described distance.

12. the device that is used to realize electromagnetic positioning according to claim 11, wherein said first feature is and proportional first signal characteristic of described electromagnetic magnetic-field component, and described second feature is and the proportional secondary signal feature of described electromagnetic electric field component, and wherein said difference is differing between described magnetic-field component and the described electric field component; Described the differing of described definite equipment utilization calculated described distance.

13. the device that is used to realize electromagnetic positioning according to claim 11, wherein selected described transmitter apparatus is launched described electromagnetic wave in response to the interrogating signal that receives from described receiver device.

14. the device that is used to realize electromagnetic positioning according to claim 13, wherein said first feature is and proportional first signal characteristic of described electromagnetic magnetic-field component, and described second feature is and the proportional secondary signal feature of described electromagnetic electric field component, and wherein said difference is differing between described magnetic-field component and the described electric field component; Described definite device utilizes described differing to calculate described distance.

15. a method that is used to measure distance between the primary importance and the second place, described method comprises step:

(a) from described primary importance emission electromagnetic signal;

(b) receive described electromagnetic wave in the described second place; The described second place is within the distance of near field of described electromagnetic signal;

(c) with not specific order:

(1) first feature of the described electromagnetic signal of detection; And

(2) second feature of the described electromagnetic signal of detection;

(d) difference between described first feature of measurement and described second feature; And

(e) utilize described difference to calculate described distance.

16. the method that is used to measure distance between the primary importance and the second place according to claim 15, wherein said first feature is and proportional first signal characteristic of the magnetic-field component of described electromagnetic signal, and described second feature is and the proportional secondary signal feature of the electric field component of described electromagnetic signal, and wherein said difference is differing between described magnetic-field component and the described electric field component.

17. the method that is used to measure distance between the primary importance and the second place according to claim 15, wherein in response to receiving interrogating signal, the described electromagnetic signal of described emission takes place.

18. the method that is used to measure distance between the primary importance and the second place according to claim 17, wherein said first feature is and proportional first signal characteristic of the magnetic-field component of described electromagnetic signal, and described second feature is and the proportional secondary signal feature of the electric field component of described electromagnetic signal, and wherein said difference is differing between described magnetic-field component and the described electric field component.

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