JP2001056371A - Radio-wave ranging system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a radio-wave ranging system by which a distance up to an object can be detected surely even when the distance becomes short. SOLUTION: From a transmission side, an FM signal whose frequency is changed in terms of time is transmitted. A signal which is reflected by an antenna 5a as an object is received. After that, a mixer 8 mixes and processes the signal with the FM signal transmitted from the transmission side. A low-frequency component is selected by a low-pass filter 8. An I-phase signal is obtained. On the other hand, in the same manner, a mixer 12 mixes and processes a signal which is 90 deg.-phase-shifted by a phase shifter 13. A low-frequency component is selected by a low-pass filter 15. A Q-phase signal is obtained. By making use of a phenomenon that the synthesized vector of the I-phase signal and the Q-phase signal is turned at a speed which is proportional to the propagation distance of radio waves 4, 6, a distance X up to the antenna 5a as the object is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] The present invention relates to a radio ranging system.
Especially at highway toll booths.
When detecting, the distance to the preceding vehicle is detected to prevent collision.
It is useful when applied to stop and the like. [0002] 2. Description of the Related Art E for automatic toll collection on toll roads
TC (Electronic Toll Colle)
ction) system is based on ITS (Intellige)
ntTransport Systems)
Is attracting attention as an application that can be realized in the future.
This ETC system is a roadside radio installed at a tollgate.
Charges are collected by wireless communication between the vehicle and the radio mounted on the vehicle
That allows you to
Both non-stop cashless toll roads
It is possible to pass by. In the automatic toll collection system as described above,
Roadside radios installed at tollgates (hereinafter referred to as roadside devices)
Call it. ) And the radio equipment mounted on the vehicle (hereinafter referred to as onboard equipment)
You. ) When collecting fees by wireless communication between
Receives the radio waves emitted from the
The angle of the incoming radio wave from the onboard side to the reference plane (horizontal plane)
To identify the vehicle that emitted the radio wave
are doing. Here, together with the angle, the roadside equipment and the vehicle
If the distance can be detected at the same time, the position of the vehicle is also located.
Can be Further, a collision prevention system for a running vehicle is provided.
When constructing, the distance between the vehicle and the preceding vehicle is detected.
Is an essential requirement, but in such cases the distance
Radio waves and light are used for output. [0005] A distance measuring method using radio waves according to the prior art is used.
Therefore, a radar system and an FM-CW system are known. former
Launches a pulsed radio wave at the object,
Measure the time it takes for the object to reflect off the object and return
Is used to detect the distance to the object. the latter
Directs an FM signal whose frequency changes over time to an object
And fired, and this reflected radio wave is reflected by the object and returns
Frequency difference from the incoming radio wave is proportional to the distance to the object.
Is used to detect the distance. Radio waves by the FM-CW system according to the prior art
The ranging method will be described in detail with reference to FIG. It is shown in the figure
Thus, from the transmitting side, the sawtooth wave generated by the sawtooth generator 1 is
The carrier signal generated by the carrier signal generator 2 is FM-modulated and
Obtain the M signal. The saw wave in this case is shown in FIG.
FIG. 5 (b) shows the FM signal thus modulated.
You. [0007] The FM signal is transmitted via the transmitting antenna 3 to the
The wave 4 is fired toward the object. Object in this example
The thing is the antenna 5a of the vehicle 5. Reflected on antenna 5a
The returned radio wave 6 was received by the receiving antenna 7
Thereafter, the mixer 8 multiplies the frequency by the FM signal transmitted from the transmission side.
You. The resulting mixing signal is applied to a low-pass filter 9.
Extracts the low frequency component. Then this low frequency
The component is converted into a voltage by the F / V converter 10. Where low
The frequency component is transmitted from the transmitting antenna 3 via the antenna 5a.
It is proportional to the distance X to the receiving antenna 7. Accordingly
The voltage obtained by converting this frequency by the F / V converter 10 is also
It becomes a signal proportional to the separation X. As a result, this voltage value
The signal indicates the separation X. [0008] The principle of the distance measuring method by the FM-CW method is as follows.
It is as follows. That is, it was received by the receiving antenna 7
The FM signal is received from the transmitting antenna 3 via the antenna 5a.
To the FM signal on the transmitting side by the distance to the transmission antenna 7
And delay. Therefore, the result of the multiplication in mixer 8
The obtained signal is represented by the following equation (1). [0009]   COSω₁・ T × COSω_Two・ T = (1/2) ｛COS (ω₁+ Ω_Two) + COS (ω₁−ω_Two)｝ ・ ・ ・ (1) Where COSω₁T is the FM signal on the transmitting side, COS
ω_TwoT is the FM signal on the receiving side. Expression (1) through a low-pass filter 9
The mixing signal is COS (ω₁−ω_TwoOnly)
Is extracted. In this case (ω₁−ω_Two) = Δf is distance X
The distance is proportional to the distance Δf.
The separation X can be detected. [0011] SUMMARY OF THE INVENTION In the prior art as described above,
In any of these radio ranging methods, the distance to the target was shortened.
In such a case, detection becomes impossible. That is, in the radar system
Indicates that the radio wave emitted from the transmitting side is reflected by the object and
Since the distance is detected by the time until it returns to,
Shorter measurement distances and corresponding times
And there is a measurement limit. In addition, the FM-CW method
Is the FM signal emitted from the transmitting side and the F
The distance is detected based on the frequency difference Δf from the M signal.
, The measurement distance becomes shorter, and the corresponding frequency difference Δf
There is a measurement limit due to the decrease in. The present invention has been made in view of the above prior art, and
Even if the distance to is short, make sure to detect this.
An object of the present invention is to provide a radio ranging method that can perform the following. [0013] [MEANS FOR SOLVING THE PROBLEMS]
The configuration of Ming is characterized by the following points. 1) FM signal whose frequency changes with time
From the transmitting antenna as a radio wave to the object,
The radio wave reflected by the object is received and processed by the receiving antenna
Radio ranging system that detects the distance to the object by performing
, The transmitter sends out a signal based on the received radio wave
Multiplied by the FM signal
Select low frequency components with a filter
Due to the propagation distance of the radio wave from the object to the receiving antenna
A signal containing a delayed phase component
The above distance is detected based on the amount of change in the phase component.
That you did. 2) FM signal whose frequency changes with time
From the transmitting antenna as a radio wave to the object,
The radio wave reflected by the object is received and processed by the receiving antenna
Radio ranging system that detects the distance to the object by performing
, The transmitter sends out a signal based on the received radio wave
Multiplied by the FM signal
Select the low frequency component with a filter to obtain the I-phase signal
1 signal processing system and the signal based on the received radio wave
FM signal emitted from the transmitting side to the signal shifted by 90 °
Signal, and then the low frequency of the resulting signal
A second signal that obtains a Q-phase signal by selecting a component with a filter
With a processing system and receive from the transmitting antenna via the object
The above I-phase signal caused by the propagation distance of the radio wave reaching the antenna
And the amount of change in the delay phase component of the Q-phase signal
Based on I-phase signal and Q-phase signal using proportionality
Detect distance to target based on rotation speed of composite vector
That I tried to do. 3) FM signal whose frequency changes with time
From the transmitting antenna as a radio wave to the object,
The radio wave reflected by the object is received and processed by the receiving antenna
Radio ranging system that detects the distance to the object by performing
, The transmitter sends out a signal based on the received radio wave
Multiplied by the FM signal
Select the low frequency component with a filter to obtain the I-phase signal
1 signal processing system and the signal based on the received radio wave
FM signal emitted from the transmitting side to the signal shifted by 90 °
Signal, and then the low frequency of the resulting signal
A second signal that obtains a Q-phase signal by selecting a component with a filter
With a processing system and receive from the transmitting antenna via the object
The above I-phase signal caused by the propagation distance of the radio wave reaching the antenna
And the amount of change in the delay phase component of the Q-phase signal
Utilizing the proportionality, the amount of change of each delay phase component
Each object is detected, and the target object is
Detect the distance up to. 4) Any one of the above 1) to 3)
In the radio ranging method described in
Frequency component of the difference between the frequency and the frequency of the FM signal on the receiving side
And include the frequency component and the delayed phase component of this difference
Based on the signal obtained by subtracting the frequency component of the above difference from the signal
To detect the distance to the object. 5) Any one of the above 1) to 4)
In the radio ranging method described in
Of the combined vector based on the quantity or I-phase signal and Q-phase signal
The rotation speed is detected by the zero-cross method.
When. 6) Any one of the above 1) to 4)
In the radio ranging method described in
Quantity or rotation speed of a vector based on the I-phase signal and the Q-phase signal
The degree should be detected by frequency analysis. 7) The arrival angle of the radio wave emitted from the object
Detected and any one of the above 1) to 6)
The distance to the target is detected by the radio ranging method described in
The position of the target object based on the detected values of the angle and distance.
That the location was oriented. [0021] BRIEF DESCRIPTION OF THE DRAWINGS FIG.
It will be described in detail based on FIG. FIG. 1 shows an electric power supply according to a first embodiment of the present invention.
It is a block diagram which shows a wave ranging method. As shown in the figure
This embodiment has the same components as the FM-CW system shown in FIG.
In FIG. 1, the same parts as those in FIG.
And duplicate description is omitted. As shown in FIG.
The configuration of the transmitting side is exactly the same as that of FIG. That is, FIG.
A carrier signal is FM-modulated with a sawtooth wave as shown in FIG.
The FM signal is transmitted as a radio wave 4. Just saw in this case
The repetition period of the wave is much larger than in the case of FM-CW.
It shall be serious. By increasing the repetition period
The frequency ω of the FM signal transmitted from the transmitting side.₁And the receiving side
Frequency ω of FM signal received at_TwoDifference (ω ₁−ω_Two=
Δf) is effectively set to zero. Scratch
To remove the influence of the distance X based on the principle of the FM-CW method.
You can leave. The antenna which is the object of the distance measurement in this embodiment is
The antenna 5 reflects the radio wave 6
Is processed by the I / Q homodyne processing unit I.
Is made. Here, the I / Q homodyne processing unit I
A mixer 12 is provided together with the mixer 8. The mixer 8 is shown in FIG.
Similarly to the mixer 8 shown in FIG.
The receiving side performs a multiplication process with the FM signal received. one
On the other hand, the mixer 12 is connected to the FM signal
Multiplication with the FM signal shifted by 90 ° through the modulator 13
I do. Mixing signals as output signals of mixers 8 and 12
The low-frequency components are low-pass filters 14 and 15, respectively.
The component is extracted to become an I-phase signal and a Q-phase signal. here,
For the I-phase signal and the Q-phase signal,
Considering the delayed phase component of the FM signal on the receiving side
The delay phase φ changes in proportion to the distance X, and the change at this time
The quantity reflects the distance X (for the reason,
Details will be described later. ). Therefore, the I-phase signal and
And the resultant vector of the Q-phase signal is rotated, and the rotational angular velocity is
It is proportional to the distance X. Therefore, the phase rotation speed detection unit 16
Is the rotation angle of the composite vector based on the I-phase signal and the Q-phase signal
Detects speed, converts this rotational angular speed to frequency and outputs
I do. The output signal of the phase rotation speed detection unit 16 is F / V converted
The voltage is converted by the detector 17 to obtain a voltage signal representing the distance X. Here, the change amount of the delay phase φ is the distance X
Explain the reason that is proportional to
deep. Low-pass the output signal of I / Q homodyne processing unit I
An I-phase signal obtained by passing through filters 14 and 15;
The Q-phase signal is compared with the case of the FM-CW method by the mixers 8 and 12.
By performing a similar mixing process,
By considering the delay phase component of
It can be expressed as shown in (2) and (3). [0025] (1/2) · COS (Δf · t + φ) (2) (1/2) · SIN (Δf · t + φ) (3) Here, Δf = (ω₁−ω_Two) And φ are FM signals on the transmitting side
Is a delay phase component on the receiving side with respect to. The delay phase φ is φ = (2π / λ) · X
(However, the wavelength of the FM signal, X is
(Distance between the vehicle 5 and the antenna 5a (object)).
be able to. That is, the delay phase φ is the wavelength λ and the distance X
Is a function of The wavelength λ is λ = c / f (where c
Is the speed of light, and f is the frequency of the FM signal).
That is, the delay phase φ is a function of the frequency f and the distance X.
You. Here, the radio wave 4 emitted from the transmitting side is shown in FIG.
The frequency is modulated by a sawtooth wave as shown in FIG.
Is a changing FM signal, the delay phase φ is also temporally
Change. Then, this change amount is a constant distance X.
In this case, the speed becomes a unique speed corresponding to the change rate of the frequency f. one
On the other hand, if the change rate of the frequency f is the same, the distance X
Changes, the speed changes in proportion to the distance X. But
Therefore, the composite vector of the I-phase signal and the Q-phase signal is rotated.
At this time, the rotational angular velocity is determined by the repetition of the sawtooth wave modulated by FM.
As long as the period is the same, the amount is proportional to the distance X. This
Is higher as the distance X is larger. Also,
The shorter the repetition period of the sawtooth wave (the higher the rate of change in frequency f)
About), it will be faster. The FM signal on the transmitting side and the FM signal on the receiving side
Frequency difference Δf from the signal (see equations (2) and (3) above)
Teru. ) Also causes the rotation of the composite vector.
However, in the present embodiment, the repetition period of the sawtooth wave is set to FM-CW
Since the method is much longer than the method,
Can be considered as zero, and the rotation angle of the composite vector
The speed can be considered as a quantity representing the distance X. one
On the other hand, when the distance X becomes shorter, the rotational angular velocity of the composite vector becomes
Becomes smaller and a sufficiently large voltage signal cannot be obtained.
Reduces the repetition period of the sawtooth wave or the frequency of the FM modulation wave
Increase the number of deviations to increase the rotation speed of the composite vector.
Just do it. As described above, according to the present embodiment, the I-phase signal and
And the rotational angular velocity of the combined vector based on the Q-phase signal and
The output voltage signal of the F / V converter 17 based on the distance X
Can be detected. In the first embodiment, the repetition of the sawtooth wave
When the return period becomes large to some extent, the FM on the transmitting side
The frequency difference Δf between the signal and the FM signal on the receiving side is effectively zero.
If it becomes too large to be considered as
The rotational angular velocity of the composite vector based on the Q and Q phase signals
Therefore, the influence of Δf cannot be ignored. In this case,
The amount based on Δf is subtracted from the amount based on the rotational angular velocity.
Just pull it. A useful embodiment in this case is described in the second section.
An embodiment will be described. FIG. 2 is a block line showing a second embodiment.
FIG. As shown in the figure, the present embodiment is different from the first embodiment shown in FIG.
In one embodiment, a correction method for removing the effect of Δf
It is the addition of a step. Therefore, the same parts as in FIG.
The same numbers are given and duplicate descriptions are omitted. Shown in FIG.
As described above, the ranging method according to the present embodiment uses the FM-C shown in FIG.
The mixer 8 which is the same signal processing system as the W system
And a low-pass filter 9.
From the output signal COS (Δf · t), the frequency
It is configured to extract minutes. In this embodiment,
This is where the F / V converter 18 extracts Δf. This F
The / V converter 18 converts a frequency corresponding to Δf into a voltage.
And output it. In the speed correction unit 19
Δf is calculated from the output voltage signal of the F / V converter 18 and
The output voltage signal of the / V converter 17 is corrected. But
Therefore, the output voltage signal of the speed correction unit 19 is output from the F / V converter
Remove the component corresponding to Δf from the output voltage signal of No. 17
It becomes exactly proportional to the distance X. Note that here
The pass filter 9 is shielded from the low pass filters 14 and 15.
The cut-off frequency is configured to be low,
Filter 9 extracts only Δf and calculates the amount of change in delay phase φ.
And can be separated. The first and second embodiments are directed to the object.
Only the distance X is detected.
To detect the angle of arrival of the radio waves emitted by the object.
Thus, the position of the object can be located. This
FIG. 3 shows the third embodiment as a third embodiment.
You. As shown in the figure, the present embodiment is different from the first embodiment shown in FIG.
Combination of distance detection system and angle detection system in the embodiment
It was made. Therefore, the same parts as those in FIG.
, And duplicate description will be omitted. The angle detection system according to this embodiment is mounted on a vehicle 5.
Radio waves emitted from the onboard equipment mounted on the vehicle via the antenna 5a
(Indicated by a dotted line in the figure) are represented by two reception antennas 20,
21 and performs a predetermined process to obtain a vertical plane (high
Angle of the incoming radio wave with respect to the
ing. More specifically, it is set at a predetermined interval d.
Received by the two receiving antennas 20 and 21
The incoming radio waves are transported by the heterodyne converters 22 and 23.
The transmission frequency and the local oscillation signal output by the local oscillator 24
Signal and convert it to a lower frequency signal.
It is supplied to the phase difference meter 25. In this phase difference meter 25, the reception
The radio wave received by the antenna 20 and the reception
The phase difference Δφ of the transmitted radio wave is detected. This phase difference Δφ
Is the distance L from the antenna 5a to the receiving antenna 20₁When
Distance L from antenna 5a to receiving antenna 21_TwoIs different
Is the phase difference Δφ included in the received radio wave
Δφ = (2π / λ) · SINθ (where λ is the incoming power
The relationship between the wavelength of the wave and θ is the angle of the arriving radio wave. But
Therefore, the angle θ of the arriving radio wave is θ = SIN^-1(Δφ ・ λ /
2πd). This calculation is performed by the angle detector 26.
U. That is, the angle detector 26 outputs the output of the phase difference meter 25.
Based on the signal representing the phase difference Δφ
Signal representing the angle θ of the arriving radio wave
Is sent. In the position locating section 27, the distance is detected by a distance detecting system.
Output signal of F / V converter 17 representing distance X and angle detection
Based on the output signal of the unit 26, the antenna 5a
Orient the position. It should be noted that the first to third embodiments are not limited to the above.
Is the rotation angle of the composite vector of the I-phase signal and the Q-phase signal.
The distance X was measured based on the speed.
Change in delay phase φ of either I-phase signal or Q-phase signal
By detecting the moving speed based on
Movement based on change in delay phase φ of I-phase signal and Q-phase signal
By detecting the speed individually and averaging both
Similarly, the distance X can be detected. The object is
Although the antenna 5a of the vehicle 5 is used, this object is not limited to this.
No need to specify. For example, a collision prevention system for a running vehicle
When building a stem, it is essential to detect the distance between vehicles
Although it is a requirement, a rangefinder (millimeter wave radar) in this case
It is also useful. In addition, on existing highways
Identify the vehicle to be charged if incorporated into the toll collection system
This is particularly useful in cases such as the above. [0034] The present invention has been described in detail with the embodiments.
As described above, in the invention described in [Claim 1], the frequency is temporal.
Target FM signal as radio wave from transmitting antenna
Launches at an object and receives the radio wave reflected by the object.
The distance to the target object is detected by receiving and processing with the tena.
Signal based on the received radio wave
Is multiplied by the FM signal emitted from the transmitting side.
Filter low-frequency components of the resulting signal
From the transmitting antenna to the receiving antenna via the object
A signal containing a delayed phase component caused by the propagation distance of the radio wave
Based on the amount of change in the delay phase component in this signal.
Since the distance is detected, the frequency of the FM signal
By appropriately setting the rate of change, the amount of change in the delay phase component
Can be satisfactorily detected. This place
The distance is based on the amount of change in the delay phase component
Therefore, the conventional radar system and FM-CW system rangefinder
This can be detected well, even at a much shorter distance.
Can be. According to the second aspect of the present invention, the frequency is
A time-varying FM signal is converted into a radio wave from a transmitting antenna.
To the object, and receives the radio wave reflected by the object.
The distance to the target object is obtained by
In the radio ranging method that detects separation, based on the received radio wave
The signal is multiplied by the FM signal emitted from the transmitter, and
Filter the low frequency components of the resulting signal
A first signal processing system for selecting and obtaining an I-phase signal;
The signal based on the radio wave is phase-shifted by 90 °
Multiply the FM signal emitted from the transmitting side, and
Filter the low frequency components of the resulting signal
And a second signal processing system for obtaining a Q-phase signal.
Propagation distance of radio wave from tena through target object to receiving antenna
Delayed phase components of the I-phase signal and Q-phase signal due to separation
Utilizing the fact that the amount of change in
Based on the rotation speed of the composite vector based on the signal and the Q-phase signal.
The distance to the target object is detected.
The same effects as those of the invention described in [1] can be obtained.
In addition, the measurement accuracy can be improved. In the invention described in claim 3, the frequency is
A time-varying FM signal is converted into a radio wave from a transmitting antenna.
To the object, and receives the radio wave reflected by the object.
The distance to the target object is obtained by
In the radio ranging method that detects separation, based on the received radio wave
The signal is multiplied by the FM signal emitted from the transmitter, and
Filter the low frequency components of the resulting signal
A first signal processing system for selecting and obtaining an I-phase signal;
The signal based on the radio wave is phase-shifted by 90 °
Multiply the FM signal emitted from the transmitting side, and
Filter the low frequency components of the resulting signal
And a second signal processing system for obtaining a Q-phase signal.
Propagation distance of radio wave from tena through target object to receiving antenna
Delayed phase components of the I-phase signal and Q-phase signal due to separation
Using the fact that the amount of change in
While detecting the amount of change of each delay phase component,
The distance to the object is detected based on both detection values.
Therefore, the invention described in [Claim 1] and [Claim 2]
Measurement accuracy can be further improved. The invention described in [Claim 4] is based on [Claim 4
[1] A radio ranging according to any one of [3] to [3].
In the scheme, the frequency of the FM signal on the transmitting side and the F
The frequency component of the difference from the frequency of the M signal is extracted, and the difference
From the signal containing the frequency component and the delayed phase component,
Based on the signal from which the wave number component has been subtracted, the distance to the target
Since the frequency of the FM signal on the transmitting side is
The error component due to the difference Δf from the frequency of the FM signal on the receiving side
Can be removed, and if this Δf occurs
However, it is necessary to remove the effect to ensure good detection accuracy.
Can be. The invention described in [Claim 5] is based on [Claim 5]
Radio range finding according to any one of [1] to [4].
In the method, the amount of change of the delay phase component or the I-phase signal and Q
The rotation speed of the composite vector based on the phase signal
Detection method using the
It can be configured at low cost. The invention described in [Claim 6] is based on [Claim 6
Radio range finding according to any one of [1] to [4].
In the method, the amount of change of the delay phase component or the I-phase signal and Q
The rotation speed of the composite vector based on the phase signal is
Analysis, so that the detection can be performed quickly.
I can. In the invention described in claim 7, the object is
In addition to detecting the angle of arrival of the emitted radio waves, [Claims
Radio range finding according to any one of [1] to [6].
The distance to the object is detected by the method, and these angles and
Now locates objects based on distance and detected values
Therefore, the position of the object can be
The orientation can also be determined. This is a highway tollgate
This is a particularly remarkable effect when the vehicle is specified in.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a first embodiment of the present invention. FIG. 2 is a block diagram showing a second embodiment of the present invention. FIG. 3 is a block diagram showing a third embodiment of the present invention. FIG. 4 is a block diagram showing a radio ranging method based on the FM-CW method according to the related art. FIG. 5 is a waveform chart showing signal waveforms at various parts in FIG. 4; [Description of Signs] 1 sawtooth generator 2 carrier signal generator 3 transmitting antenna 5 vehicle 5a antenna 7 receiving antennas 8, 12 mixers 9, 14, 15 low-pass filter 16 phase rotation speed detectors 20, 21 receiving antenna 25 phase difference 26 angle detector 27 position locator

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Claims (1)

Claims 1. An FM signal whose frequency changes with time is emitted from a transmitting antenna to a target as a radio wave, and the radio wave reflected by the target is received and processed by a receiving antenna. In the radio ranging method that detects the distance to the object by this, the signal based on the received radio wave is multiplied by the FM signal emitted from the transmitting side, and the low frequency component of the resulting signal is selected by a filter, A signal including a delay phase component caused by a propagation distance of a radio wave from a transmission antenna to a reception antenna via an object is obtained, and the distance is detected based on a change amount of the delay phase component in the signal. Radio ranging. 2. An FM signal whose frequency changes with time is emitted from a transmitting antenna to a target as a radio wave, and a radio wave reflected by the target is received and processed by a receiving antenna to process the signal up to the target. In a radio ranging method for detecting a distance, a signal based on a received radio wave is multiplied by an FM signal emitted from a transmitting side, and a low-frequency component of the resulting signal is selected by a filter to obtain an I-phase signal. 1 signal processing system, and a signal based on the received radio wave
A second signal processing system for multiplying the phase-shifted signal by an FM signal emitted from the transmission side and further selecting a low-frequency component of the resulting signal with a filter to obtain a Q-phase signal; Using the fact that the amount of change in the delay phase component of the I-phase signal and the Q-phase signal caused by the propagation distance of the radio wave from the antenna to the receiving antenna via the object is proportional to the propagation distance, the I-phase signal and the Q-phase signal are used. A radio ranging method wherein a distance to an object is detected based on a rotation speed of a combined vector based on a signal. 3. An FM signal whose frequency changes with time is emitted from a transmitting antenna to an object as a radio wave, and a radio wave reflected by the object is received by a receiving antenna and processed, thereby processing the signal to the object. In a radio ranging method for detecting a distance, a signal based on a received radio wave is multiplied by an FM signal emitted from a transmitting side, and a low-frequency component of the resulting signal is selected by a filter to obtain an I-phase signal. 1 signal processing system, and a signal based on the received radio wave
A second signal processing system for multiplying the phase-shifted signal by an FM signal emitted from the transmission side and further selecting a low-frequency component of the resulting signal with a filter to obtain a Q-phase signal; Using the fact that the amount of change in the delay phase components of the I-phase signal and the Q-phase signal due to the propagation distance of the radio wave from the antenna to the receiving antenna via the object is proportional to the propagation distance, A radio ranging method wherein a change amount is detected, and a distance to an object is detected based on both detected values. 4. A radio ranging system according to any one of claims 1 to 3, wherein a frequency of a difference between a frequency of the FM signal on the transmitting side and a frequency of the FM signal on the receiving side. A radio frequency ranging device for extracting a component, and detecting a distance to an object based on a signal obtained by subtracting the frequency component of the difference from a signal including the frequency component of the difference and the delayed phase component. method. 5. A radio ranging system according to any one of claims 1 to 4, wherein a change amount of a delay phase component or a composite vector based on an I-phase signal and a Q-phase signal is calculated. A radio ranging method wherein the rotation speed is detected by a zero crossing method. 6. A radio ranging system according to any one of claims 1 to 4, wherein a rotation amount of a vector based on a change amount of a delay phase component or an I-phase signal and a Q-phase signal. The speed is detected by frequency analysis. 7. An arrival angle of a radio wave emitted from an object is detected, and a distance to the object is measured by a radio ranging method according to any one of [1] to [6]. A position locating method characterized by detecting and locating the position of an object based on the detected values of these angles and distances.