JP2007212424A - Position detecting device and position detection program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position detecting device and position detection program for receiving high-frequency signals, including sent reporting information and measurement signals with a personal digital assistant, while periodically changing a plurality of antennas or a plurality of sets of antennas from a base station, and for detecting the three-dimensional position of the personal digital assistant, the distance between them, or the direction between them. <P>SOLUTION: The high-frequency signals, transmitted from the plurality of antennas 11a-11d or the plurality of sets of antennas 11a-11d of the base station 10 via transmission paths 68a-68d, are received by the personal digital assistant 20. By calculating the relative phase of the carrier signals, sub-carrier signals, modulation signals, or baseband signals of the received high-frequency signals, a three-dimensional position 69 of the personal digital assistant 20 is detected accurately. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

The present invention provides a fixed-side transmitting means and / or receiving means for transmitting or receiving an ultrasonic signal, a high-frequency signal or an optical signal while periodically switching a plurality of antennas or transducers, and a receiving means on the portable terminal side And / or transmission means, and the three-dimensional position or distance or direction of the reception means and / or transmission means on the portable terminal side, or a combination of them is set to the height of the antenna or transducer on the portable terminal side. The present invention relates to a position detection device and a position detection program for detecting without inputting information.

FIG. 6 is an example of a conventional wireless marker described in Patent Document 1. In FIG. In FIG. 6, 1 is a transmission means or relay means, 2 is a reception means, 11a to 11d are directional antennas, 41 is a direction of viewing the directional antennas 11a to 11b, 42 is an angle from directly below the antenna of the transmission means, 43 is the height of the antenna of the transmitting means, 44 is the height of the antenna of the receiving means, and 45 is the distance from directly below the antenna of the transmitting means.
The directivity antennas 11a to 11d of the transmission means or the relay means 1 have a horizontal plane or a constant inclination angle at intervals of a quarter wavelength of the carrier signal, subcarrier signal, modulation signal, or baseband signal of the high-frequency signal to be transmitted. It is assumed that the high frequency signal is transmitted while being periodically switched.

If the receiving means 2 is present in the direction of angle 42 from directly below the directional antennas 11a to 11d, Δd (X) = (Hh) × Tan {ΔΦ (X)}, Δd (Y) = (Hh) × Tan {ΔΦ (Y)}. Here, Δd (X) and Δd (Y) are distances 45 from directly below the directional antennas 11a to 11d, H is the height 43 of the antennas 11a to 11d of the transmitting unit 1, and h is the receiving unit 2. The antenna height 44, ΔΦ (X), ΔΦ (Y) is an angle 42 from directly below the directional antenna.
If the position immediately below the directional antennas 11a to 11d is (X1, Y1), the antenna position (Xx, Yy) of the receiving means 2 is Xx = X1 + Δd (X) Yy = Y1 + Δd (Y ) Can detect the position.

However, in the conventional position detection method, it is necessary to store the height of the receiving means 2 in advance as a default value or to input it each time. The two-dimensional position or distance or direction of the receiving means 2 or these Therefore, depending on the posture of a pedestrian or the like carrying the receiving means 2, there is a problem that the accuracy of position detection is deteriorated or unstable.
Further, in the conventional “position detection program” described in Patent Document 2, only one antenna is mounted on the base stations 1, 2, and 3 and these positions are sufficiently separated from each other. However, there is a problem that it becomes difficult to detect the position when signals from a plurality of base stations cannot be received simultaneously due to the influence of multipath or height pattern regardless of whether it is outdoors or indoors.

Japanese Patent Application No. 2005-363171 Japanese Patent Application No. 2002-333422

The present invention is for detecting the three-dimensional position or distance or direction of a portable terminal or a combination thereof with high accuracy without inputting information mainly on the height of the antenna or transducer on the portable terminal side. A position detection device and a position detection program are provided.

According to the position detection apparatus and position detection program of the present invention, a plurality of antennas or transmitters / receivers are arranged in a fixed transmission side or reception unit with an interval of any combination within one wavelength. Arbitrary combinations of units are non-uniformly arranged or spaced, or a plurality of sets of antennas or transmitters / receivers are arranged on the fixed transmitting side or receiving unit with an interval of any combination set to one wavelength or more. Without transmitting the height information of the antenna on the portable terminal side by transmitting or receiving the ultrasonic signal, the high frequency signal or the optical signal while periodically switching the plurality or a plurality of sets of antennas or transducers It is intended for highly accurate detection of 3D position, distance, direction, or a combination of these. .

In the conventional position detection device or position detection program, the arrangement or interval of any combination of a plurality of antennas or transducers connected to the transmitting means or receiving means on the fixed side is uniform. It is necessary to input in advance at least the height of the antenna of the receiving means or the transmitting means or the transducer as a default value, and there is a problem that only a two-dimensional position or distance or direction or a combination thereof can be detected.
In the position detection device and the position detection program of the present invention, the three-dimensional including the height of the portable terminal without inputting the height of the antenna or the transducer of the receiving means or transmitting means on the portable terminal side as a default value. The position, distance, direction, or combination thereof can be detected with high accuracy.

The position detection apparatus and the position detection program according to the present invention are prepared for detecting a three-dimensional position 70 of the mobile terminal 20 from a three-dimensional position 69 of the base station 10 as shown in FIG.
As shown in FIG. 2 or 4, a plurality of antennas 11 a to 11 d or a plurality of sets of antennas 11 a to 11 d are connected to the base station 10. In the case of FIG. 2, an arbitrary set of a plurality of antennas 11 a to 11 d is connected. The alignment interval is within one wavelength, and the arrangement or interval between arbitrary combinations is not uniform as shown in FIG. 3, and in the case of FIG. 4, any combination of a plurality of sets of antennas 11a to 11d. Is one wavelength or more, and a plurality or a plurality of sets of these antennas 11a to 11d are periodically switched to transmit or receive a high-frequency signal.
On the other hand, one antenna is connected to the mobile terminal 20.

From the configuration and arrangement of a plurality or a plurality of antennas shown in FIG. 1, FIG. 2, FIG. 3 or FIG. 4, the three-dimensional positions 69a to 69d of the plurality or a plurality of antennas 11a to 11d as shown in FIG. A high-frequency signal is transmitted from (X1a, Y1a, Z1a) to (X1d, Y1d, Z1d) to a three-dimensional position 70 (X2, Y2, Z2) of the mobile terminal 20 via transmission paths 68a to 68d. Information on the height of the antenna of the mobile terminal 20 is detected by detecting the timing, amplitude, frequency, phase, or phase combination of the high-frequency signal carrier signal, subcarrier signal, modulation signal, or baseband signal. 3D position 70, distance or direction, or a combination thereof can be calculated with high accuracy without inputting

FIG. 1 is a conceptual diagram showing an embodiment of the present invention. In FIG. 1, 10 is a base station, 11a, 11b, 11c, and 11d are a plurality or a plurality of antennas, 20 is a mobile terminal, and 68a, 68b, 68c, and 68d are high frequencies between the antennas 11a to 11d and the mobile terminal 20. A signal transmission path, 69 is a three-dimensional position of the base station 10, and 70 is a three-dimensional position of the mobile terminal 20.
The transmitting means and / or receiving means of the base station 10 installed at the three-dimensional position 69 are connected to a plurality or a plurality of sets of antennas 11a to 11d that are periodically switched, and the transmitting means is mounted. If it is, the high-frequency signal including the notification information and the measurement signal for measuring the position is intermittently transmitted.
On the other hand, the mobile terminal 20 in a three-dimensional position is equipped with transmission means and / or reception means and is equipped with at least one antenna. When the mobile terminal 10 is equipped with transmission means, the mobile terminal 20 is identified. A high frequency signal including a measurement signal for measuring the signal and position is intermittently transmitted.

The broadcast information transmitted from the base station 10 includes at least an identification signal and information on the antenna position and / or antenna installation status, and the high-frequency signal transmitted from the transmission means of the base station 10 is included in the portable information. A high-frequency signal received by the receiving means of the terminal 20 and detecting the three-dimensional position 70 or distance or direction of the portable terminal 20 or a combination thereof with high accuracy, or a high-frequency signal transmitted from the transmitting means of the portable terminal 20 The three-dimensional position 70, distance or direction, or a combination thereof is detected with high accuracy without receiving the antenna height information of the mobile terminal 20 received by the receiving means of the base station 10.
Here, the high-frequency signal is transmitted and received through transmission paths 68a to 68d that connect a plurality or a plurality of antennas 11a to 11d of the base station 10 and the antenna of the mobile terminal 20, but if there are reflections around the multipath, Alternatively, the high-frequency signal may be canceled and disappear due to a height pattern, etc., but it is not affected by multipath or height patterns at the same time in all transmission lines. Is transmitted normally, it is possible to detect the position, distance, direction, or combination thereof with high accuracy.

FIG. 2 is a block diagram showing an embodiment of the base station of the present invention, where 10 is a base station, 11a, 11b, 11c and 11d are a plurality of antennas, 31a, 31b, 31c and 31d are transmission lines, and 32 is an antenna. A switch 33 is a transmission means, 34 is a reference oscillator, and 35 is a control unit.
The plurality of antennas 11a to 11d of the base station 10 are connected to the antenna switch 32 via transmission lines 31a to 31d, and are periodically switched by the control unit 35 in synchronization with the reference oscillator 37. A high-frequency signal including notification information is transmitted in burst form from the transmitting means 33, periodically switched by the antenna switch 32, and radiated from the plurality of antennas 11a to 11d to the space via the transmission lines 31a to 31d. Yes.
Since the transmission lines 31a to 31d have a non-uniform line length, the phase of the carrier signal or subcarrier signal of the high-frequency signal radiated from the antennas 11a to 11d is non-uniform.

For example, when the transmission line 31a is longer than the others, the phase of the carrier signal or subcarrier signal of the high-frequency signal radiated from the antenna 11a is delayed, and the antenna 11a is equivalently compared with the other antennas 11b to 11d. It is equivalent to being installed at a deeper interval, and similarly, the relative intervals of the antennas 11b to 11d are adjusted by adjusting the lengths of the transmission lines 31b to 31d.
If arranged as described above, even when the antennas 11a to 11d are installed in the same plane and face downward, and the mobile terminal is located directly below the antennas 11a to 11d, the mobile terminal and each of the antennas 11a to 11d are arranged. Since the transmission distances of the high-frequency signals are not the same and are not uniform, the three-dimensional positions of the portable terminals, the distance between them, or the direction between them can be detected.

Here, an example in which the transmission lines 31a to 31d are inserted in order to adjust the relative distance between the antennas 11a to 11d is shown. However, a fixed or variable phase shifter or delay means is used, or the antenna 11a. An equivalent method such as making the radiation phase characteristics of ˜11d non-uniform can be used.
Further, by changing the carrier frequency or subcarrier frequency of the high-frequency signal radiated from the antennas 11a to 11d, changing the modulation signal, or changing the spreading code in accordance with the period for switching the antennas 11a to 11d. An effect equivalent to adjusting the relative distance in the depth direction can be obtained.

  FIG. 3 is a cross-sectional view showing an embodiment of the antenna of the present invention, in which 81 is an antenna unit in which a plurality of antennas 11a to 11d are assembled, 82 is a vertical interval between the antennas 11a and 11d, and 83 is antennas 11c and 11d. , 84 is the vertical distance between the antennas 11b and 11c, 85 is the horizontal distance between the antennas 11a and 11b, 86 is the distance between the antennas 11c and 11d, and 87 is the antennas 11a and 11b. The distance in the front-rear direction of 88 is the distance in the front-rear direction of antennas 11b and 11d.

A part or all of the intervals 82 to 88 of the antenna part 81 are made non-uniform and / or the antenna part 81 has an inclination angle with respect to a horizontal direction, a downward direction, an upward direction or a lateral direction, or a combination thereof. Installed together.
With the arrangement as described above, even when the antenna unit 81 is installed in the downward direction and the mobile terminal is located directly below the antenna unit 81, the mobile terminal and the antennas 11 a to 11 d of the antenna unit 81 are arranged. Since the transmission distances of the high-frequency signals are not the same and are not uniform, the three-dimensional positions of the portable terminals, the distance between them, or the direction between them can be detected.

Here, the arrangement and interval of the antennas 11a to 11d are shown as an example, and can be arranged in any combination.
Also, fixed or variable phase shifting means for advancing or delaying the phase of the carrier signal, subcarrier signal, modulation signal, or baseband signal of the high frequency signal is provided to some or all of the connection terminals of the plurality of antennas 11a to 11d. A similar effect can be obtained by connecting and equivalently making the lengths of some or all of the transmission lines of the antennas 11a to 11d non-uniform.
Further, the phase or delay time of the carrier signal, the subcarrier signal, the modulation signal, or the baseband signal of the high frequency signal radiated from some or all of the plurality of antennas 11a to 11d, or both of them are equivalently non-uniform. The same effect can be obtained.

FIG. 4 is a block diagram showing another embodiment of the base station of the present invention, where 10 is a base station, 11a, 11b, 11c and 11d are a plurality of antennas, 11a1 to 11a4, 11b1 to 11b4, 11c1 to 11c4. , 11d1 to 11d4 are a plurality of antennas in each set, 31a, 31b, 31c and 31d are transmission lines, 32 is an antenna switch, 33 is a transmission means, 34 is a reference oscillator, and 35 is a control unit.
The plurality of antennas 11a to 11d of the base station 10 incorporates an antenna switch therein and periodically switches the plurality of antennas 11a1 to 11a4, 11b1 to 11b4, 11c1 to 11c4, and 11d1 to 11d4 in each group, It is connected to the antenna switch 32 via transmission lines 31a to 31d, and is switched periodically by the control unit 35 in synchronization with the reference oscillator 37. A high-frequency signal including notification information is transmitted in burst form from the transmitting means 33, periodically switched by the antenna switch 32, and a plurality of built-in antennas 11a to 11d via the transmission lines 31a to 31d. Antennas 11a1 to 11a4, 11b1 to 11b4, 11c1 to 11c4, and 11d1 to 11d4.

The interval of any combination within each of the plurality of antennas 11a1 to 11a4, 11b1 to 11b4, 11c1 to 11c4, and 11d1 to 11d4 in the plurality of antennas 11a, 11b, 11c, and 11d is a carrier wave of the high frequency signal. Within one wavelength of the signal, subcarrier signal, modulation signal, or baseband signal, and the interval between any combination of the plurality of sets of antennas 11a, 11b, 11c, and 11d is the carrier signal or subcarrier signal of the high frequency signal Or it is provided so that it may become 1 wavelength or more of a modulation signal or a baseband signal,
The line lengths of the transmission lines 31a to 31d are determined by the installation positions of the plurality of sets of antennas 11a, 11b, 11c, and 11d, and the phase of the carrier signal or subcarrier signal of the high-frequency signal radiated from the plurality of sets of antennas 11a to 11d. Is also determined by the installation positions of a plurality of sets of antennas 11a, 11b, 11c and 11d.

When arranged as described above, even when a plurality of sets of antennas 11a to 11d are installed on the same surface and face downward, and the portable terminal is located directly below one of the plurality of sets of antennas 11a to 11d, The three-dimensional position of the portable terminal, the distance between them, or the direction between them can be detected without using the height of the antenna of the terminal as a default value or inputting it each time.
Here, the carrier frequency or subcarrier frequency of the high-frequency signal radiated from the plurality of sets of antennas 11a to 11d is changed in accordance with the cycle of switching the plurality of sets of antennas 11a to 11d, or the modulation signal is changed, or The distance between the base station 10 and the mobile terminal can be detected by changing the spreading code.

Further, at least one of the plurality of antennas 11a to 11d is a plurality of antennas or transducers, and any combination of the plurality of antennas or transducers is the ultrasonic signal, high-frequency signal, or optical signal. Provided at intervals within one wavelength of the carrier signal, subcarrier signal, modulation signal, or baseband signal, and the remaining plurality of sets are a single antenna or transducer, and the plurality of sets of single antennas or transducers The same effect can be obtained even when any combination of the above is provided at intervals of one or more wavelengths of the ultrasonic signal, high-frequency signal, optical signal carrier signal, subcarrier signal, modulation signal, or baseband signal.

FIG. 5 is a conceptual diagram of a transmission path that is the basis of the position detection program of the present invention, wherein 68a, 68b, 68c, and 68d are high-frequency signal transmission paths, 69 is a three-dimensional position of the mobile terminal 20, and 70a, 70b, 70c and 70d are three-dimensional positions of a plurality or a plurality of sets of antennas 11a to 11d, and 71a, 71b, 71c and 71d are spherical surfaces centered on the plurality of antennas 11a to 11d.
The phase of the carrier signal, subcarrier signal, modulation signal, or baseband signal of the high frequency signal when it is transmitted from the antenna 11a and reaches the spherical surface 71a via the transmission path 68a is the carrier signal, subcarrier signal, or modulation of the high frequency signal. If the wavelength of the signal or baseband signal is λ (2πLa / λ), similarly, when reaching the spherical surface 71b via the transmission path 68b (2πLb / λ), the spherical surface 71c via the transmission path 68c is obtained. Is reached (2πLc / λ), and when it reaches the spherical surface 71 via the transmission path 68d, it is (2πLd / λ). Since the phase of the carrier signal, subcarrier signal, modulation signal or baseband signal of the high frequency signal transmitted from each of the antennas 11a to 11d is switched synchronously, it is the same phase at the time of transmission. The relative phase when passing through the paths 68a to 68d can be detected.

The interval of any combination of the plurality of antennas 11a to 11d is non-uniformly arranged so as to be one or more wavelengths of the carrier wave signal, subcarrier signal, modulation signal, or baseband signal of the high frequency signal, and the plurality of antennas 11a to 11d. The coordinates of the positions 70a to 70d of 11d are (X1a, Y1a, Z1a), (X1b, Y1b, Z1b), (X1c, Y1c, Z1c), (X1d, Y1d, Z1d), and the coordinates of the mobile terminal are (X2, Y2) , Z2), the phase of the carrier signal, subcarrier signal, modulation signal or baseband signal of the high frequency signal when reaching the spherical surfaces 71a to 71d via the transmission lines 68a to 68d is (2πLa / λ), ( 2πLb / λ), (2πLc / λ), and (2πLd / λ), a linear equation is created so that the error is reduced by creating simultaneous equations. Law By configuring the program using, it is possible to obtain three-dimensional coordinates of the mobile terminal (X2, Y2, Z2).

At this time, for example, if σ is a standard deviation, errors of σθa, σθb, σθc, and σθd are generated in each phase measurement, and thus errors in the measured values are (2πLa / λ) + σθa, (2πLb / λ) + σθb, ( 2πLc / λ) + σθc, (2πLd / λ) + σθd. By using the average value obtained by measuring the phase difference a plurality of times before the position detection calculation, errors in σθa, σθb, σθc, and σθd can be reduced while suppressing the load of the position detection calculation process.
Also, the phase of the carrier signal, subcarrier signal, modulation signal, or baseband signal of the high-frequency signal transmitted from the plurality of sets of antennas 11a to 11d may not be uniform, and the antennas 11a1 to 11a4, 11b1 to each set may be different. 11b4, 11c1 to 11c4, 11d1 to 11d4 The phase difference need only be within the specified value, and there is an error from the specified value among the antennas 11a1 to 11a4, 11b1 to 11b4, 11c1 to 11c4, and 11d1 to 11d4 in each set It is necessary to calculate by adding or subtracting the correction value from the detected relative phase by providing the correction value.

Further, even when the arrangement or interval of any combination of the plurality of antennas 11a to 11d is different from the mechanical arrangement or interval and the electrical arrangement or interval, it is necessary to correct by providing a correction coefficient.
Further, when calculating the relative phase, it is also possible to calculate by calculating an average value by a linear least square method or a method with less error.
In addition, the results of position detection by the least square method are stored in time series to obtain the position locus, the variance from the past locus is obtained by the least square method, and the current position is estimated from the center locus. Alternatively, it can be confirmed.
In addition to the three-dimensional position 70 of the portable terminal 20, a three-dimensional distance or direction or a combination thereof can be detected with high accuracy.

In the above description, the case where the average value is obtained by the least square method has been described. However, it is also possible to perform so-called weighted average or moving average that weights the average value closer to the time of obtaining the average value. .
Further, by taking an average value of N times, it is possible to predict the measurement accuracy of the phase difference or time difference within ± σ / (√N) with a certainty of 95%.

In addition, an ultrasonic signal is transmitted from the transmitting means using an ultrasonic transducer or an ultrasonic transmitter, and an ultrasonic signal is received using an ultrasonic transducer or an ultrasonic receiver in the receiving means, or the A similar effect can be obtained by transmitting an optical signal using a light emitting diode or laser diode in the transmitting means and receiving the optical signal using a photodiode in the receiving means. In the present application, the ultrasonic transducer or the ultrasonic transducer and the light emitting diode, the laser diode, or the photodiode are collectively referred to as a transducer. Even when only the transmitter or receiver of the transmitter / receiver is used, it is described as a transmitter / receiver.

Since the present invention is configured as described above, an ultrasonic signal, a high-frequency signal, or an optical signal between a base station and a portable terminal can be used for any combination of a plurality of antennas or transducers that are periodically switched. By making the signal transmission path length non-uniform, the three-dimensional position or distance or direction of the portable terminal or a combination thereof can be detected with high accuracy.

It is a conceptual diagram which shows one Example of this invention. It is a block diagram which shows the Example of the base station of this invention. It is sectional drawing which shows the Example of the antenna of this invention. It is a block diagram which shows the other Example of the base station of this invention. It is a conceptual diagram of the transmission line used as the basis of the position detection program of this invention. It is a conceptual diagram which shows the conventional Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Radio marker 2 Reception means 3 Position of portable terminal 10 Base stations 11a, 11b, 11c, 11d Antennas 31a, 31b, 31c, 31d Transmission line 32 Antenna switch 33 Transmission means 34 Reference oscillator 35 Control unit 61 Antenna 11a → antenna 11b direction 62 angle from the vertical plane of the radio marker antenna 63 height of the radio marker antenna 64 antenna height of the receiving means 65 distance 66 from directly below the radio marker antenna 66 extending the vertical plane of the radio marker antenna Distance 67 of wireless marker antenna Vertical plane 68a, 68b, 68c, 68d Transmission path from antenna 11a-11d to mobile terminal 69 Three-dimensional position of base station 69a, 69b, 69c, 69d Three-dimensional position 70 Three-dimensional position 71a, 71b of the mobile terminal, 1c, 71d Spherical surface 81 when reaching via transmission path Antenna portion 82 assembled with a plurality of antennas 11a-11d 83 Vertical distance 83 between antennas 11a and 11d 84 Horizontal distance 84 between antennas 11c and 11d Antenna 11b The distance between the antenna 11c and the antenna 11c in the vertical direction 85 The distance between the antennas 11a and 11b in the horizontal direction 86 The distance between the antenna 11c and the antenna 11d in the front-and-rear direction 87 The distance between the antennas 11a and 11b in the front-and-rear direction 87

Claims (3)

In a detection system using an ultrasonic signal, a high-frequency signal, or an optical signal,
A first for transmitting an ultrasonic signal, a high frequency signal or an optical signal composed of a carrier signal, a subcarrier signal, a modulation signal, a digital code, or a combination thereof while periodically switching a plurality of antennas or transducers Transmitting means and / or first receiving means for receiving while switching periodically and second receiving means for receiving an ultrasonic signal, a high frequency signal or an optical signal transmitted from the first transmitting means And / or second transmitting means for transmitting an ultrasonic signal, a high frequency signal or an optical signal toward the first receiving means,
Arbitrary combinations of a plurality of antennas or transducers of the first transmitting means or the first receiving means are the ultrasonic signal, high frequency signal, optical signal carrier signal, subcarrier signal, modulation signal, or baseband signal. And at least intervals of any combination of the plurality of antennas or transducers provided at intervals within one wavelength or the line length to be arranged or connected is non-uniform,
The first receiving means or the second receiving means directly amplifies the input signal, or at least converts it into a subcarrier signal, intermediate frequency signal or baseband signal, and the output signal of the receiver as a reference oscillator A signal detector for detecting a combination of these mainly based on timing, amplitude, frequency, phase, or phase from the output signal of the receiver in synchronization with the digital signal,
In the signal detector, the timing, amplitude, frequency, phase, phase, or equivalent combination thereof is matched to the cycle of switching the plurality of antennas or transducers of the first transmitting means or first receiving means. The product is detected in real time using a product-sum calculator, Fast Fourier Transformer or equivalent means, or stored in memory, then post-processed and detected, and based on the detection result, least squares method or hyperbolic navigation or equivalent Depending on the method, the second receiving means and / or the second transmitting means without the input of height information relating to the antenna or transducer of the second transmitting means and the three-dimensional of the second transmitting means It is characterized by detecting position, distance, direction or a combination of these. Position detecting device and a position detecting program
In a detection system using an ultrasonic signal, a high-frequency signal, or an optical signal,
A first for transmitting an ultrasonic signal, a high frequency signal or an optical signal composed of a carrier signal, a subcarrier signal, a modulation signal, a digital code, or a combination thereof while periodically switching a plurality of antennas or transducers Transmitting means and / or first receiving means for receiving while switching periodically and second receiving means for receiving an ultrasonic signal, a high frequency signal or an optical signal transmitted from the first transmitting means And / or second transmitting means for transmitting an ultrasonic signal, a high frequency signal or an optical signal toward the first receiving means,
The plurality of antennas or transducers of the first transmitting means or the first receiving means are further divided into a plurality of sets, and any combination of a plurality of antennas or transducers in the same set is the ultrasonic signal. Alternatively, any combination of a plurality of different sets provided at intervals within one wavelength of a carrier signal, subcarrier signal, modulation signal, or baseband signal of a high-frequency signal or optical signal may be a carrier wave of the ultrasonic signal, high-frequency signal, or optical signal. A signal, a subcarrier signal, a modulation signal, or a baseband signal at an interval of one wavelength or more;
The first receiving means or the second receiving means directly amplifies the input signal, or at least converts it into a subcarrier signal, intermediate frequency signal or baseband signal, and the output signal of the receiver as a reference oscillator A signal detector for detecting a combination of these mainly based on timing, amplitude, frequency, phase, or phase from the output signal of the receiver in synchronization with the digital signal,
In the signal detector, the timing, amplitude, frequency, phase, phase, or equivalent combination thereof is matched to the cycle of switching the plurality of antennas or transducers of the first transmitting means or first receiving means. The product is detected in real time using a product-sum calculator, Fast Fourier Transformer or equivalent means, or stored in memory, then post-processed and detected, and based on the detection result, least squares method or hyperbolic navigation or equivalent Depending on the method, the second receiving means and / or the second transmitting means without the input of height information relating to the antenna or transducer of the second transmitting means and the three-dimensional of the second transmitting means It is characterized by detecting position, distance, direction or a combination of these. Position detecting device and a position detecting program
In a detection system using an ultrasonic signal, a high-frequency signal, or an optical signal,
A first for transmitting an ultrasonic signal, a high frequency signal or an optical signal composed of a carrier signal, a subcarrier signal, a modulation signal, a digital code, or a combination thereof while periodically switching a plurality of antennas or transducers Transmitting means and / or first receiving means for receiving while switching periodically and second receiving means for receiving an ultrasonic signal, a high frequency signal or an optical signal transmitted from the first transmitting means And / or second transmitting means for transmitting an ultrasonic signal, a high frequency signal or an optical signal toward the first receiving means,
The plurality of antennas or transducers of the first transmitting means or the first receiving means are further divided into a plurality of sets, and at least one set is composed of a plurality of antennas or transducers. Arbitrary combinations of the detectors are provided at intervals within one wavelength of the carrier wave signal, subcarrier signal, modulation signal, or baseband signal of the ultrasonic signal, high frequency signal, or optical signal, and the remaining plural sets are a single antenna or An arbitrary combination of the remaining plurality of sets including a transmitter / receiver is provided at intervals of one or more wavelengths of the ultrasonic signal, high-frequency signal, optical signal carrier signal, subcarrier signal, modulation signal, or baseband signal. ,
The first receiving means or the second receiving means directly amplifies the input signal, or at least converts it into a subcarrier signal, intermediate frequency signal or baseband signal, and the output signal of the receiver as a reference oscillator A signal detector for detecting a combination of these mainly based on timing, amplitude, frequency, phase, or phase from the output signal of the receiver in synchronization with the digital signal,
In the signal detector, the timing, amplitude, frequency, phase, phase, or equivalent combination thereof is matched to the cycle of switching the plurality of antennas or transducers of the first transmitting means or first receiving means. The product is detected in real time using a product-sum calculator, Fast Fourier Transformer or equivalent means, or stored in memory, then post-processed and detected, and based on the detection result, least squares method or hyperbolic navigation or equivalent Depending on the method, the second receiving means and / or the second transmitting means without the input of height information relating to the antenna or transducer of the second transmitting means and the three-dimensional of the second transmitting means It is characterized by detecting position, distance, direction or a combination of these. Position detecting device and a position detecting program

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