KR101876645B1 - System and method of calculating angle of arrival based time difference - Google Patents

Abstract

The present invention relates to a technical idea for calculating an arrival angle, which can reduce hardware complexity and simplify implementation by calculating arrival angles by calculating the time difference of input time from a single transmitter to arrival at different receivers It's about technical ideas.

Description

[0001] SYSTEM AND METHOD OF CALCULATING ANGLE OF ARRIVAL BASED TIME DIFFERENCE [0002]

The present invention relates to a technical idea for calculating an arrival angle, which reduces hardware complexity and simplifies implementation by calculating an arrival angle by calculating a time difference according to the arrival of a single transmitter and arriving at different receivers.

Wireless localization has a variety of application fields such as medical devices, robotics, industrial, public security, logistics, and transport systems.

Wireless localization includes received signal strength (RSS) for receiving signal strength, time of arrival (TOA), time difference of arrival (TDoA), and angle of arrival (AoA) ).

With RSS technology, the distance between the sensor and the target is measured using the attenuation of the transmitted signal. Then, the target position can be recognized based on the distance measured by the signal attenuation. RSS technology is sensitive to multipath effects because it uses the magnitude of the received signal for localization. Therefore, reliable location information can not be provided. To solve these problems, signal loss modeling considering multipath effects is needed. Therefore, the accuracy and complexity of modeling are low when using only RSS technology.

The ToA scheme can recognize the time difference between the transmission of the signal transmitted from the target to the sensor and the distance between the target and the sensor. In the ToA approach, there is still a problem for this because synchronization between the target and the sensor is essential.

Meanwhile, the TDoA method performs localization using time differences between signals received by various sensors. The TDoA method is more advantageous than the ToA method in that only the sensor needs to be synchronized so that the target sensor synchronization is not necessary. However, if the sensor is intermittently falling in a large area, or if the target is located outside the polygon's internal boundary, then each sensor needs to synchronize between sensors, which can be a burden on the hardware implementation if they form localization errors. The general AoA method recognizes the position using the angle of reception from the angle sensor. However, the technique using AoA is much simpler in that the target can be easily found at an angle received from the sensor, compared with the previous method.

The AoA method increases the hardware complexity and is not suitable for UWB positioning because it estimates the angle through the phase difference based on the antenna array, although it is a simple method because it does not require synchronization.

Korean Patent No. 10-1141050 " Apparatus and Method for Detecting Impulse Signal and Impulse Signal Heat " Korean Patent Publication No. 10-2005-0071242 entitled " Position Estimation Error Compensation Method in Beamforming Based System "

The present invention aims at reducing hardware complexity and simplifying implementation using a time-based approach for measuring the arrival angle.

An object of the present invention is to increase the accuracy of an arrival angle measurement by measuring an arrival angle using a remote condition and a remote error.

The processor according to an embodiment of the present invention includes an extraction unit for extracting time information required for an impulse signal transmitted from a single transmitter to arrive at a first receiver and a second receiver, And an arrival angle calculating unit for calculating an arrival angle at which the impulse signal is incident on the first receiver and the second receiver using the calculated time difference and the distance between the first receiver and the second receiver .

The arrival angle calculating unit according to an embodiment determines whether the time difference satisfies a far-eld condition and calculates the arrival angle when the far-eld condition is satisfied can do.

The arrival angle calculation unit may determine whether the time difference satisfies a far-eld condition, and if the far-distance condition does not satisfy the far-eld condition, It is possible to calculate a far-eld error by using the difference of angles, and correct at least one of the calculated arrival angles by the calculated distance error.

The far-eld condition according to an embodiment is distinguished according to a ratio between a first distance and a second distance, the first distance is a distance between the first receiver and the second receiver, And the distance is a distance from at least one of the first receiver and the second receiver in the single transmitter.

The arrival angle calculation unit may calculate the arrival angle of the impulse signal based on the far-eld condition when the second distance is equal to or greater than a ratio between a value obtained by multiplying the squared value of the first distance by a constant, Can be determined to satisfy the following formula.

The arrival angle calculator according to an embodiment calculates an arcsine of the ratio of the time difference and the first distance when the far-eld condition is satisfied, and calculates an arrival angle based on the arc- The arrival angle can be calculated.

The extraction unit may further include a noise eliminator for eliminating multipath noise from the impulse signal received by the first receiver and the second receiver, an envelope detector for detecting an envelope from the noise-canceled impulse signal, And a comparator for converting the impulse signal into a digital signal using the detected envelope.

An arrival angle calculation system according to an embodiment includes a transmitter for transmitting an impulse signal, a first receiver for receiving the transmitted impulse signal at a first time, a second receiver for receiving the impulse signal at a first distance from the first receiver, A second receiver for receiving the impulse signal at a first time and a second receiver for receiving the impulse signal at a second time, and based on a time difference for the impulse signal received by the first receiver and the second receiver, Wherein the processor determines whether the time difference satisfies a far-eld condition, and when the far-eld condition is satisfied, The arrival angle can be calculated.

The far-eld condition according to an embodiment is distinguished according to the ratio between the first distance and the second distance, and the second distance is determined by the distance between the first receiver and the second receiver At least one of which is a distance from the other.

According to an embodiment, the second distance satisfies the far-eld condition when the ratio is equal to or greater than a value obtained by multiplying a squared value of the first distance by a constant and a wavelength ratio of the impulse signal. .

The method of calculating an arrival angle according to an embodiment includes the steps of extracting time information required for an impulse signal sent from a single transmitter to arrive at a first receiver and a second receiver in an extracting unit, Calculating a time difference from each of the time information of the first receiver and the second receiver by using the calculated time difference and the distance between the first receiver and the second receiver, And calculating an arrival angle to be incident on the second receiver.

The step of calculating the arrival angle according to an embodiment includes the steps of: determining whether the calculated time difference satisfies a far-eld condition, and determining whether the calculated time difference satisfies the far-eld condition And calculating the arrival angle in the case where the arrival angle is calculated.

The far-eld condition according to an embodiment is distinguished according to a ratio between a first distance and a second distance, the first distance is a distance between the first receiver and the second receiver, And the distance is a distance from at least one of the first receiver and the second receiver in the single transmitter.

The step of determining whether or not the far-eld condition is satisfied according to the embodiment is characterized in that the second distance is calculated by multiplying a value obtained by multiplying the squared value of the first distance by a value obtained by multiplying the wavelength of the impulse signal Ratio condition, it may be determined that the far-eld condition is satisfied.

The step of extracting the time information according to an embodiment may include the steps of removing noise due to multipath in the impulse signal received by the first receiver and the second receiver, Converting the impulse signal into a digital signal using the detected envelope, and converting the impulse signal into a digital signal using the detected envelope.

According to one embodiment, a time-based approach may be used to measure arrival angles to reduce hardware complexity and simplify implementation.

According to one embodiment, the accuracy of the arrival angle measurement can be improved by measuring the arrival angle using the remote condition and the distance error.

1 is a diagram illustrating an arrival angle calculation system according to an embodiment.
2 is a diagram illustrating a processor according to one embodiment.
Fig. 3 is a timing diagram illustrating pulses for time difference. Fig.
4 is a diagram illustrating a structure of a receiver according to an embodiment.
5 and 6 are diagrams for explaining a remote condition according to an embodiment.
7 is a diagram for explaining an arrival angle calculating method according to an embodiment.

It is to be understood that the specific structural or functional descriptions of embodiments of the present invention disclosed herein are presented for the purpose of describing embodiments only in accordance with the concepts of the present invention, May be embodied in various forms and are not limited to the embodiments described herein.

Embodiments in accordance with the concepts of the present invention are capable of various modifications and may take various forms, so that the embodiments are illustrated in the drawings and described in detail herein. However, it is not intended to limit the embodiments according to the concepts of the present invention to the specific disclosure forms, but includes changes, equivalents, or alternatives falling within the spirit and scope of the present invention.

The terms first, second, or the like may be used to describe various elements, but the elements should not be limited by the terms. The terms may be named for the purpose of distinguishing one element from another, for example without departing from the scope of the right according to the concept of the present invention, the first element being referred to as the second element, Similarly, the second component may also be referred to as the first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Expressions that describe the relationship between components, for example, "between" and "immediately" or "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms " comprises ", or " having ", and the like, are used to specify one or more of the features, numbers, steps, operations, elements, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the scope of the patent application is not limited or limited by these embodiments. Like reference symbols in the drawings denote like elements.

1 is a diagram illustrating an arrival angle calculation system 100 according to an embodiment.

The time difference between pulses calculated by the arrival angle calculation system 100 according to an embodiment may depend on an angle of arrival. Therefore, the time difference between the received pulses can be converted to the arrival angle.

In this specification, a technique of estimating an arrival angle according to a time difference using an impulse signal of an Ultra Wide Band (UWB) will be described.

To this end, the arrival angle calculation system 100 according to one embodiment may include a transmitter 110, a first receiver 120, and a second receiver 130. [

First, the transmitter 110 according to one embodiment can transmit an impulse using a self-generated clock in a pulse generator.

Next, the first receiver 120 can receive the transmitted impulse signal at a first time. Also, the second receiver 130 may be a first distance away from the first receiver 120 and may receive the transmitted impulse signal at a second time.

The first time may be interpreted as the time when the transmitted impulse signal arrives at the antenna of the first receiver 120 from the transmitter 110.

Also, the second time may be interpreted as the time when the transmitted impulse signal arrives at the antenna of the second receiver 130, starting from the transmitter 110.

The impulse signal received as an input signal to each antenna can be removed from multipath noise through a Low Noise Amplifier (LNA). In addition, the envelope detector can detect the envelope of the impulse signal from which the noise is removed through an envelope detector (ED). In addition, the envelope-detected impulse signal can be converted into a digital signal through a comparator (Comparator Comp). Specifically, the detected envelope is converted into a digital pulse by comparing the threshold voltage Vth through the comparator.

The processor determines the arrival angle at which the impulse signal is incident on the first receiver 120 and the second receiver 130 based on the time difference for the impulse signal received by the first receiver 120 and the second receiver 130, Can be calculated. In particular, the processor can determine whether the time difference satisfies the far-eld condition and calculate the arrival angle only if the distance condition is satisfied.

The processor according to one embodiment may be implemented in the form of a central processing unit mounted within the first receiver 120 or the second receiver 130. In addition, the present invention may be embodied in various forms such as a form in which it is mounted on a computer terminal that is linked to the outside of the receivers.

The arrival angle of the first receiver 120 and the arrival angle of the second receiver 130 are strictly different from each other. However, the second distance d from the first receiver 120 or the second receiver 130 to the transmitter 110, relative to the first distance r between the first receiver 120 and the second receiver 130, The difference between the arrival angle of the first receiver 120 and the arrival angle of the second receiver 130 becomes very small.

Thus, the far-field condition can be related to the ratio of distance d to distance r.

The processor can determine that the second distance d satisfies the distant condition when it is equal to or greater than the ratio between the value obtained by multiplying the squared value of the first distance r by a constant and the wavelength of the impulse signal.

Hereinafter, the operation of specific configurations for calculating the arrival angle together with the description of the specific configuration of the processor 200 will be described.

2 is a diagram illustrating a processor 200 according to one embodiment.

The processor 200 according to one embodiment may include an extracting unit 210, a calculating unit 220, and an arrival angle calculating unit 230.

The extracting unit 210 may extract the time information required for the impulse signal transmitted from a single transmitter to arrive at the first receiver and the second receiver. Also, the calculation unit 220 can calculate the time difference from each extracted time information.

The arrival angle calculating unit 230 may calculate an arrival angle at which the impulse signal is incident on the first receiver and the second receiver using the calculated time difference and the distance between the first receiver and the second receiver . The arrival angle calculation unit 230 may determine whether the time difference satisfies the far-eld condition and calculate the arrival angle when the far-eld condition is satisfied.

The far-field condition can be classified according to the ratio between the first distance and the second distance. The first distance is a distance between the first receiver and the second receiver, and the second distance is a distance from at least one of the first receiver and the second receiver in a single transmitter.

The distant condition corresponds to a condition that the difference between the arrival angle of the first receiver and the arrival angle of the second receiver is equal to or less than a predetermined value.

The arrival angle calculating unit 230 according to the embodiment satisfies the far-eld condition when the second distance is equal to or greater than the ratio between the value obtained by multiplying the squared value of the first distance by a constant value and the wavelength of the impulse signal. .

The arrival angle of the first receiver and the arrival angle of the second receiver are strictly different from each other. However, if the second distance (d) from the first receiver or the second receiver to the transmitter is much greater than the first distance (r) between the first receiver and the second receiver, The difference in the arrival angle of the receiver becomes very small.

Thus, the far-field condition can be related to the ratio of distance d to distance r.

The second distance d required to produce the far-field condition may be interpreted as the distance from the first receiver to the transmitter and may be interpreted as the distance from the second receiver to the transmitter, and the distance between the first receiver and the second receiver For example, a distance from the intermediate point to the transmitter.

For example, the processor can determine that the distance condition is satisfied when the condition of Equation (1) is satisfied.

[Equation 1]

In Equation (1), d may be interpreted as a distance between a specific point in the first receiver 120 and the second receiver 130 and the transmitter 110. Also, r is the distance between the first receiver 120 and the second receiver 130, and lambda can be interpreted as the wavelength of the impulse signal.

The arrival angle calculating unit 230 according to the embodiment can calculate the arrival angle using Equation (2).

&Quot; (2) "

That is, when the distance condition is satisfied, the arrival angle calculating unit 230 may calculate the arrival angle on the basis of the arccosine-calculated angle and calculate the arccosine of the ratio of the time difference and the first distance.

In Equation (2), TD denotes a time difference, c denotes a speed of light (3.0 * 108 m / s), and r can be interpreted as a distance between the first receiver and the second receiver.

The extracting unit 210 may include a noise eliminator for removing multipath noise from the impulse signal received by the first receiver and the second receiver, an envelope detector for detecting the envelope from the noise-removed impulse signal, It is possible to convert the impulse signal into a digital signal using the envelope.

The arrival angle calculating unit 230 can determine whether or not the time difference satisfies the far-eld condition of Equation (1). If the far-eld condition is not satisfied, a far-eld error is calculated using the difference in the calculated arrival angles, and at least one of the arrival angles calculated by the calculated distance error is corrected .

3 is a timing diagram 300 illustrating pulses for time difference.

The horizontal axis of the timing diagram 300 of FIG. 3 corresponds to the time, and the vertical axis corresponds to the amplitude.

Referring to the timing diagram 300 of FIG. 3, the impulse signal 310 is transmitted through a single transmitter with the same waveform as 311.

The input signal identified at reference numeral 320 may be received as the signal input to the receiver by the transmitted impulse signal 310, as signals 321, 322, and 323.

First, the signal 321 corresponds to a signal input to the receiver, which is the earliest input signal considering the time axis, and located at a distance closer to the transmitter.

The signal of reference numeral 322 corresponds to a signal input to the receiver located at a distance farther from the transmitter than the signal of reference numeral 321 when considering the time axis.

Reference numeral 323 denotes a signal that is transmitted from the transmitter as multipath signals 323, but has a magnitude lower than that of signals corresponding to reference numerals 321 and 322 as signals inputted through another path for reasons of reflection and the like.

Reference numeral 330 denotes an output of an envelope detector (ED), which includes an envelope 331 for the input signal of the first receiver and an envelope 332 for the input signal of the second receiver, Detection is possible. The envelope detector can also detect the envelope of the signals by multipath.

Each receiver can convert and output digital pulses for each envelope through a comparator or the like. That is, output pulse 340 represents a digital form, as shown at 341 and 342.

That is, the first output pulse 342 is a signal obtained by digitally converting the impulse signal originating at the transmitter to the first receiver, and the second output pulse 342 is a signal obtained after the impulse signal from the transmitter arrives at the first receiver Digitally converted signal.

At this time, a time difference occurs between the first output pulse 342 and the second output pulse 342 because the first receiver and the second receiver are not located at the same distance from the transmitter.

As described above, the calculated time difference is used to calculate the arrival angle.

4 is a diagram illustrating a structure 400 of a receiver in accordance with one embodiment.

A receiver 400 includes a single differential low noise amplifier 410, a radio frequency amplifier 420, a squarer 430, a baseband amplifier 440, , BB AMP), a comparator 450, and the like.

The single differential low noise amplifier 410 (SD LNA) combines a common source and common gate architecture for single-ended signal-to-differential signal conversion and a cascode stage using a cross-coupling configuration to improve differential quality and gain ) Is used.

In addition, radio frequency amplifier 420 (RF AMP) provides an RF stage and includes three stages of common source amplifiers to provide more gain. In addition, squarer (430, Squarer) can be used to perform differential squaring on envelope detection.

The baseband amplifier 440 (BB AMP) adapts the nMOS and pMOS pairs to the input stage to improve the transconductance and current mode amplification based on a current mirror architecture is employed.

Also, the comparator 450 compares the threshold voltage (Vthp, Vthn) using a differential slicer and a differential single conversion amplifier, and converts the detected envelope into a digital type pulse through the comparison result.

For example, the transmitter can use a Gaussian pulse generator with CMOS time delay and combiner circuitry to generate 3-5 GHz UWB pulses that meet FCC regulations.

5 and 6 are diagrams for explaining a remote condition according to an embodiment.

Referring to the embodiment 500 of FIG. 5, reference numeral 510 denotes an arrival angle calculation unit that calculates an arrival angle using the calculated time difference TD and the distance r between the first receiver 530 and the second receiver 540 It shows the concrete method.

As can be seen at 510, the angle can be estimated with time differences using an arccosine equation.

)는 시간차이(time difference, TD)와 두 수신기에 의한 거리에 기반하여 [수학식 2]를 통해 계산될 수 있다.The receiving angle (receiving angle,

Can be calculated through Equation (2) based on the time difference (TD) and the distance between the two receivers.

The time difference (TD) may be represented by the distance identified by reference numeral 550.

는 송신기가 출력하는 임펄스의 파장을 나타낸다.Where c corresponds to the speed of light, and the angle can be measured when the far-field condition satisfies (Equation 1). Where d is the straight-line distance between the transmitter and the receiver,

Represents the wavelength of the impulse output from the transmitter.

The wavelength of the impulse signal can be calculated through Equation (3).

&Quot; (3) "

In Equation (3), c is the speed of light and f is the frequency of the impulse signal.

For example, if you set the distance r between two receivers to 0.02 m, the frequency of the impulse signal is 3.5 GHz. In this case, the distance condition may be defined as a range in which the distance r between the two receivers and the distance d between the receivers exceeds 0.9 cm.

That is, the larger the distance d, the smaller the distance error.

Thus, as shown at 510, the far-field condition may include a line connecting the transmitter 520 and the first receiver 530 to the transmitter 520 and a line connecting the transmitter 520 and the second receiver 530 when the distance d is farther than the distance r. And the lines connecting the receiver 540 can be parallel to each other.

이지만, 실제로 추정하려는 각도는

이다.The angle obtained when satisfying the distant condition is

, But the actual angle to be estimated is

to be.

와

의 차이에 비례한다.Therefore,

Wow

.

The far error can be calculated via Equation (4).

&Quot; (4) "

-

,Far Field Error =

-

,

In Equation (4), x1 is the x-coordinate for the first receiver and y1 is the y-coordinate for the first receiver.

는 실제 각도를 위한 정확한 추정을 위해 획득되어야 한다. 그러나, 송신기와 제1 수신기 사이의 거리나 송신기와 제2 수신기 사이의 거리를 알 수 없다면,

는 획득될 수 없다.

Should be obtained for accurate estimation of the actual angle. However, if the distance between the transmitter and the first receiver or the distance between the transmitter and the second receiver is unknown,

Can not be obtained.

와

의 차이는 무시할 정도로 작다.However, assuming a remote condition, it can be said that the angle between the transmitter and the receiver is obtained only by the difference in the reception time

Wow

Is negligibly small.

Referring to graph 600 of FIG. 6, the results of simulating far-range error values for various ratios of distance d and distance r are shown.

The horizontal axis of the graph 600 is the ratio of the distance d to the distance r, and the vertical axis represents the distance error.

That is, as the ratio between the distance d and the distance r becomes larger, the distance error decreases. In the case where the distance error is negligible, the ratio of the distance d to the distance r is about 29 In-point.

That is, when the distance d is 29 times or more distance from the distance r, it means that the distance error can be made negligibly small.

On the other hand, angle resolution is an important factor in localization.

The angle resolution can be calculated by the distance r and the time resolution of the measured time difference t.

Specifically,

라고 정의하면 각도 분해능(

)에 대해 다음 방정식이 산출될 수 있다.The time difference between the first receiver and the second receiver may vary from 0 [deg] to -90 [deg.] At 0 [s] -r / c [s]. Time resolution

The angular resolution (

The following equation can be calculated.

&Quot; (5) "

As can be seen from Equation (5), it can be seen that the larger the distance between the receivers, the better the angular resolution and the lower the temporal resolution, the better the angular resolution.

Therefore, in order to improve the angular resolution, it is necessary to improve the time resolution or to increase the distance r between the receivers.

The angle estimation accuracy can be influenced by the distance (d) and the distance (r) in consideration of the distance error and the angular resolution.

On the other hand, the time difference can be utilized in a TDC (time to digital converter) having a high resolution.

Since the recent achievement of the TDC design shows that timing resolution reaches picoseconds with low timing jitter, a time resolution of 0.5 ps can increase precision in calculations related to time differences.

tot_jitter)에 대한 오류는 [수학식 6]으로 표현될 수 있다.Timing jitter of TDC (

The error for tot_jitter can be expressed by Equation (6).

&Quot; (6) "

In Equation (6) i, jitter can be interpreted as the standard deviation of the jitter noise of the ith delay line in the TDC, and N can be interpreted as the number of stages of the delay line.

error_jitter)는 [수학식 7]과 같이 나타낼 수 있다.For reference, the angular error of the jitter (

error_jitter) can be expressed by Equation (7).

&Quot; (7) "

7 is a diagram for explaining an arrival angle calculating method according to an embodiment.

An arrival angle calculation method according to an exemplary embodiment may extract each time information required for the impulse signal to arrive at the first receiver and the second receiver (step 710). For example, the arrival angle calculation method can extract each time information required for an impulse signal transmitted from a single transmitter to arrive at the first receiver and the second receiver.

For example, the arrival angle calculating method may include multiplying the impulse signal received by the first and second receivers by noise, detecting the envelope in the noise-removed impulse signal, and using the detected envelope Converts the impulse signal into a digital signal, and converts the impulse signal into a digital signal using the detected envelope.

An arrival angle calculation method according to an embodiment may calculate a time difference (step 720).

The method of calculating an arrival angle according to an exemplary embodiment may determine whether the time difference satisfies a remote condition (step 730).

The method of calculating an arrival angle according to an exemplary embodiment may calculate an arrival angle (step 740). The arrival angle calculating method can calculate the arrival angle at which the impulse signal enters the first receiver and the second receiver using the calculated time difference and the distance between the first receiver and the second receiver.

For example, the arrival angle calculation method can calculate the arrival angle when the calculated time difference satisfies the far-eld condition.

In another example, when the calculated time difference does not satisfy the far-eld condition, the calculation of the arrival angle can correct the distance error from the calculated arrival angle using the difference in the calculated arrival angle have.

According to one embodiment, a far-eld condition may be distinguished according to a ratio between a first distance and a second distance, wherein the first distance is a distance between the first receiver and the second receiver, To the intermediate point of the first receiver and the second receiver.

The method of calculating an arrival angle according to an embodiment is characterized in that the second distance satisfies the far-eld condition when the ratio is equal to or greater than a value obtained by multiplying a squared value of the first distance by a constant and a ratio between wavelengths of the impulse signal Can be determined.

As a result, according to the present invention, a time-based approach for measuring the arrival angle can be used to reduce hardware complexity and simplify implementation, and by measuring the arrival angle using remote conditions and remote errors, .

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the apparatus and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA) A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

200: processor 210:
220: calculation unit 230: arrival angle calculation unit

Claims (15)

An extracting unit for extracting time information required for an impulse signal sent from a single transmitter to arrive at a first receiver and a second receiver;
A calculation unit for calculating a time difference from each extracted time information; And
And an arrival angle calculation unit for calculating an arrival angle at which the impulse signal is incident on the first receiver and the second receiver using the calculated time difference and the distance between the first receiver and the second receiver,
The arrival angle calculating unit calculates,
Determining whether the time difference satisfies a far-eld condition, and when the second distance is equal to or greater than a ratio between a value obtained by multiplying the squared value of the first distance by a constant and a wavelength of the impulse signal, Calculates the arrival angle by determining that the condition (far-eld condition) is satisfied,
Wherein the first distance is a distance between the first receiver and the second receiver,
Wherein the second distance is a distance from at least one of the first receiver and the second receiver in the single transmitter
A processor that calculates an angle of arrival. delete The method according to claim 1,
The arrival angle calculating unit calculates,
And calculates a far-eld error using the calculated difference of the arrival angles when the far-eld condition is not satisfied, and calculates at least one of the calculated arrival angles Lt; RTI ID = 0.0 > 1, < / RTI > The method according to claim 1,
The far-eld condition may be, for example,
Wherein the distance is determined according to a ratio between the first distance and the second distance. delete 5. The method of claim 4,
The arrival angle calculating unit calculates,
If the far-eld condition is satisfied
Arccosine computing the ratio of the time difference to the first distance, and calculating the arrival angle based on the arccosine-calculated angle. The method according to claim 1,
The extracting unit extracts,
A noise canceller for removing multipath noise from the impulse signal received at the first receiver and the second receiver;
An envelope detector for detecting an envelope in the noise canceled impulse signal; And
A comparator for converting the impulse signal into a digital signal using the detected envelope,
≪ / RTI > A transmitter for transmitting an impulse signal;
A first receiver for receiving the transmitted impulse signal at a first time;
A second receiver spaced a first distance from the first receiver and receiving the transmitted impulse signal at a second time; And
Calculating an arrival angle at which the impulse signal is incident on the first receiver and the second receiver based on a time difference between the impulse signal received by the first receiver and the impulse signal received by the second receiver,
Lt; / RTI >
Wherein the processor is further configured to determine whether the time difference satisfies a far-eld condition, wherein the second distance is greater than a ratio between a value multiplied by a constant of the squared value of the first distance and a wavelength of the impulse signal The controller determines that the far-eld condition is satisfied and calculates the arrival angle,
Wherein the second distance is a distance from the transmitter to at least one of the first receiver and the second receiver. 9. The method of claim 8,
The far-eld condition may be, for example,
And the distance between the first distance and the second distance is divided according to the ratio between the first distance and the second distance. delete A method for calculating an arrival angle using a processor,
Extracting each piece of time information required for the impulse signal sent from the single transmitter to arrive at the first receiver and the second receiver at the extracting unit;
Calculating, in the calculation unit, a time difference from each extracted time information; And
And calculating an arrival angle at which the impulse signal is incident on the first receiver and the second receiver using the calculated time difference and the distance between the first receiver and the second receiver in the arrival angle calculating unit and,
The step of calculating the arrival angle comprises:
Determining whether the time difference satisfies a far-eld condition; And
Calculating the arrival angle by determining that the second distance satisfies the far-eld condition when the ratio is equal to or greater than the ratio between the value obtained by multiplying the squared value of the first distance by the wavelength and the wavelength of the impulse signal, / RTI >
Wherein the first distance is a distance between the first receiver and the second receiver,
Wherein the second distance is a distance from at least one of the first receiver and the second receiver in the single transmitter
How to calculate the angle of arrival. delete 12. The method of claim 11,
The far-eld condition may be, for example,
Wherein the distance between the first distance and the second distance is determined according to a ratio between the first distance and the second distance. delete 12. The method of claim 11,
Wherein the extracting the time information comprises:
Removing noise due to multipath in the impulse signal received at the first receiver and the second receiver;
Detecting an envelope in the noise-removed impulse signal;
Converting the impulse signal into a digital signal using the detected envelope; And
Converting the impulse signal into a digital signal using the detected envelope
And calculating an arrival angle.

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