KR102247289B1 - Ultra Wide Band Radar sensor systems and method for improved location awareness - Google Patents

Abstract

The present invention discloses an ultra-wideband radar sensor system and method for improving position recognition performance by effectively operating a plurality of UWB radar sensors at the same time to determine the position of an object at high speed.
The present invention may consist of a plurality of ultra-wideband radar sensors (UWB radar sensors) that transmit and receive UWB signals, and a host position recognition device that controls the operation of all UWB radar sensors and calculates a position by receiving a measured value. One of the four UWB radar sensors is set to the transmit/receive mode and transmits UWB signals, and all other UWB radar sensors are set to the receive mode and the signal transmitted by the UWB radar sensor set to the transmit/receive mode is reflected on the object. By checking the time, it is possible to calculate the spatial position of the object by calculating the distance traveled to each radar sensor by reflecting the transmission signal. In addition, the radar sensor, which is set in transmission or transmission mode in all radar sensors, is selected and circulated by the host position recognition device, and the host position recognition device sends a synchronization signal to all radar sensors and calculates the time error of the synchronization signal of each radar sensor. By storing it, the position of the object can be accurately calculated in the future.

Description

Ultra Wide Band Radar sensor systems and method for improved location awareness}

The present invention relates to an ultra-wide band radar sensor system and method for improving position recognition performance, and more particularly, to a system for measuring an object's position using an ultra wide band (UWB) radar sensor.

As is well known, the UWB radar sensor has a function of transmitting a UWB signal in the range of several GHz and receiving the return of the transmitted signal, and by measuring the signal transmission and reception time, the presence or absence of an object (person or object) is checked. It allows you to calculate the distance to the object.

Since these UWB radar sensors use the same ultra-wideband frequency between the same devices, in order to solve the problem of interference between the transmitted signals of the UWB radar sensors, the UWB radar sensor signal transmission ranges are not overlapped or are synchronized with each other with adjacent UWB radar sensors. It exchanges signals and makes it work alternately.

In addition, a general UWB radar sensor having a transmission/reception function can provide the presence or absence of an object and a one-dimensional distance to the object, but cannot directly calculate the two-dimensional position of the object, and to know the two-dimensional position of the object. By installing a plurality of UWB radar sensors within the overlapped signal range and sequentially operating each of the UWB radar sensors, the position of the object can be calculated by triangulating based on each distance information, and a representative technology proposed with this idea As the Republic of Korea Patent Publication No. 10-2010-0035914 (name of the invention: a location recognition system using an ultra-wideband radar sensor; hereinafter referred to as'cited invention').

The cited invention is a first UWB radar sensor that transmits and receives an Ultra Wide Band (UWB) signal to calculate the presence or absence of a first object and a first distance to the first object,

A second UWB radar sensor that forms the first UWB radar sensor and an adjacent sensor group, and calculates the presence or absence of the first object and a second distance to the first object,

And calculating a two-dimensional position of the first object by using the first and second distances received from the first and second UWB radar sensors and a set third distance between the first and second UWB radar sensors. It includes a location recognition device,

The first and second UWB radar sensors are position recognition systems using ultra-wideband radar sensors that alternately perform transmission/reception operations of the UWB signals by exchanging synchronization signals.

Accordingly, the cited invention is to install a UWB radar sensor to have an area where the UWB signal overlaps, and use the signal transmitted from the UWB radar sensor having the overlapped area to grasp the two-dimensional position of the detected object. .

However, in the cited invention, due to the problem of overlap and interference, it takes time for one UWB radar sensor to transmit a signal and receive a return signal, and the next UWB radar sensor can transmit and receive only after the reception is completed. .

Accordingly, the cited invention requires at least two or more UWB radar sensors covering the ultra-wide band to exchange synchronization signals with each other and measure the distance between the target and the self by receiving the signals sent by each of them alternately. UWB radar sensors must complete transmission and reception to determine the two-dimensional position of the target, which slows the identification of the target's location. Accordingly, if the speed of the target is fast, such sequential scans identify the exact information of the target. There is a problem that becomes difficult to do.

In addition, when the number of objects is large, the cited invention requires that a plurality of UWB radar sensors calculate the distance value to each object and then combine the calculated distance values to exclude the imaginary number, making it difficult to locate the many objects. However, when a plurality of such objects are moved, it may not be possible to grasp a location, making it difficult to actually use.

Korean Patent Application Publication No. 10-2010-0035914

In order to solve this problem, an object of the present invention is to provide an ultra-wideband radar sensor system and method for improving position recognition performance by effectively operating a plurality of UWB radar sensors at the same time to determine the position of an object at high speed. have.

The present invention comprises a plurality of UWB radar sensors and a host position recognition apparatus for controlling the UWB radar sensors and calculating the position of the object in order to achieve this object,

According to the control signal of the host location recognition device, one of the UWB radar sensors is set to the transmission/reception mode, the other UWB radar sensors are set to the reception mode, and the UWB signal transmitted from the UWB radar sensor set to the transmission/reception mode is transmitted to the object. The reflected return time is measured by all UWB radar sensors,

The host position recognition apparatus provides an ultra-wideband radar sensor system for improving position recognition performance in which the spatial position of an object is calculated based on measurement information of a UWB radar sensor.

In addition, the present invention includes a setting step in which the host location recognition device sets any one of the UWB radar sensors to the transmission/reception mode, and the remaining UWB radar sensors are set to the reception mode,

A synchronization step in which the host location recognition device simultaneously transmits a synchronization reference signal to all UWB radar sensors,

A single transmission step in which a UWB radar sensor set in a transmission/reception mode transmits a UWB signal according to a synchronization reference signal of the host location recognition device; and

A joint reception step in which all UWB radar sensors synchronized with the synchronization reference signal receive a reflected UWB signal in which the UWB signal transmitted in the single transmission step is reflected to an object;

A measuring step of measuring a distance to an object by each UWB radar sensor receiving the reflected UWB signal,

The host location recognition apparatus provides an ultra-wideband radar sensor system method for improving location recognition performance in which a location calculation step in which the host location recognition apparatus calculates the location of an object using measurement information of each UWB radar sensor is provided.

In this way, the present invention can increase the speed of position measurement by simultaneously measuring the distance between the object and a plurality of UWB radar sensors with one UWB signal transmission, and by collecting data while changing the sensor that transmits the UWB signal. There is a useful effect of being able to increase the accuracy of the position calculation.

1 is a block diagram showing a specific embodiment of an ultra-wideband radar sensor system for improving position recognition performance according to the present invention.
2 is a block diagram of a UWB radar sensor in a specific embodiment of an ultra-wideband radar sensor system for improving position recognition performance according to the present invention.
3 is an explanatory diagram specifically illustrating a location recognition method of an ultra-wideband radar sensor system for improving location recognition performance according to the present invention.
4 is an explanatory diagram showing a communication and synchronization process between a host location recognition device and UWB radar sensors in a specific embodiment of an ultra-wideband radar sensor system for improving location recognition performance according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention with reference to the accompanying drawings.

The overall configuration of a specific embodiment of an ultra-wideband radar sensor system for improving position recognition performance according to the present invention is shown in FIG. 1.

As can be seen from this, the ultra-wideband radar sensor system for improving position recognition performance according to the present invention controls a plurality of UWB radar sensors 200 and UWB radar sensors 200 and controls the position of the object 300. The host location recognition device 100 is configured to calculate,

According to the control signal of the host location recognition device 100, one of the UWB radar sensors 200 is set to a transmission/reception mode, and the remaining UWB radar sensors 200 are set to a reception mode,

All UWB radar sensors 200 measure the time when the UWB signal transmitted from the UWB radar sensor 200 set in the transmission/reception mode is reflected by the object 300 and returns,

The host location recognition apparatus 100 may calculate the spatial location of the object 300 based on the measurement information of the UWB radar sensor 200.

Here, the UWB radar sensors 200 can be operated in a transmission/reception mode and a reception mode only for reception according to the setting, each of which is assigned a unique identification number so that the operation mode can be individually set as necessary, and such a unique identification number The installation positions of each UWB radar sensor 200 may be managed for each.

In particular, when the UWB radar sensors 200 are installed in one dimension, the two-dimensional position of the object 300 can be calculated, and if the UWB radar sensors 200 are arranged in two dimensions, the three-dimensional object 300 The location can be calculated.

In addition, in order to perform a position measurement operation of the object 300 to recognize the position, the host position recognition apparatus 100 sets any one of the plurality of UWB radar sensors 200 to a transmission/reception mode, and the remaining UWB radar sensors 200 ) To receive mode,

The host position recognition device (the host position recognition device) so that the UWB radar sensor 200 set in the transmission/reception mode and the remaining UWB radar sensors 200 operate simultaneously, and the UWB radar sensor 200, which only receives, can measure the distance to the object 300 ( 100) starts the operation by sending a synchronization reference signal to all the UWB radar sensors 200.

At this time, the UWB radar sensor 200 set in the transmission/reception mode transmits and receives the UWB signal, and the UWB radar sensor 200 set in the reception mode only receives the UWB signal, and the host location recognition device 100 sequentially or Since position recognition is repeated by setting any one of the plurality of UWB radar sensors 200 as a transmission/reception mode alternately based on a distance, the accuracy of the location recognition of the object 300 may be increased.

In addition, the host location recognition device 100 reads the transmission time and reception time of the UWB signal measured by the UWB radar sensor 200 operating in the transmission/reception mode, and calculates the distance between the transmission/reception mode UWB radar sensor and the object 300. , By reading the reception time of the UWB signal measured by the UWB radar sensors 200 operating in the reception mode, the distance from the transmission/reception mode UWB radar sensor 200 to the object 300 and the reception mode UWB radar sensor 200 Is used to calculate

When the ultra-wideband radar sensor system for improving position recognition performance according to the present invention is described in more detail for each component, the UWB radar sensor 200 is illustrated in FIG. , Source signal generation unit 202, UWB signal generation unit 203, signal transmission unit 204, switch unit 205, signal delay unit 206, signal reception unit 207, signal processing unit 209, host An interface 208, an antenna 210, and a sensor controller 211 may be configured.

The synchronization signal generator 201 generates an internal synchronization signal and a control signal for internal control so that all UWB radar sensors 200 receive a synchronization reference signal from the host location recognition device 100 and move according to the same synchronization reference signal. And, the synchronization signal may be a pulse signal having a predetermined period.

When the synchronization reference signal is received, the synchronization signal generation unit 201 applies a control signal to the source signal generation unit 202 to operate, and the source signal generation unit 202 generates a source signal for generating a UWB signal. The source signal is a signal in the form of a pulse and is simultaneously transmitted to the UWB signal generation unit 203 and the signal delay unit 206.

In addition, the UWB signal generation unit 203 generates a UWB signal using the source signal in the transmission/reception mode, and does not generate the UWB signal in the reception mode. In addition, the signal transmission unit 204 transmits the UWB signal generated by the UWB signal generation unit 203 to the outside through the switch unit 205.

Here, the switch unit 205 performs a switching operation according to whether the UWB signal generated by the UWB signal generation unit 203 is transmitted, and the signal transmission unit 204 and the antenna 210 for transmitting the UWB signal It is possible to perform a switching operation of electrically connecting the signal receiving unit 207 and the antenna 210 for receiving the UWB signal or electrically connecting the UWB signal.

Accordingly, the UWB signal by the signal transmission unit 204 may be transmitted to the antenna 210 or the UWB signal received from the antenna 210 may be transmitted to the signal receiving unit 207, and the antenna 210 transmits an electrical signal. It can be transmitted as an RF signal or received an RF signal and converted into an electrical signal to be transmitted to the signal receiving unit 207.

In addition, the signal delay unit 206 delays the signal of the source signal generator 202 according to the control signal of the sensor controller 211 to measure the delay time at which the transmitted UWB signal returns and transmits it to the signal receiving unit 207 And, the signal processing unit 209 may determine whether the object 300 is detected by comparing the strength of the UWB signal with a set threshold using the strength and reception time data of the UWB signal received through the signal receiving unit 107. .

Here, the reception time means the time at which the reflected UWB signal returned from the transmission point of the UWB signal (sensor synchronization time + synchronization time error per sensor) is received.

In addition, the host interface 208 receives a set value from the host location recognition device 100 in a transmission/reception mode and sets the sensor internal register value, receives a measurement start command to start internal operation, and the signal processing unit 209 It can play a role of transmitting the measured time value to the host location recognition device 100,

Alternatively, after all the signal strength data measured by the signal processing unit 209 of each UWB radar sensor 200 are received by the host location recognition device 100, the signal arrival time value is measured and calculated to determine the location of the object 300. I can grasp it.

As shown in FIG. 3, a method for the ultra-wideband radar sensor system for improving location recognition performance according to the present invention to determine the location of the object 300 using the UWB radar sensor 200 is as shown in FIG. 100) a setting step of setting any one of the UWB radar sensors 200 as a transmission/reception mode, and the remaining UWB radar sensors 200 as a reception mode,

A synchronization step in which the host location recognition device 100 simultaneously transmits a synchronization reference signal to all UWB radar sensors 200,

A single transmission step in which the UWB radar sensor 200 set in the transmission/reception mode according to the synchronization reference signal of the host location recognition device 100 transmits the UWB signal, and

A joint reception step in which all UWB radar sensors 200 synchronized with the synchronization reference signal receive the reflected UWB signal reflected from the object 300 by the UWB signal transmitted in the single transmission step;

Each of the UWB radar sensors 200 that received the reflected UWB signal measures the distance to the object 300 and uses any one of the received reflected UWB signals as measurement information to the host location recognition device 100. The measurement step to be transmitted, and

A position calculation step in which the host position recognition apparatus 100 calculates the position of the object 300 using measurement information of each UWB radar sensor 200 may be configured,

In the position calculation step, a value obtained by dividing the difference between the distance value measured in the symmetrical transmission setting between a pair of UWB radar sensors 200 with respect to one object 300 by the host position recognition device 100 is divided by the synchronization criterion. Depending on the signal, the UWB radar sensor 200 may include a position correction step of calculating the time error E until the transmission signal is made, and correcting the error of the distance measurement value with the E,

Since the host location recognition apparatus 100 repeats the above steps by setting another UWB radar sensor 200 to a transmission/reception mode, a repeating step for increasing the accuracy of the location recognition of the object 300 may be configured.

The host location recognition device 100 uses the time/distance (receiving time and distance can be converted because the speed of the UWB signal is determined) received from all UWB radar sensors 200 to determine the location of the object 300. Can be calculated. If there are two UWB radar sensors 200, it can be calculated simply by Equation 1 and Equation 2.

R ₁ is the distance between the UWB radar sensor 200 operating in the transmission/reception mode and the object 300,

R ₂ is the distance between the UWB radar sensor 200 operating in the reception mode and the object 300,

R ₃ is the distance from the UWB radar sensor operating in the transmission/reception mode to the UWB radar sensor operating in the reception mode through the object 300, and R ₃ = R ₁ + R ₂ .

Equation 1

Equation 2

_{As shown in Figure 3, the UWB radar sensor operating in the transmission/reception mode reports R 1} , which is the time (distance) between the object 300 and the UWB radar sensor 200 in the transmission/reception mode, to the host location recognition device 100, and in the reception mode. _{The operating UWB radar sensor reports R 3} , which is the total time (distance) from the transmission/reception mode UWB radar sensor to the object 300 through the reception mode UWB radar sensor, to the host location recognition apparatus 100.

_{The host location recognition device 100 determines R 2} , which is the distance between the reception mode UWB radar sensor 200 and the object 300 using the reported value of the transmission/reception mode UWB radar sensor 200 and the report value of the reception mode UWB radar sensor. You can get it.

The X value of the location of the object 300 can be calculated through Equation 1, and the Y value of the location of the object 300 can be calculated through Equation 2. Here, D is the distance between the transmission/reception mode UWB radar sensor 200 and the reception mode UWB radar sensor 200.

In addition, when there are three or more UWB radar sensors 200, only one UWB radar sensor 200 is set as a transmission/reception mode, and all other UWB radar sensors 200 are set as a reception mode. At this time, one UWB radar sensor 200 set as the transmit/receive mode and one UWB radar sensor 200 set as the receive mode are connected in pairs to each UWB radar sensor 200 as many as the number of UWB radar sensors 200 set as the total receive mode. Similarly for the pair, X and Y can be calculated, and the final position can be calculated by taking the average of these values, and the position of the object 300 can also be calculated in 3D using this after calculating each X and Y. have.

In addition, FIG. 4 shows the UWB radar sensors 200 through a signal transmission process between the host location recognition device 100 and the UWB radar sensor A 200 to be set as a transmission/reception mode and the UWB radar sensor B 200 to be set as a reception mode. A process of synchronization and distance measurement of the object 300 will be described.

The host location recognition device 100 transmits a command for setting a transmission/reception mode (S401, S402) to the UWB radar sensor A200. The UWB radar sensor A 200 receiving the transmission/reception mode setting command sets the radar sensor operation mode to the transmission/reception mode and waits until the synchronization reference signal arrives.

In addition, the host location recognition device 100 transmits a reception mode setting (S403, S404) command to the UWB radar sensor B200. The UWB radar sensor B 200 receiving the reception mode setting command sets the radar sensor operation mode to the reception mode and waits until the synchronization reference signal arrives.

Thereafter, the host location recognition apparatus 100 simultaneously transmits a synchronization reference signal to the UWB radar sensor A200 set as the transmission/reception mode and the UWB radar sensor B200 set as the reception mode. (S405, S406, S407) When a synchronization reference signal is received, the UWB radar sensor A200 set in the transmission/reception mode performs a transmission/reception operation of the UWB signal in synchronization with the synchronization reference signal, and the UWB radar sensor B200 set as the reception mode. ) Measures the distance by receiving the UWB signal in synchronization with the synchronization reference signal.

After the measurement is finished, the UWB radar sensor A 200 and the UWB radar sensor B 200 report the measurement result to the host position recognition device 100 (S411, S410), or the host position recognition device 100 transmits the UWB radar sensor A ( 200) and UWB radar sensor B (200) can directly read the measurement results.

Accordingly, the host location recognition apparatus 100 may calculate the location of the object 300 using the measurement information read from each UWB radar sensor 200 (S414).

In addition, a method of correcting a synchronization signal transmission error between the UWB radar sensor 200 will be described through FIG. 5 and Equation 3. In general, since the time it takes for the transmitted UWB signal to be received is very short, even a small difference in the synchronization reference signal transmitted from the host location recognition device 100 to the UWB radar sensor 200 makes a large error in distance calculation. I can do it.

Figure 5 shows two cases in which the signal transmitted from the UWB radar sensor A200 is transmitted to the UWB radar sensor B200 and the signal transmitted from the UWB radar sensor B200 is transmitted to the UWB radar sensor A200. A timing diagram for a symmetrical situation is shown, and Equation 3 summarizes the time calculation equation for each case.

Equation 3:

:송신한 신호가 대상체에 반사되어 상대 수신기에 도착한 시간 차

:동기기준시간과 UWB레이더센서A가 송신을 시작하는 시간 차

:동기기준시간과 UWB레이더센서B가 송신을 시작하는 시간 차

:동기기준시간과 UWB레이더센서A가 송신한 신호가 UWB레이더센서B에 도착한 시간 차

:동기기준시간과 UWB레이더센서B가 송신한 신호가 UWB레이더센서A에 도착한 시간 차

: The difference in time when the transmitted signal is reflected off the object and arrives at the other receiver

: The difference between the synchronization reference time and the time when UWB radar sensor A starts transmitting

: The difference between the synchronization reference time and the time when UWB radar sensor B starts transmitting

: The difference between the synchronization reference time and the time when the signal transmitted by UWB radar sensor A arrives at UWB radar sensor B

: The difference between the synchronization reference time and the time when the signal transmitted by the UWB radar sensor B arrives at the UWB radar sensor A.

That is, when a signal is transmitted from the UWB radar sensor A200 to the UWB radar sensor B200 when the symmetrical situation is superimposed, T _{e1 is determined based on the synchronization reference signal transmitted from the host position recognition device 100.} If it takes time, T _{e1 is represented by the sum of the time T s1} from which the UWB radar sensor A200 generates the transmission signal after the synchronization reference signal and the time T at which the actual signal is transmitted. In addition, in the UWB radar sensor B200, it is represented by the sum of _{the time T s2 at} which the transmission signal is generated after the synchronization reference signal _{and the time T 2} until the UWB radar sensor B 200 detects the signal.

_{On the contrary, it is said that the time T s2} for the transmission signal to be generated after the synchronization reference time transmitted from the host position recognition device 100 from the UWB radar sensor B 200 is required, and the time when this signal arrives at the UWS radar sensor A 200 is synchronized. _Assuming that it takes T e2 time based on the reference signal _{, T e2 is represented by the sum of the time T s2} from which the UWB radar sensor B 200 generates the transmission signal after the synchronization reference signal and the time T at which the actual signal is transmitted. , In the UWB radar sensor A200, it is represented by the sum of _{the time T s1 at} which the transmission signal is generated after the synchronization reference signal _{and the time T 1} until the UWB radar sensor A 200 detects the signal.

If the two equations are summarized, the time error between the two UWB radar sensors 200 making the transmission signal from the synchronous reference signal transmitted from the host position recognition, E is the UWB radar sensor A (200) and the UWB radar sensor B (200). In each case, the difference between the distance value measured in the symmetrical transmission setting for one object 300 can be obtained by dividing it in half, and the error of the distance measurement value is corrected using the E value stored when measuring the distance in the future. Can be used to

In the above, the technical idea of the present invention has been described together with the accompanying drawings, but this is an illustrative description of the best embodiment of the present invention, not limiting the present invention, and those of ordinary skill in the art It is obvious that anyone can modify and imitate the dimensions, shapes, and structures within the scope not departing from the scope of the technical idea of the present invention, and such modifications and imitations are included in the scope of the technical idea of the present invention.

100: host position recognition device 200: UWB radar sensor
201: synchronization signal generation unit 202: source signal generation unit
203: UWB signal generation unit 204: signal transmission unit
205: switch unit 206: signal delay unit
207: signal receiving unit 208: host interface
209: signal processing unit 210: antenna
211: sensor controller 300: object

Claims (3)

delete A setting step in which the host location recognition device sets any one of the UWB radar sensors to the transmit/receive mode and the other UWB radar sensors to the receive mode,
A synchronization step in which the host location recognition device simultaneously transmits a synchronization reference signal to all UWB radar sensors,
A single transmission step in which a UWB radar sensor set in a transmission/reception mode transmits a UWB signal according to a synchronization reference signal of the host location recognition device; and
A joint reception step in which all UWB radar sensors synchronized with the synchronization reference signal receive a reflected UWB signal in which the UWB signal transmitted in the single transmission step is reflected to an object;
A measuring step of measuring a distance to an object by each UWB radar sensor receiving the reflected UWB signal,
A measuring step of transmitting to a host location recognition device using one of the measured data and the received reflected UWB signal as measurement information from each of the UWB radar sensors that have received the reflected UWB signal;
A location calculation step of calculating the location of the object by the host location recognition device using measurement information of each UWB radar sensor is configured,
In the position calculation step, the host location recognition device transmits a value obtained by dividing the difference by half of the distance value measured in a symmetrical transmission setting between a pair of UWB radar sensors to one object, from the UWB radar sensor according to the synchronization reference signal. An ultra-wideband radar sensor system method for improving position recognition performance, characterized in that it includes a position correction step of calculating an error of a distance measurement value by calculating the time error E until the signal is generated and correcting the error of the distance measurement value with the E.
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