KR20090131344A - Device and method for ranging using chirp signals in different band - Google Patents

Abstract

PURPOSE: A distance measuring device using chirp signals in different bands and a method thereof are provided to accurately measure distance between terminals by analyzing characteristic values on the input matrixes formed by signal space matrices. CONSTITUTION: A de-chirping part(610) de-chirps first band chirp signals and second band chirp signals successively. A matrix generating part(620) generates the input matrices corresponding to the first band chirp signals and the second band chirp signals. A SVD(Singular Valve Decomposition) performing part(630) outputs first signal space matrices and the second signal space matrices, first noises space matrices and second noises space matrices, and first singular value matrices and the second singular value matrices. A route number computing part(640) computes the first singular value matrices or the second singular value matrices. A matrix component selecting part(650) outputs the first intermediate matrix and the second intermediate matrix. An EVD(Eigen Value Decomposition) performing part(660) outputs characteristic values. A distance measuring part(670) measures the distance of the minimum route based on the time delay of the computed minimum route.

Description

Device and method for ranging using chirp signals of different bands {Device and method for ranging using chirp signals in different band}

The present invention relates to an apparatus and a method for measuring a distance between two terminals. More particularly, the present invention relates to a spy signal received from a transmitting terminal by a receiving terminal to a transmitting terminal using a super resolution (SR) algorithm. An apparatus and method for measuring distance are provided.

Distance measurement is to measure the distance between two terminals. 1 is a diagram illustrating the basic principle of distance measurement. Referring to FIG. 1, when terminal A acting as a transmitter transmits a signal at time T _o , terminal B acting as a receiver receives a signal at time T ₁ through TOF time. At this time, the two terminals are visually synchronized by the same clock, and direct one-way distance measurement is possible by the following equation.

는 터미널 A와 터미널 B 사이의 거리,

는 터미널 A에 의해 송신된 신호가 터미널 B에 의해 수신되기까지 소요되는 시간으로 (T₁-T₀), 그리고, c는 광속이다.here,

Is the distance between terminal A and terminal B,

Is the time taken for the signal transmitted by terminal A to be received by terminal B (T ₁ -T ₀ ), and c is the luminous flux.

However, in the conventional wireless communication, communication is performed in a multipath fading environment in which various paths exist between a transmitter and a receiver. Therefore, direct one-way distance measurement is not possible. Due to this problem, distance measurement in wireless communication is performed by a super resolution (SR) algorithm using a chirp signal as a distance measurement signal. The SR algorithm is one of methods for extracting a parameter of a signal received through a multipath fading channel, and includes a matrix pencil and an ESPRIT algorithm. This SR algorithm is based on analyzing the received signal in signal sub-space by singular valve decomposition (SVD). The chirp signal transmitted from the transmitting side and the chirp signal received by the receiving side through the multipath channel are represented by the following equations (2) and (3), respectively. The entire chirp is shown.

Where k is the number of lower chirp signals (k∈ {0, 1, 2, 3}), ξ _k is the arithmetic parameter for the lower k signal direction (ξ _k ∈ {+1, -1}), ω _k is the center frequency of the lower chirp signal, μ is a constant value representing the sweeping characteristic of the lower chirp signal, and 2 × 7.3158 × 10 ¹² [rad / sec ² ], and T _k is the start of the actual lower chirp signal generated. It is time.

Where k is the number of lower sequential signals (k∈ {0, 1, 2, 3}), M is the number of multipaths, a _m is the complex size of each path that affects the transmitted signal, and τ _m is each path According to the time delay between the transmitter and the receiver, and n (t) is AWGN.

The most important information in the distance measurement is τ of Equation 3, that is, time of flight information. In this case, since M multiple paths may exist as in Equation 3, the purpose of distance measurement is to accurately estimate a first arrival path, ie, τ ₁ . As shown in FIG. 3, a signal is generally detected using correlation. However, in the distance measurement, the accurate estimation of the first arrival path depends on the performance, and it is difficult to find the exact first arrival path with the conventional correlation technique. In addition, even a time error of 10 ns causes a large distance error of 3 m in calculating the distance using the speed of propagation.

4 is a block diagram showing the configuration of a conventional distance measuring apparatus.

Referring to FIG. 4, the conventional distance measuring apparatus 200 may include a depping unit 210, a matrix generating unit 220, an SVD performing unit 230, a path number estimating unit 240, a matrix separating unit 250, The EVD performer 260 and the distance measurer 270 are configured.

The de-opping unit 210 de-folds a chirp signal received through a multipath channel. To this end, the depacking unit 210 multiplies the received signal by the complex signal of the transmission signal as shown in the following equation. After the de-packing process, the received signal is equal to the sum of sinusoidal signals corresponding to the number of multipaths. 5A and 5B show received chirped signals and de-packed chirped signals, respectively.

Where k is the number of sub-stage signals used (k∈ {0, 1, 2, 3}), M is the number of multipaths, a _m is the complex size of each path that affects the transmitted signal, and ξ _k is The arithmetic parameter (ξ _k ∈ {+1, -1}) for the k-th lower chirp signal direction, μ is a constant representing the sweeping characteristics of the lower-chirp signal, 2 × 7.3 158 × 10 ¹² [rad / sec ² ], τ _m is a time delay between the transmitter and the receiver along each path, ω _k is the center frequency of the lower k chirp signal, and n '(t) is the projection of the AWGN to the lower chirp signal.

The matrix generator 220 generates an input matrix to be provided to the SVD performer 130 from the depacked chirp signal. In this case, the matrix generator 220 inserts L samples per row from the de-packed signal having N samples to generate an input matrix having a size of (N−L + 1) × L.

The SVD execution unit 230 performs singular value decomposition (SVD), which is the first step of the matrix pencil algorithm. The received signal can be expressed as the sum of the multipath transmission signal and Additive White Gaussian Noise (AWGN). The SVD distinguishes the signal space and the noise space of the received signal. Therefore, taking a lot of separated signal space can achieve the effect of suppressing the AWGN. 5C illustrates a signal from which noise is removed after the singular value decomposition process is performed by the SVD performer 230.

The path count estimator 240 estimates the number of multipaths based on the diagonal matrix Σ, in which the singular values of the signal and the noise are arranged in order from the matrix output from the SVD performer 230. The number of multipaths estimated by the path count estimator 240 is provided to the matrix ㅂ separator 260.

)로부터 다음의 수학식에 의해 지연 정보를 찾아낸 후 이를 수학식 1에 대입하여 두 개의 단말 사이의 거리를 측정한다. The matrix separator 250 removes the most significant column and the least significant column from the signal space matrix input from the SVD performer 230 to generate two matrices. The EVD execution unit 260 performs an eigenvalue decomposition (EVD) to find a sine wave having the smallest frequency that represents the first arrival path. Finally, the distance measuring unit 270 may include a frequency of the sine wave corresponding to the first arrival path (that is,

Delay information is found by using the following equation and then substituted into Equation 1 to measure the distance between two terminals.

Where τ _min is the time delay of the initial arrival path, f _min is the frequency of the sinusoidal wave corresponding to the initial arrival path, ξ _k is the arithmetic parameter (ξ _k ∈ {+1, -1} And μ is a constant value representing the sweeping characteristic of the low-order chirp signal, which is 2 × 7.3158 × 10 ¹² [rad / sec ² ].

의 연산을 통해 지연시간을 추정한다. 즉, 종래의 거리측정 장치(200)는 추정된 주파수 f_min(T_s 시간동안 돌아간 위상)를 -μT_s로 나누어 지연시간정보를 얻는다. 이때 잡음에 의해서 추정된 주파수의 값이 왜곡되었다면,

(여기서 θ_n은 잡음에 의해 왜곡된 위상값이고, N은 샘플 개수임)만큼 지연시간값이 영향을 받게 된다. 따라서 종래의 거리측정 장치(200)는 지연시간값이 잡음에 영향을 쉽게 받게 되며, 이에 따라 측정된 거리의 정확도가 저하되는 문제가 있다.The conventional distance measuring device 200 as described above

The delay time is estimated through the operation of. That is, the conventional distance measuring apparatus 200 obtains delay time information by dividing the estimated frequency f _min (phase returned during T _s time) by −μT _s . If the value of the frequency estimated by noise is distorted,

Where θ _n is a phase value distorted by noise and N is the number of samples. Therefore, the conventional distance measuring device 200 has a problem that the delay time value is easily affected by noise, and thus the accuracy of the measured distance is deteriorated.

It is an object of the present invention to provide an apparatus and method for more accurately measuring a distance between a transmitting side and a receiving terminal using a super resolution (SR) algorithm.

Another technical problem to be solved by the present invention is a computer-readable recording program for executing a method for executing a method on a computer to more accurately measure the distance between a transmitting end and a receiving end using a super resolution (SR) algorithm. To provide the medium.

In order to achieve the above technical problem, a first preferred embodiment of a distance measuring apparatus using a chirp signal of different bands according to the present invention is a first band chirp signal and a second band chirp sequentially received through a multipath channel. A de-lapping unit for de-lapping the signals in order; The first band chirp signal and the second band chirp signal are sequentially extracted from a first signal component of each of the de-packed first band chirp signal and the de-packed second band chirp signal. A matrix generator generating an input matrix corresponding to the matrix; A first signal space matrix and a second signal space are performed by performing singular value decomposition on a first input matrix corresponding to the first band chirp signal and a second input matrix corresponding to the second band chirp signal. An SVD execution unit for outputting a matrix, a first noise space matrix and a second noise space matrix, and a first special value matrix and a second special value matrix; A path count estimator for estimating the number of multipaths from the first or second particular value matrix, which is a diagonal matrix in which the singular values of the signal and noise are arranged in order; A matrix component selector configured to select a number of columns corresponding to the estimated number of paths from the first column of the first signal space matrix and the second signal space matrix and output a first intermediate matrix and a second intermediate matrix; An EVD performer for outputting eigenvalues by performing a generalized eigen value decompositon on the first intermediate matrix and the second intermediate matrix; And estimating the time delay of the minimum path by dividing the minimum eigenvalue corresponding to the first arrival path among the eigenvalues by a phase difference obtained from the difference between the center frequencies of the first band chirp signal and the second band chirp signal. And a distance measurer configured to measure the distance of the minimum path based on the estimated time delay of the minimum path.

In order to achieve the above technical problem, a first preferred embodiment of a distance measuring apparatus using a chirp signal of different bands according to the present invention is a first band chirp signal and a second band chirp sequentially received through a multipath channel. A de-lapping unit for de-lapping the signals in order; The first band chirp signal and the second band chirp signal are sequentially extracted from a first signal component of each of the de-packed first band chirp signal and the de-packed second band chirp signal. A matrix generator for generating input matrices corresponding to the matrices; A matrix which accumulates a first input matrix corresponding to the first band chirp signal and a second input matrix corresponding to the second band chirp signal in column and row directions, respectively, to generate a first combined matrix and a second combined matrix; Combination; Single value decomposition is performed on the first combination matrix and the second combination matrix to form a first signal space matrix, a second signal space matrix, a first noise space matrix, and a second noise space matrix. An SVD execution unit for outputting a first value matrix and a second value matrix; A path count estimator for estimating the number of multipaths from the first or second particular value matrix, which is a diagonal matrix in which the singular values of the signal and noise are arranged in order; The first projection matrix and the second projection matrix corresponding to the first combination matrix and the second combination matrix, respectively, by collecting vectors of signal components corresponding to the estimated number of paths from the first signal space matrix and the second signal space matrix. A projection matrix generator for generating a projection matrix; Generating a first intermediate matrix by sequentially multiplying the first projection matrix, the first input matrix, and the second projection matrix, and sequentially multiplying the first projection matrix, the second input matrix, and the second projection matrix. A projection unit generating a second intermediate matrix; An EVD performer for outputting eigenvalues by performing a generalized eigen value decompositon on the first intermediate matrix and the second intermediate matrix; And estimating the time delay of the minimum path by dividing the minimum eigenvalue corresponding to the first arrival path among the eigenvalues by a phase difference obtained from the difference between the center frequencies of the first band chirp signal and the second band chirp signal. And a distance measurer configured to measure the distance of the minimum path based on the estimated time delay of the minimum path.

In order to achieve the above technical problem, a first preferred embodiment of a distance measuring method using a chirp signal of a different band according to the present invention includes: (a) a first band chirp signal sequentially received through a multipath channel; De-packing the second band chirp signal in order; (b) extracting a predetermined number of signal components sequentially from a first signal component of each of the de-packed first band chirp signal and the de-packed second band chirp signal, thereby generating the first band chirp signal and the second signal; Generating an input matrix corresponding to the band-tapped signal; (c) performing a single value decomposition on a first input matrix corresponding to the first band chirp signal and a second input matrix corresponding to the second band chirp signal to generate a first signal space matrix and a first signal matrix; Outputting a second signal space matrix, a first noise space matrix and a second noise space matrix, and a first particular value matrix and a second particular value matrix; (d) estimating the number of multipaths from the first or second particular value matrix, which is a diagonal matrix in which the singular values of the signal and noise are arranged in order; (e) outputting a first intermediate matrix and a second intermediate matrix by selecting the number of columns corresponding to the estimated number of paths from the first column of the first signal space matrix and the second signal space matrix; (f) performing a generalized eigen value decompositon on the first intermediate matrix and the second intermediate matrices to output eigenvalues; And (g) estimating the time delay of the minimum path by dividing the minimum eigenvalue corresponding to the first arrival path among the eigenvalues by a phase difference obtained from the difference between the center frequencies of the first and second band chirped signals. And measuring the distance of the minimum path based on the estimated time delay of the minimum path.

In order to achieve the above technical problem, a second preferred embodiment of a distance measuring method using a chirp signal of a different band according to the present invention includes: (a) a first band chirp signal sequentially received through a multipath channel; De-packing the second band chirp signal in order; (b) extracting a predetermined number of signal components sequentially from a first signal component of each of the de-packed first band chirp signal and the de-packed second band chirp signal, thereby generating the first band chirp signal and the second signal; Generating an input matrix corresponding to the band-tapped signal; (c) accumulating a first input matrix corresponding to the first band chirp signal and a second input matrix corresponding to the second band chirp signal in column and row directions, respectively, to form a first combined matrix and a second combined matrix; Generating; (d) A single signal decomposition matrix and a first signal space matrix, a first noise space matrix, and a second noise space matrix are performed by performing singular value decomposition on the first combination matrix and the second combination matrix. And outputting a first special value matrix and a second special value matrix; (e) estimating the number of multipaths from the first or second particular value matrix, which is a diagonal matrix in which the singular values of the signal and noise are arranged in order; (f) a first projection matrix corresponding to the first combination matrix and the second combination matrix by collecting vectors of signal components corresponding to the estimated number of paths from the first signal space matrix and the second signal space matrix; Generating a second projection matrix; (g) generating a first intermediate matrix by sequentially multiplying the first projection matrix, the first input matrix, and the second projection matrix, and generating the first projection matrix, the second input matrix, and the second projection matrix. Generating a second intermediate matrix by sequentially multiplying; (h) outputting eigenvalues by performing a generalized eigen value decompositon on the first intermediate matrix and the second intermediate matrix; And (i) estimating the time delay of the minimum path by dividing the smallest eigenvalue corresponding to the first arrival path among the eigenvalues by a phase difference obtained from the difference between the center frequencies of the first band chirp signal and the second band chirp signal. And measuring the distance of the minimum path based on the estimated time delay of the minimum path.

According to the distance measuring apparatus and method using a chirp signal of a different band according to the present invention, after de-packing a plurality of chirp signals of different bands transmitted by a transmitting terminal and performing a singular value analysis for each signal space matrix The eigenvalue analysis is performed on the input matrices constructed using each signal space matrix to estimate the time delay of the shortest path by the phase shift value corresponding to the first arrival path. It can be measured.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of a distance measuring apparatus and method using a chirp signal of a different band according to the present invention.

Fig. 6 is a block diagram showing the configuration of the first preferred embodiment of the distance measuring device using the chirp signals of different bands according to the present invention.

Referring to FIG. 6, a first embodiment 600 of a distance measuring apparatus using a chirp signal of a different band according to the present invention includes a depacking unit 610, a matrix generator 620, an SVD performer 630, and a path. The number estimator 640, the matrix component selector 650, the EVD performer 660, and the distance measurer 670 are provided.

The depacking unit 610 depacks a chirp signal received through a multipath channel. In the present invention, the transmitting terminal transmits a chirp signal of a different band as shown in FIG. As shown in FIG. 7, each chirp signal (first band chirp signal and second band chirp signal) has a different center frequency, has the same arithmetic parameter for the duration of the signal and the direction of the chirp signal. There is a constant time interval [Delta] t between the chirp signals. If the transmitting terminal transmits the spliced signals of different bands without a predetermined time interval, a separate filter is required at the receiving terminal. The first band chirp signal and the second band chirp signal transmitted by the transmitting terminal may be expressed by the following equation.

Where i is the band number of the chirp signal used (ie i∈ {1, 2}) and ξ _i is an arithmetic parameter (ie ξ _i ∈ {+1, -1} for the direction of the chirp signal being used. And two different banded chirp signals preferably have the same arithmetic parameter. In addition, ω _i is the center frequency of the chirp signals of the different bands used, μ is a constant value representing the sweeping characteristics of the chirp signals used, 2 × 7.3 158 × 10 ¹² [rad / sec ² ], T _i is used The transmission start time of each of the spliced signals of different bands, and P _RC is a raised cosine windowing function.

The result of receiving the transmission signal by the receiving terminal in the presence of the multipath and the AWGN is represented by the following equation.

Where i is the band number of the chirp signal used (i.e., i∈ {1, 2}), M is the number of multipaths, a _m is the complex size of each path affecting the transmission signal, and τ _m represents a time delay between a transmitting terminal and a receiving terminal along each path, and n (t) represents AWGN.

The depacking process by the depacking unit 610 means multiplying a received signal by a complex value of a transmission signal in a sample unit. When the de-packing is performed by each de-signal signal r ₁ (t) and r ₂ (t) by the de-packing unit 610, the following equations are expressed.

Where i is the band number (i {1, 2}) of the used chirp signal, M is the number of multipaths, a _m is the complex size of each path affecting the transmission signal, and ξ _i is the chirp signal used Arithmetic parameters for the direction of (ie, ξ _i ∈ {+1, -1}, preferably two different chirped signals have the same arithmetic parameters), and μ denotes the sweeping characteristics of the 2 × 7.3 158 × 10 ¹² [rad / sec ² ], τ _m is the time delay between the transmitting terminal and the receiving terminal along each path, ω _i is the center frequency of the chirp signals of the different bands used And n '(t) is a value obtained by multiplying n (t) of Equation 7 by the transmission reference signal in the projection of AWGN to the chirped signal.

The matrix generator 620 generates an input matrix corresponding to the chirped signal for each band by using y ₁ (t) and y ₂ (t) output from the depacking unit 610. By the matrix generator 620, y ₁ (t) = [y ₁ (1), y ₁ (2),... , y ₁ (N)] is generated by the following input matrix Y ₁ .

y ₁ (t) and y ₂ (t) each have N samples, inserting L samples per row. Therefore, the input matrices Y ₁ and Y ₂ are (N−L + 1) × L matrices, and the component in the row direction represents the degree of phase shift between samples. L is set in advance and is preferably determined within the range of N / 3 and N / 2.

The SVD execution unit 630 performs singular value decomposition (SVD), which is a first step of the matrix pencil algorithm. Therefore, the SVD execution unit 630 performs singular value decomposition on the input matrices Y ₁ and Y ₂ corresponding to the band-specific chirped signals input from the matrix generator 620, thereby performing the signal space matrix, the noise space matrix, and the like. Output a singular value matrix. The singular value decomposition process for the input matrices Y ₁ and Y ₂ by the SVD execution unit 630 is expressed by the following equation.

와

는 각각 Y ₁과 Y ₂의 신호공간을 스팬(span)하는 우향 특이값 벡터(right singular vector)이고,

와

는 각각 Y ₁과 Y ₂에 더해진 잡음공간을 스팬(span)하는 우향 특이값 벡터(right singular vector)이다. 그리고

와

는 각각 신호와 잡음의 특이값들이 순서대로 나열되어 있는 대각행렬이다. 또한

와

는 각각 신호공간을 스팬(span)하는 좌향 특이값 벡터(left singular vector)이고,

와

는 각각 잡음공간을 스팬(span)하는 좌향 특이값 벡터(left singular vector)이다. At this time

Wow

Is a right singular vector spanning the signal spaces of Y ₁ and Y ₂ , respectively.

Wow

Is a right singular vector that spans the noise space added to Y ₁ and Y ₂ , respectively. And

Wow

Is a diagonal matrix with the singular values of the signal and noise in order, respectively. Also

Wow

Are left singular vectors each spanning the signal space,

Wow

Are left singular vectors that span the noise space, respectively.

The path count estimator 640 estimates the number of multipaths based on the diagonal matrix Σ in which the singular values of the signal and the noise are sequentially arranged among the matrices output from the SVD performer 630. In this case, since two different banded chirp signals are transmitted through the same multipath channel, the path count estimator 640 estimates the path count only for one diagonal matrix ∑ ₁ of the two diagonal matrices ∑ ₁ and ∑ ₂ . do. The estimated number of multipaths is provided to the matrix component selector 650.

The matrix component selector 650 selects M columns corresponding to the number of paths estimated by the path number estimator 640 from the left of V ₁ and V ₂ input from the SVD execution unit 630. Output Hereinafter, the matrix obtained from the signal space matrixes V ₁ and V ₂ corresponding to the band-specific chirped signals by the matrix component selector 650 is called an intermediate matrix.

The EVD performer 660 outputs eigenvalues by performing generalized eigenvalue decomposition (GEVD) expressed by the following equation using intermediate matrices corresponding to the band-specific chirp signals.

Where λ is the eigenvalue, x is the eigenvector, and A and B are the two intermediate matrices that enter the GEVD function.

GEVD calculates the eigenvalues and eigenvectors of two different matrices. Here, the eigenvalues and eigenvectors have different meanings depending on the application in which the GEVD is used. In the present invention, the eigenvalues and eigenvectors obtained as a result of GEVD are respectively the delay information of each path among the multipath and the respective paths among the multipath. Means the base vector for.

The distance measuring unit 670 takes a minimum phase value among the eigen values calculated by the following equation and determines a value known to the receiving terminal (ie, the difference between the center frequencies of the first band chirp signal and the second band chirp signal). Time difference of the shortest path among the multipaths existing between the transmitting terminal and the receiving terminal. Next, the distance measuring unit 670 multiplies the estimated time delay of the shortest path by the speed of light to measure the distance between the transmitting terminal and the receiving terminal.

Where τ _min is the time delay of the first arrival path, ω _min is the phase shift of the chirp signal corresponding to the first arrival path, and Δω is obtained from the difference between the center frequencies of the first and second band chirp signals. Phase difference.

8 is a block diagram showing a configuration of a second preferred embodiment of a distance measuring device using a chirp signal of a different band according to the present invention.

Referring to FIG. 8, a second embodiment 700 of a distance measuring apparatus using a chirp signal of different bands according to the present invention includes a depping unit 710, a matrix generating unit 720, a matrix combining unit 725, and an SVD. An execution unit 730, a path number estimator 740, a projection matrix generator 750, a projection unit 755, an EVD performer 760, and a distance measurer 770 are provided. Among the components of the second embodiment 700 of the apparatus for measuring distance using a chirp signal of different bands according to the present invention, the de-wapping unit 710, the matrix generator 720, the EVD performer 760 and the distance measurement are performed. The unit 770 is the same as the corresponding components of the first embodiment 600 of the distance measuring device using the chirp signal of the different band according to the present invention described with reference to FIG. do.

및 제2조합행렬

을 생성한다. The matrix combiner 725 accumulates the input matrices Y ₁ and Y ₂ corresponding to the band-specific chirped signals input from the matrix generator 720 in the column direction and the row direction, respectively.

And second collation matrix

Create

The SVD execution unit 730 performs singular value decomposition, which is the first step of the matrix pencil algorithm, on the first and second combination matrices input from the matrix combination unit 725. As a result of singular value decomposition, the SVD execution unit 730 performs a signal space matrix, a noise space matrix, and a singular value matrix ([U _H , ∑ _H , V _H ]) corresponding to the first combination matrix and the second combination matrix. The corresponding signal space matrix, noise space matrix and singular value matrix ([U _V , Σ _V , V _V ]) are output.

As described above, the reason for performing singular value decomposition on the combination matrix in the second preferred embodiment 700 of the distance measuring apparatus using the chirp signals of different bands according to the present invention is as follows. First, since the input matrices Y ₁ and Y ₂ are generated by de-pping the chirp signals of the different bands of the low band and the high band, they have the same frequency but different phases. However, since the signal components in the spatial domain can be interpreted as equality of frequencies, the column spaces and row spaces of the input matrices Y ₁ and Y ₂ are the same. Therefore, when singular value decomposition is performed by accumulating the input matrices Y ₁ and Y ₂ vertically (ie, in the row direction) and horizontally (ie, in the column direction), signal components for the column space can be obtained from the horizontally accumulated combination matrix. The signal components for the row space can be obtained from the vertically accumulated combination matrix. Of course, the singular value decomposition is performed directly on each of the input matrices Y ₁ and Y _{2 as} in the first preferred embodiment 600 of the distance measuring apparatus using the chirp signals of different bands according to the present invention described with reference to FIG. 6. Although a combination of two input matrices Y ₁ and Y ₂ which share the same component as in the second preferred embodiment 700 of the distance measuring device using a chirp signal of a different band according to the present invention is generated, Performing singular value decomposition on a matrix has the advantage of better separating signal components from noise components. That is, the singular value decomposition method for the combination matrix employed in the second preferred embodiment 700 of the distance measuring apparatus using the different signal of the chirp signal according to the present invention is characterized by different noise or phase sharing the same signal component. Branch is an advantageous method for extracting signal components from two matrices.

The path number estimator 740 estimates the number of multipaths based on the diagonal matrix Σ in which the singular values of signals and noises are sequentially arranged in the matrix output from the SVD performer 730. At this time, the path count estimator 640 estimates the path count only for one diagonal matrix Σ _H among the two diagonal matrices ∑ _H and ∑ _V. The estimated number of multipaths is provided to the projection matrix generator 750.

와

을 생성한다. 이러한 투영행렬 생성부(750)에 의한 투영행렬 생성과정은 다음의 수학식들로 표현될 수 있다.The projection matrix generator 750 may generate vectors of signal components corresponding to the number M of paths estimated by the path number estimator 740, respectively, from the signal space matrices U _H and V _H input from the SVD execution unit 730. Gather projection matrices corresponding to the first and second combined matrices

Wow

Create The projection matrix generation process by the projection matrix generator 750 may be expressed by the following equations.

와

는 각각 제1조합행렬의 신호공간을 스팬(span)하는 우향 특이값 벡터(right singular vector)와 그 복소벡터이고,

와

는 제1조합행렬의 신호공간을 스팬(span)하는 좌향 특이값 벡터(left singular vector)와 그 복소벡터이다.In Equations 14 and 15

Wow

Are the right singular vectors and their complex vectors that span the signal space of the first combination matrix, respectively,

Wow

Is a left singular vector spanning the signal space of the first combination matrix and its complex vector.

The projection unit 755 generates an intermediate matrix by extracting signal components including phase information by multiplying the input matrix Y ₁ and Y ₂ having noise by the following equation, respectively, and generating the intermediate matrix. Provided to the EVD performer 760.

(여기서 θ_n은 잡음에 의해 왜곡된 위상값임)만큼 지연시간값이 영향을 받게 된다. 따라서 본 발명에 따른 상이한 대역의 첩신호를 이용하는 거리측정 장치는 종래의 거리 측정 장치에 비해 잡음에 의한 영향을 N배 만큼 감소시킬 수 있으므로, 보다 정확한 거리측정이 가능하게 된다. As described above, preferred embodiments of the apparatus for measuring distance using a chirp signal of different bands according to the present invention are described in Equation 13 to change the phase change of the chirp signal received through the minimum path through eigen value decomposition. Extract and estimate delay time information from it. If the value of the frequency estimated by noise is distorted,

(Where θ _n is the phase value distorted by noise), the delay time value is affected. Therefore, the distance measuring device using the chirp signal of the different band according to the present invention can reduce the effect of the noise by N times compared to the conventional distance measuring device, it is possible to more accurate distance measurement.

9 is a flowchart illustrating a process of performing a first preferred embodiment of a distance measuring method using a chirp signal of a different band according to the present invention.

Referring to FIG. 9, the depacking unit 610 depacks a first band chirp signal and a second band chirp signal sequentially received through a multipath channel (S800). The matrix generator 620 generates input matrices Y ₁ and Y ₂ corresponding to the chirped signals for each band using the de-packed signals y ₁ (t) and y ₂ (t) (S810). Next, the SVD execution unit 630 performs singular value decomposition on the input matrices Y ₁ and Y ₂ corresponding to the band-specific chirped signals, respectively, so that the first signal space matrix, the second signal space matrix, and the first noise space are decomposed. The matrix, the second noise space matrix, the first specific value matrix and the second specific value matrix are output (S820). Next, the path count estimator 640 estimates the number M of multipaths based on the first special value matrix Σ ₁ , which is a diagonal matrix in which the singular values of the signal and the noise are arranged in sequence (S830). Next, the matrix component selector 650 selects M columns corresponding to the estimated number of paths from the left side of the first signal space matrix V ₁ and the second signal space matrix V ₂ , so that the first intermediate matrix and the second intermediate matrix are selected. Outputs (S840). Next, the EVD execution unit 660 performs GEVD on the first intermediate matrix and the second intermediate matrix corresponding to the band-specific chirp signal and outputs eigenvalues (S850). Finally, the distance measuring unit 670 takes the minimum phase value among the calculated eigenvalues and divides the phase difference obtained from the difference between the center frequencies of the first band chirp signal and the second band chirp signal known to the receiving terminal. The time delay of the shortest path among the multipaths existing between the terminal and the receiving terminal is estimated (S860). The distance measuring unit 670 multiplies the estimated time delay of the shortest path by the speed of light to measure the distance between the transmitting terminal and the receiving terminal (S870).

10 is a flowchart illustrating a process of performing a second preferred embodiment of the distance measuring method using a chirp signal of a different band according to the present invention.

및 제2조합행렬

을 생성한다(S1020). 그리고 SVD 수행부(730)는 행렬 조합부(725)로부터 입력된 제1조합행렬 및 제2조합행렬에 대해 매트릭스 펜슬 알고리즘의 첫번째 단계인 특이값 분해를 수행한다(S1030). 다음으로 경로 개수 추정부(740)는 SVD 수행부(730)로부터 출력되는 행렬 중에서 신호와 잡음의 특이값들이 순서대로 나열되어 있는 대각행렬 ∑을 기초로 다중경로의 개수를 추정한다(S1040). 다음으로 투영행렬 생성부(750)는 SVD 수행부(730)로부터 입력되는 신호공간행렬 U _H와 V _H로부터 각각 경로개수 추정부(740)에 의해 추정된 경로개수 M에 해당하는 신호성분들의 벡터들을 모아 제1조합행렬 및 제2조합행렬에 대응하는 투영행렬

와

을 생성한다(S1050). 다음으로 투영부(755)는 잡음이 존재하는 입력행렬 Y ₁과 Y ₂를 각각 투영행렬에 곱하여 위상정보가 포함된 신호성분을 추출하여 제1중간행렬 및 제2중간행렬을 생성한다(S1060). 다음으로 EVD 수행부(760)는 각각의 대역별 첩신호에 대응 하는 제1중간행렬과 제2중간행렬들에 대해 GEVD를 수행하여 고유값들을 출력한다(S1070). 마지막으로 거리 측정부(770)는 산출된 고유값 중에서 최소의 위상값을 취하여 수신측 단말에서 알고 있는 제1대역 첩신호와 제2대역 첩신호의 중심 주파수의 차이로부터 얻어지는 위상 차이로 나누어 송신측 단말과 수신측 단말 사이에 존재하는 다중경로 중에서 가장 짧은 경로의 시간 지연을 추정한다(S1080). 그리고 거리 측정부(770)는 추정된 가장 짧은 경로의 시간 지연에 빛의 속도를 곱하여 송신측 단말과 수신측 단말 사이의 거리를 측정한다(S1090). Referring to FIG. 10, the depacking unit 710 depacks a first band chirp signal and a second band chirp signal sequentially received through a multipath channel (S1000). The matrix generator 720 generates input matrices Y ₁ and Y ₂ corresponding to the chirped signals for each band by using the de-packed signals y ₁ (t) and y ₂ (t) (S1010). Next, the matrix combination unit 725 accumulates the input matrices Y ₁ and Y ₂ corresponding to the band-specific chirped signals input from the matrix generator 720 in the column direction and the row direction, respectively.

And second collation matrix

To generate (S1020). The SVD execution unit 730 performs singular value decomposition, which is the first step of the matrix pencil algorithm, on the first and second combination matrices input from the matrix combination unit 725 (S1030). Next, the path number estimator 740 estimates the number of multipaths based on the diagonal matrix Σ, in which signals and noise singular values are sequentially arranged in the matrix output from the SVD performer 730 (S1040). Next, the projection matrix generator 750 is a vector of signal components corresponding to the path number M estimated by the path number estimator 740, respectively, from the signal space matrices U _H and V _H input from the SVD performer 730. A projection matrix corresponding to the first and second combination matrices

Wow

To generate (S1050). Next, the projection unit 755 multiplies the input matrices Y ₁ and Y ₂ having noise by the projection matrices, respectively, and extracts signal components including phase information to generate a first intermediate matrix and a second intermediate matrix (S1060). . Next, the EVD execution unit 760 performs GEVD on the first intermediate matrix and the second intermediate matrix corresponding to the band-specific chirp signals and outputs eigenvalues (S1070). Finally, the distance measuring unit 770 takes the minimum phase value among the calculated eigenvalues and divides the phase difference obtained from the difference between the center frequencies of the first band chirp signal and the second band chirp signal known to the receiving terminal. The time delay of the shortest path among the multipaths existing between the terminal and the receiving terminal is estimated (S1080). The distance measuring unit 770 measures the distance between the transmitting terminal and the receiving terminal by multiplying the speed of light by the estimated time delay of the shortest path (S1090).

Preferred embodiments of the distance measuring apparatus using the chirp signals of different bands according to the present invention described above are two decopping units of different bands in one de-packing unit, matrix generator, SVD performer, path number estimator, and / or It has a configuration processed by the matrix component selector. However, two chirped signals of different bands may be processed in parallel by separate depping units, matrix generators, SVD performers, and / or matrix component selectors corresponding to the respective signals. In addition, the apparatus and method for measuring distance using a chirp signal of different bands according to the present invention may perform a noise reduction process for more accurate distance measurement after performing de-opping on two different chirp signals. For this noise cancellation, it is assumed that each chirp signal is repeatedly transmitted. Hereinafter, the noise removing process will be described.

FIG. 11 is a block diagram showing a detailed configuration of a preferred embodiment of a noise canceling apparatus that can be applied to a distance measuring apparatus using a chirp signal of a different band according to the present invention.

Referring to FIG. 11, a noise removing device that can be applied to a distance measuring device using a chirp signal of a different band according to the present invention includes a signal receiver 910, a singular value resolver 920, a signal component extractor 930, The signal space matrix generator 940 and the controller 950 are provided.

The signal receiving unit 910 receives a spy signal repeatedly transmitted by the transmitting terminal. 12 shows an example of a chirp signal repeatedly transmitted by a transmitting terminal. As shown in FIG. 12, the transmitting terminal transmits the first band chirp signal a plurality of times at a predetermined period (Δt ₁ ) and after a predetermined time (Δt ₂ ) has elapsed, Δt ₃ ) for multiple times. In this case, an additional white Gaussian noise is present in each of the chirp signals received by the signal receiver 910 through the multipath fading channel.

The singular value decomposition unit 920 performs singular value decomposition on the received signals. This singular value decomposition proceeds in the order of reception time for the received signals. Singular value decomposition is one of the important methods of decomposing rectangular matrices and is widely used in signal processing and statistics. Singular value decomposition is a generalization of the spectral theory of a matrix for arbitrary rectangular matrices. The spectral theory of the matrix can be used to decompose an orthogonal square matrix into a diagonal matrix based on eigenvalues.

The signal component extractor 930 extracts a signal component corresponding to each of the received signals based on the singular value decomposition of the received signals. In this case, the signal component extractor 930 extracts the signal component based on the relative sizes of the components of the diagonal matrix obtained by the singular value decomposition by the singular value decomposition unit 920. The extracted signal component for each received signal has the form of an n × m matrix.

The signal space matrix generator 940 generates a signal space matrix by accumulating signal components corresponding to the received signals in the column direction. In this case, the signal space matrix generator 940 generates a signal space matrix by accumulating signal components corresponding to each of the received signals in the order of reception time of each received signal. In addition, the signal space matrix generator 940 generates a signal space matrix by accumulating signal components corresponding to the received signals such that the size of the signal space matrix is smaller than a preset reference size. For example, if a signal component extracted for a received signal is represented by a 4 × 4 matrix, and the size of a predetermined signal space matrix is 4 × 24, the signal space matrix generator 940 may receive received signal symbols. A signal space matrix may be generated by accumulating up to six signal components corresponding to. Noise components are reduced by singular value decomposition and signal space extraction for the received signals. After that, the singular value decomposition and the signal component extraction process on the signal space matrix further reduce the noise component.

The controller 950 provides the signal space matrix to the singular value decomposition unit 920, and controls the signal component extractor 930 to extract signal components by performing singular value decomposition on the signal space matrix. Since there are noise components as well as signal components in the primary noise filtered signal space matrix, the controller 950 performs the singular value decomposition on the signal space matrix again, and the signal component extractor 930 controls to extract the signal component.

Since the SR algorithm through the singular value decomposition estimates the signal subspace and the noise subspace based on the power component of the received signal rather than the received signal component itself, the phase rotation due to the frequency offset is not affected. Can be extracted.

FIG. 13 is a flowchart illustrating a process of performing a preferred embodiment of a noise removing method that may be applied to a distance measuring method using a chirp signal of a different band according to the present invention.

Referring to FIG. 13, the signal receiving unit 910 receives the first and third fold signals of the first band and the first and third fold signals of the second band repeatedly transmitted by the transmitter. (S1100). The singular value decomposing unit 920 performs singular value decomposition on the received signals for each band in the received time order (S1110). The signal component extractor 930 extracts a signal component corresponding to each of the received signals based on the singular value decomposition of the signals received for each band (S1120). In this case, the signal component extractor 930 extracts the signal component based on the relative sizes of the components of the diagonal matrix obtained by the singular value decomposition by the singular value decomposition unit.

The signal space matrix generator 940 accumulates the signal components corresponding to the signals received for each band in the column direction to generate a signal space matrix for each band (S1130). At this time, the signal space matrix generator 940 accumulates the signal components corresponding to the signals received for each band such that the size of the signal space matrix is smaller than a preset reference size, and generates a signal space matrix for each band. .

The singular value decomposing unit 920 decomposes the singular value for each signal space matrix for each band provided from the controller 950 (S1140). The signal component extractor 930 extracts a signal component corresponding to each of the band signal space matrices based on the singular value decomposition of each of the band signal space matrices (S1150). In this case, the signal component extractor 930 extracts signal components for each band based on the relative sizes of the components of the diagonal matrix obtained by the singular value decomposition by the singular value decomposition unit 920.

The invention can also be embodied as computer readable code on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like, and may also be implemented in the form of a carrier wave (transmission through the Internet). The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific preferred embodiments described above, and the present invention belongs to the present invention without departing from the gist of the present invention as claimed in the claims. Various modifications can be made by those skilled in the art, and such changes are within the scope of the claims.

1 is a view showing the basic principle of the distance measurement,

FIG. 2 is a view showing an entire chirp consisting of four lower chirp signals defined in the CSS standard; FIG.

3 illustrates a correlation technique for detecting a signal received over a multipath channel;

4 is a block diagram showing the configuration of a conventional distance measuring apparatus;

5A to 5C are diagrams illustrating a signal from which noise is removed after a received chirp signal, a de-packed chirp signal, and a singular value decomposition process are respectively performed;

6 is a block diagram showing the configuration of a first preferred embodiment of a distance measuring device using a chirp signal of a different band according to the present invention;

7 is a view showing a chirp signal of a different band transmitted by a transmitting terminal in the present invention,

8 is a block diagram showing a configuration of a second preferred embodiment of a distance measuring device using a chirp signal of a different band according to the present invention;

9 is a flowchart illustrating a process of performing a first preferred embodiment of a distance measuring method using a chirp signal of a different band according to the present invention;

10 is a flowchart illustrating a process of performing a second preferred embodiment of a distance measuring method using a chirp signal of a different band according to the present invention;

11 is a block diagram showing a detailed configuration of a preferred embodiment of the noise canceller which can be applied to a distance measuring device using a chirp signal of a different band according to the present invention;

12 is a diagram showing an example of a spy signal repeatedly transmitted by a transmitting terminal;

FIG. 13 is a flowchart illustrating a process of performing a preferred embodiment of a noise removing method that may be applied to a distance measuring method using a chirp signal of a different band according to the present invention.

Claims (17)

A depacking unit for depacking the first band chirp signal and the second band chirp signal sequentially received through the multipath channel; The first band chirp signal and the second band chirp signal are sequentially extracted from a first signal component of each of the de-packed first band chirp signal and the de-packed second band chirp signal. A matrix generator for generating input matrices corresponding to the matrices; A first signal space matrix and a second signal space are performed by performing singular value decomposition on a first input matrix corresponding to the first band chirp signal and a second input matrix corresponding to the second band chirp signal. An SVD execution unit for outputting a matrix, a first noise space matrix and a second noise space matrix, and a first special value matrix and a second special value matrix; A path count estimator for estimating the number of multipaths from the first or second particular value matrix, which is a diagonal matrix in which the singular values of the signal and noise are arranged in order; A matrix component selector configured to select a number of columns corresponding to the estimated number of paths from the first column of the first signal space matrix and the second signal space matrix and output a first intermediate matrix and a second intermediate matrix; An EVD performer for outputting eigenvalues by performing a generalized eigen value decompositon on the first intermediate matrix and the second intermediate matrix; And The time delay of the minimum path is estimated by dividing the minimum eigen value corresponding to the first arrival path among the eigenvalues by a phase difference obtained from the difference between the center frequencies of the first band chirp signal and the second band chirp signal, and estimating the time delay of the minimum path. And a distance measuring unit measuring a distance of the minimum path based on the time delay of the minimum path. A depacking unit for depacking the first band chirp signal and the second band chirp signal sequentially received through the multipath channel; The first band chirp signal and the second band chirp signal are sequentially extracted from a first signal component of each of the de-packed first band chirp signal and the de-packed second band chirp signal. A matrix generator for generating input matrices corresponding to the matrices; A matrix which accumulates a first input matrix corresponding to the first band chirp signal and a second input matrix corresponding to the second band chirp signal in column and row directions, respectively, to generate a first combined matrix and a second combined matrix; Combination; Single value decomposition is performed on the first combination matrix and the second combination matrix to form a first signal space matrix, a second signal space matrix, a first noise space matrix, and a second noise space matrix. An SVD execution unit for outputting a first value matrix and a second value matrix; A path count estimator for estimating the number of multipaths from the first or second particular value matrix, which is a diagonal matrix in which the singular values of the signal and noise are arranged in order; The first projection matrix and the second projection matrix corresponding to the first combination matrix and the second combination matrix, respectively, by collecting vectors of signal components corresponding to the estimated number of paths from the first signal space matrix and the second signal space matrix. A projection matrix generator for generating a projection matrix; Generating a first intermediate matrix by sequentially multiplying the first projection matrix, the first input matrix, and the second projection matrix, and sequentially multiplying the first projection matrix, the second input matrix, and the second projection matrix. A projection unit generating a second intermediate matrix; An EVD performer for outputting eigenvalues by performing a generalized eigen value decompositon on the first intermediate matrix and the second intermediate matrix; And The time delay of the minimum path is estimated by dividing the minimum eigen value corresponding to the first arrival path among the eigenvalues by a phase difference obtained from the difference between the center frequencies of the first band chirp signal and the second band chirp signal, and estimating the time delay of the minimum path. And a distance measuring unit measuring a distance of the minimum path based on the time delay of the minimum path. The method according to claim 1 or 2, Wherein the first band chirp signal and the second band chirp signal have different center frequencies, and arithmetic parameters for a signal duration and a direction of the chirp signal are the same. The method according to claim 1 or 2, And the first band chirp signal and the second band chirp signal are received at a predetermined time interval. The method according to claim 1 or 2, The matrix generator generates the first input matrix and the second input matrix represented by the following matrix:

Where y _i (t) = [y _i (1), y _i (2),... , y _i (N)], where i is a de-packed signal that satisfies i = {1, 2} as a band number of a used chirp signal, and L is a preset number of signal components to be extracted to be. The method of claim 5, Wherein L is determined within a range of N / 3 and N / 2. The method according to claim 1 or 2, And a noise removing unit for removing noise by performing repeated singular value decomposition on each of the first band chirp signal and the second band chirp signal repeatedly received a predetermined number of times. The method of claim 7, wherein The noise canceling unit, A singular value decomposition unit for performing singular value decomposition on each of the first band chirp signal and the second band chirp signal received repeatedly; A signal component extracting unit extracting signal components corresponding to the first band chirp signals and the second band chirp signals based on singular value decomposition of the first band chirp signal and the second band chirp signals; A signal space matrix generator for accumulating signal components corresponding to the first band chirp signals and the second band chirp signals in a column direction to generate a first signal space matrix and a second signal space matrix; And The first signal space matrix and the second signal space matrix are sequentially provided to the singular value decomposition unit, and the signal component extracting unit sequentially decomposes the singular value with respect to the first signal space matrix and the second signal space matrix. And a controller configured to control to extract signal components corresponding to the first band chirp signal and the second band chirp signal. The method of claim 8, And the signal component extracting unit extracts the signal component based on the relative sizes of the components of the diagonal matrix obtained by the singular value decomposition by the singular value decomposition unit. (a) de-packing the first band chirp signal and the second band chirp signal sequentially received through a multipath channel; (b) extracting a predetermined number of signal components sequentially from a first signal component of each of the de-packed first band chirp signal and the de-packed second band chirp signal, thereby generating the first band chirp signal and the second signal; Generating an input matrix corresponding to the band-tapped signal; (c) performing a single value decomposition on a first input matrix corresponding to the first band chirp signal and a second input matrix corresponding to the second band chirp signal to generate a first signal space matrix and a first signal matrix; Outputting a second signal space matrix, a first noise space matrix and a second noise space matrix, and a first particular value matrix and a second particular value matrix; (d) estimating the number of multipaths from the first or second particular value matrix, which is a diagonal matrix in which the singular values of the signal and noise are arranged in order; (e) outputting a first intermediate matrix and a second intermediate matrix by selecting the number of columns corresponding to the estimated number of paths from the first column of the first signal space matrix and the second signal space matrix; (f) performing a generalized eigen value decompositon on the first intermediate matrix and the second intermediate matrices to output eigenvalues; And (g) estimating the time delay of the minimum path by dividing the smallest eigenvalue corresponding to the first arrival path among the eigenvalues by a phase difference obtained from the difference between the center frequencies of the first and second band chirped signals; And measuring the distance of the minimum path based on the estimated time delay of the minimum path. (a) de-packing the first band chirp signal and the second band chirp signal sequentially received through a multipath channel; (b) extracting a predetermined number of signal components sequentially from a first signal component of each of the de-packed first band chirp signal and the de-packed second band chirp signal, thereby generating the first band chirp signal and the second signal; Generating an input matrix corresponding to the band-tapped signal; (c) accumulating a first input matrix corresponding to the first band chirp signal and a second input matrix corresponding to the second band chirp signal in column and row directions, respectively, to form a first combined matrix and a second combined matrix; Generating; (d) A single signal decomposition matrix and a first signal space matrix, a first noise space matrix, and a second noise space matrix are performed by performing singular value decomposition on the first combination matrix and the second combination matrix. And outputting a first special value matrix and a second special value matrix; (e) estimating the number of multipaths from the first or second particular value matrix, which is a diagonal matrix in which the singular values of the signal and noise are arranged in order; (f) a first projection matrix corresponding to the first combination matrix and the second combination matrix by collecting vectors of signal components corresponding to the estimated number of paths from the first signal space matrix and the second signal space matrix; Generating a second projection matrix; (g) generating a first intermediate matrix by sequentially multiplying the first projection matrix, the first input matrix and the second projection matrix, and generating the first projection matrix, the second input matrix and the second projection matrix. Generating a second intermediate matrix by sequentially multiplying; (h) outputting eigenvalues by performing a generalized eigen value decompositon on the first intermediate matrix and the second intermediate matrix; And (i) estimating the time delay of the minimum path by dividing the smallest eigenvalue corresponding to the first arrival path among the eigenvalues by a phase difference obtained from the difference between the center frequencies of the first and second band chirped signals; And measuring the distance of the minimum path based on the estimated time delay of the minimum path. The method of claim 11 or 12, Wherein the first band chirp signal and the second band chirp signal have different center frequencies, and the arithmetic parameters for the signal duration and the direction of the chirp signal are the same. The method of claim 11 or 12, Generating a first input matrix and a second input matrix represented by the following matrix in the step (b):

Where y _i (t) = [y _i (1), y _i (2),... , y _i (N)], where i is a de-packed signal that satisfies i = {1, 2} as a band number of a used chirp signal, and L is a preset number of signal components to be extracted to be. The method of claim 13, Wherein L is determined within a range of N / 3 and N / 2. The method of claim 11 or 12, Between step (a) and step (b), (a1) performing singular value decomposition on each of the first band chirped signal and the second band chirped signal repeatedly received and de-packed; (a2) extracting signal components corresponding to the first band chirp signals and the second band chirp signals based on singular value decomposition of the first band chirp signal and the second band chirp signals; (a3) generating a first signal space matrix and a second signal space matrix by accumulating signal components corresponding to the first band chirp signals and the second band chirp signals in a column direction; (a4) sequentially performing singular value decomposition on the first signal space matrix and the second signal space matrix; And (a5) extracting signal components corresponding to the first band chirp signal and the second band chirp signal based on singular value decomposition of the first signal space matrix and the second signal space matrix; Distance measuring method characterized in that. The method of claim 15, And extracting the signal components based on the relative sizes of the components of the diagonal matrix obtained by singular value decomposition in steps (a2) and (a5). A computer-readable recording medium having recorded thereon a program for executing the distance measuring method according to claim 11 or 12 on a computer.

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