TWI565960B - Ranging method, ranging device, location device and location method - Google Patents

Description

Ranging method, distance measuring device, positioning device and positioning method

The present invention relates to a ranging method, and more particularly to a ranging method and apparatus that takes into account a statistical value of a rising time of a received wireless ranging signal due to noise (eg, When the noise is Additive White Gaussian Noise (AWGN), the statistic is a standard deviation of the time spread, and the above-mentioned ranging is used. A method and apparatus for a method or device.

The ranging method and apparatus mainly estimate the distance between an object and a distance measuring device by using a wireless ranging signal. Ideally, since the wireless ranging signal will attenuate with increasing distance, most of the currently available ranging devices are estimated by detecting the attenuation of the received signal strength of the wireless ranging signal. Measure the distance between the object and the distance measuring device. However, in fact, the attenuation of the signal strength is more reflected in the channel response, so that this type of ranging device must also consider the impact of the channel response. However, for such a ranging device that only utilizes the signal strength attenuation of the detected wireless ranging signal, since it needs to additionally use a channel estimator to obtain the channel response, it adds more cost. In addition, if the channel is in a fast changed (ie, non-static channel), then the estimated distance between the object and the distance measuring device is compared to the actual distance between the object and the distance measuring device. Distance, there may be a large gap.

In addition, since the object absorbs electromagnetic waves (EMW) from the transmitter to the receiver, the strength of the received signal is reasonably reduced. In addition, if the object is blocked in the first Fresnel zone, the received signal level (eg, Received Signal Strength Indicator (RSSI)) should also be reasonably attenuation. For example, an object may be a heavy concrete wall that is susceptible to large amounts of electromagnetic waves (especially when the concrete wall is wet), coal seams, water, or the like.

In summary, distance estimation based on the free-space transmission model can have large errors, with additional attenuation, reflection, diffusion diffraction, and similar physical effects caused by surrounding objects (the above effects depend on the nature of the surrounding objects, Size, electrical, etc.) will increase its error relatively.

Another currently available ranging device calculates or counts the trip time of the received wireless ranging signal to estimate the distance between the object and the ranging device, wherein the interval includes receiving The rise time to the wireless ranging signal. Since the interval time is the time difference between the rise time of the received wireless ranging signal and the rise time of the transmitted wireless ranging signal, the interval time may also be referred to as a delay time. However, due to the inevitable interference of noise in the channel, the rise time of the received wireless ranging signal will be spread, that is, the rising of the received wireless ranging signal The time will be relatively lengthened. Therefore, the estimated distance between the object and the distance measuring device may be less than the actual distance between the object and the distance measuring device.

In addition, some positioning devices may use the above-described ranging device, wherein the distance measuring device is used to estimate the distance between the object and the distance measuring device, and the positioning device is further based on the estimated plurality of distances. Determining the position of the positioning device, or after the distance between the object and the distance measuring device is estimated by the distance measuring device, and the positioning device determines the object according to the estimated plurality of distances. position. In any case, it can be known that the higher the accuracy of the ranging device, the higher the positioning accuracy of the positioning device. Therefore, a distance measuring device with a higher accuracy is required. Set.

Embodiments of the present invention provide a ranging method suitable for use in a ranging device, the steps of which are described below. The ranging method is applicable to a certain ranging device, and the steps of the method are explained as follows. First, the interval time of the received wireless signal is obtained, wherein the received wireless signal is a wireless signal from an object. Next, a statistical value of the rise time of the received wireless signal is calculated. Next, it is determined whether the statistical value of the rise time of the received wireless signal is less than a certain value. Finally, when the statistical value of the rising time of the received wireless signal is less than a specific value, the distance between the object and the ranging device is estimated according to the corrected interval time, wherein the interval is measured by the statistical value of the rising time. The time is corrected to produce a corrected interval time. And, when the statistical value of the rise time of the received wireless signal is not less than a specific value, at least one parameter associated with the statistical value of the rise time is adjusted.

Another embodiment of the present invention provides a distance measuring device. The distance measuring device includes a physical module (PHY module), a medium access control module (MAC module), a controller, and a ranging module, wherein the media access control module is connected. In the physical module, the controller is connected to the media access control module, and the ranging module is connected between the media access control module and the controller. The physical module is configured to receive wireless signals, and the ranging module is configured to perform the ranging method described above.

In addition, the embodiment of the present invention further provides a positioning method and apparatus using the above ranging method or device. The positioning method and device can estimate a plurality of distances between the positioning device and the plurality of objects by using the distance measuring device or method, and further determine the position of the positioning device according to the distances.

Moreover, in the embodiment of the present invention, when the noise is considered to be additive white Gaussian noise, the statistical value of the rise time is a standard deviation of the rise time.

In summary, the present invention is implemented in comparison to a conventional ranging and positioning method or apparatus. The ranging and positioning methods or devices provided by the examples are in turn more accurate.

The detailed description of the present invention and the accompanying drawings are to be understood by the claims The scope is subject to any restrictions.

10, 20~22‧‧‧ base station

12, 13‧‧‧ objects

14, 24 ‧ ‧ mobile phone

R, R1~R3‧‧‧ distance

t _R ‧‧‧interval

t _rise1 , t _rise2 , t _rise , t _Emitted ‧‧‧ rise time

n(t)‧‧‧

A‧‧‧ ideal amplitude

△t _rise ‧‧‧Measurement error, standard deviation

4‧‧‧Ranging device

40‧‧‧Ranging module

41, 61‧‧‧ controller

42, 62‧‧‧Media Access Control Module

43, 63‧‧‧ physical modules

6‧‧‧ Positioning device

60‧‧‧ Positioning Module

S701~S704, S711~S715, S721~S723‧‧‧ Process steps

FIG. 1A is a schematic diagram of a ranging principle provided by an embodiment of the present invention.

FIG. 1B is a schematic diagram of waveforms of a wireless ranging signal transmitted by a ranging device and an ideal wireless response signal returned by an object response according to an embodiment of the present invention.

2A is a schematic diagram of a ranging principle provided by another embodiment of the present invention.

FIG. 2B is a schematic diagram of a waveform of a received ideal wireless ranging signal according to another embodiment of the present invention.

FIG. 3 is a schematic diagram of waveforms of a received real wireless ranging signal according to an embodiment of the present invention.

4 is a functional block diagram of a ranging device according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of a positioning principle provided by an embodiment of the present invention.

FIG. 6 is a functional block diagram of a positioning apparatus according to an embodiment of the present invention.

FIG. 7A is a schematic flow chart of a ranging method provided by an embodiment of the present invention.

FIG. 7B is a schematic flow chart of a ranging method according to another embodiment of the present invention.

FIG. 7C is a schematic flow chart of a ranging method according to another embodiment of the present invention.

In the following, the invention will be described in detail by way of illustration of various embodiments of the invention. However, the inventive concept may be embodied in many different forms and should not be construed as being limited to the illustrative embodiments set forth herein. In addition, the same reference numerals may be used in the drawings to represent similar elements.

Referring to FIG. 1A, FIG. 1A is a schematic diagram of a ranging principle provided by an embodiment of the present invention. Figure. The ranging device is disposed at the base station 10, and includes a circuit therein for estimating an object 12 (eg, a car) and the ranging device (or base station 10) The distance R.

In this embodiment, the ranging device first transmits a wireless ranging signal to the object 12, and then the object 12 returns a wireless acknowledge signal in response to the wireless ranging signal from the ranging device. Or, the object 12 reflects the wireless ranging signal to transmit a wireless reflection signal from the object 12 to the ranging device. In summary, the present invention does not limit the wireless signals received by the ranging device from being reflected or responded to. The following embodiment uses the wireless response signal as an example to illustrate the ranging method of the present invention, but the present invention is not limited thereto. Therefore, those skilled in the art should understand that the wireless response signals described in the following embodiments of FIG. 1A and FIG. 1B may be replaced by wireless reflected signals.

The ranging device receives the wireless response signal returned from the object 12. Therefore, as shown in FIG. 1A, the total transmission distance between the wireless ranging signal and the wireless response signal is 2R, that is, the object 12 and The distance between the distance measuring devices (ie, the base station 10) should be R.

Please refer to FIG. 1A and FIG. 1B simultaneously. FIG. 1B is a schematic diagram of waveforms of a wireless ranging signal transmitted by a ranging device and an ideal wireless response signal returned by an object response according to an embodiment of the present invention. The ideal wireless response signal returned by the object response is received by the ranging device, wherein the interval time (also referred to as delay time) of the ideal wireless response signal received by the ranging device is defined as t _R (which has been Deduct the internal processing time). Specifically, the time interval t _R represents receiving the response over the wireless signal (signal in FIG. 1B below) and the rise time _t rise2 ranging radio signal emitted (upper signal in FIG. 1B) of the rise time _t rise1 The time difference between. The calculation of the interval time _{R R} (ie, the start and stop events) occurs when the signal level exceeds a certain threshold value. Therefore, the threshold value is selected from the lowest value (0%) and the highest value (100) of the ideal amplitude A. %)between. For example, in general, the threshold value is usually chosen to be at the middle of the ideal amplitude A (50%). Thus, the ranging device may estimate the time interval over the radio to respond to the received signal T _R, T _R and R estimate the distance between the object 12 and the distance measuring apparatus according to the time interval, for example, _R = ct R / 2 , where c is the speed of light.

Referring to FIG. 2A, FIG. 2A is a schematic diagram of a ranging principle provided by another embodiment of the present invention. In this embodiment, the distance measuring device is disposed in the mobile phone 14, and the distance measuring device includes circuitry for estimating an object 13 (eg, a base station) and the ranging device (or The distance R between the mobile phones 14).

In this embodiment, the object 13 directly transmits a wireless ranging signal to the ranging device, and the ranging device receives the wireless ranging signal. Therefore, the total transmission distance of the wireless ranging signal is R, that is, the distance between the object 13 and the ranging device (i.e., the mobile phone 14) is also R.

Please refer to FIG. 2A and FIG. 2B simultaneously. FIG. 2B is a schematic diagram of waveforms of the received ideal wireless ranging signal according to another embodiment of the present invention. The ranging device receives the wireless ranging signal and also obtains the rise time t _{Emitted of the} transmitted wireless ranging signal, so that the interval of the ideal wireless ranging signal received by the ranging device can also be obtained (also called As the delay time) is defined as t _R . Specifically, the time interval represented by _{R & lt} rise time t received over this rise time t _rise radio ranging signal of this emitted radio signals ranging _Emitted difference between the time t. Thus, the ranging device may estimate the received time interval to the radio over this ranging signal _R T, R and further estimate the distance between the object 13 and the distance measuring apparatus according to the time interval T _R, for example R = ct _R.

It is to be noted that the various modes described above are used herein by way of example only and are not intended to limit the invention. In other words, the ranging device or method provided by the present invention is applicable to different types of time based measurement (estimation) techniques, for example, one way, two ways or Symmetrical-double sided Round Trip of Flight (RToF) measurements, or Time Difference of Arrival (TDoA) measurements. In addition, the distance measuring device or method provided by the present invention can be further adapted to be based on a signal angle (angled based) measurement techniques, for example, Angle of Arrival (AoA) measurement or Angle of Departure (AoD) measurement.

Next, please refer to FIG. 3. FIG. 3 is a schematic diagram of waveforms of a received real wireless ranging signal according to an embodiment of the present invention. Since there is inevitably interference with the noise n(t) in the channel, the rising edge of the received wireless signal (for example, the received wireless ranging signal, wireless response signal or wireless reflected signal) will be early. An Δt _rise time has exceeded the threshold and the accuracy of the estimated distance is affected. Assuming that the specific threshold value is at the intermediate value (50%) of the ideal amplitude A of the received wireless signal, the rising time t _rise of the received wireless ranging signal is such that the amplitude of the received wireless signal exceeds 0.5A. Time of time.

It is worth noting that the threshold value can be designed according to different needs. In general, the invention is not limited thereto. For example, in this embodiment, the threshold value may be related to the maximum average amplitude avg(A+n(t)) and the minimum average amplitude avg(n(t)) of the received wireless signal, and is equal to (avg (A+n(t))k1+avg(n(t))k2), where the variables k1 and k2 are respectively weighting factors. For example, the weighting coefficients k1 and k2 can both be set to 0.4. In summary, the present invention does not limit the manner in which the threshold value is generated.

The threshold value can also be an optimal threshold value, which is determined by the differentiation of the received wireless signal in the time domain. For example, if the differential of the received wireless signal has a maximum value at a certain time, the amplitude of the received wireless signal at this particular time is defined as the optimal threshold.

Due to the interference of the noise n(t), the rising edge of the received wireless signal will exceed the threshold value by an Δt _rise time, so the measurement error of the rise time t _rise will also be equal to This Δt _rise time (when the noise n(t) is considered to be AWGN, and the standard deviation is the statistical value of the rise time t _rise ). Complex Referring to FIG. 3, can be seen, the rise time of the received wireless signal t _rise over the presence of noise n (t) of the true rise time t of the wireless signal between the _rise has a measurement error △ t _rise.

On the other hand, the slope of the received wireless signal can be obtained by the following formula slope = A / t _rise . In addition, through the prior art, those of ordinary skill in the art should be able to conclude that the slope of the received wireless signal can also utilize the measurement error Δt related to the noise n(t) and the rise time t _rise . The way of _rise is expressed, for example, slope = n ( t ) / Δ t _rise . Therefore, the measurement error Δt _rise equation of the rise time t _rise can be further expressed as follows: Where A ² / n ( t ) ² is the signal-to-noise power ratio of the received baseband signal.

In addition, if the linear detector law and the signal-to-noise ratio are considered, the fundamental frequency signal noise ratio should be twice the intermediate frequency signal. The noise power ratio is S/N. Therefore, its simplified equation can be expressed as follows: .

Then, if the rise time t _{rise of the} received wireless signal is limited by the bandwidth B of the intermediate frequency amplifier (IF amplifier), then the rise time t _rise should be approximately 1/B. In addition, if S=E _S /t _d and N=N ₀ B, the measurement error Δt _rise equation of the rise time t _rise can be simplified as follows: Where E _S is the signal energy of the received wireless signal, t _d is the duration of the received wireless signal, and N ₀ is the power spectral density of the noise n(t) Spectral density, PSD).

In addition, if the same delay measurement is performed on the falling edge of the received wireless signal, the combined result and the average individual measurement will cause the measurement result to be raised to the square root of 2, so the measurement error Δt _rise equation of the rise time t _rise can be expressed as follows: .

It should be noted that, with the above content, those skilled in the art should understand that the measurement error Δt _{rise of} the rise time t _rise is the root mean square of the difference between the measured value and the actual value (Root Mean). Square, RMS), the standard deviation. In addition, if the interference of the distance measurement accuracy is assumed to be receiver noise, it can be further assumed that the deviation error has been eliminated. Therefore, according to the radar theorem, the relationship between the standard deviation of the rise time t _rise , the effective bandwidth B _eff (effective bandwidth), and the signal-to-noise ratio E _S /N ₀ can be defined as follows: .

In addition, the effective bandwidth B _eff can be expressed as: Where the variable f is the frequency and the function S(f) is the spectrum of the received wireless signal. It is worth noting that the effective bandwidth B _{eff is the} same as the root mean square bandwidth B _rms .

In addition, if the received wireless signal has a band limited signal spectrum in the fundamental frequency, for example, a chirp having a constant spectrum size (ie, when the frequency is in-band, |S(f)|=1, and Conversely, if |S(f)| = 0), the effective bandwidth B _{eff is} expressed as follows: .

In other words, the effective bandwidth B _eff can also be expressed as follows: .

Furthermore, if the received wireless signal continues to be a rectangular waveform during period t _d , the root mean square bandwidth B _rms (ie, B _eff ) can be expressed as follows: .

When the spectrum bandwidth is limited to B, the root mean square bandwidth B _{rms of the} above equation can be further expressed as follows: .

After completing multiple calculations, the root mean square bandwidth B _rms (ie, B _eff ) can be simplified as follows: .

It is worth noting that the above standard deviation is calculated mainly for noise. The case of AWGN. However, for other types of noise and interference (especially with regular human interference), the statistical value may not always be the standard deviation, so another way to measure its statistical value may be applicable. In this regard, the following embodiments are mainly described by the statistical value of the rising time as the standard deviation, but the invention is not limited thereto.

Next, in order to further explain the operation of the ranging method, an embodiment of the present invention further provides an embodiment of the distance measuring device. Please refer to FIG. 4. FIG. 4 is a functional block diagram of a ranging device according to an embodiment of the present invention. However, the following distance measuring device is only one of the implementations of the above method, and is not intended to limit the present invention. The ranging device 4 can include a ranging module 40, a controller 41, a media access control module 42, and a physical module 43. The media access control module 42 is connected to the controller 41 and the physical module 43 , and the ranging module 40 is connected between the media access control module 42 and the controller 41 . In addition, each of the above components may be implemented by a pure hardware circuit, or may be implemented by hardware circuits with firmware or software. In summary, the present invention does not limit the specific implementation of the ranging device 4.

Specifically, the physical module 43 can be used to transmit a wireless signal in addition to receiving a wireless signal (for example, a wireless ranging signal, a wireless response signal, or a wireless reflected signal) from a certain location. (for example, wireless ranging signals, wireless response signals, or wireless reflected signals). Further, according to the above teachings, the present art having ordinary knowledge in the art should be appreciated that the ranging module 40 will be taking into consideration the rise time of the received radio signal t standard deviation △ _rise to estimate the t _rise is measured The distance from the device 4 to the object. Furthermore, the ranging module 40 may further instruct the controller 41 to adjust at least one parameter associated with the standard deviation Δt _rise of the rise time t _rise .

In the present embodiment, the ranging module 40 calculates the rise time t _rise of the standard deviation △ t _rise, and the rise time t in accordance with standard deviation △ t _{rise rise} of correcting the time interval of the received wireless signal t _R. Finally, the ranging module 40 can further estimate the distance between the distance measuring device 4 and the object based on the corrected interval time.

Thus, as described above, may be based on the effective bandwidth B _eff, signal energy E _S and the noise n (t) of the power spectral density N ₀ is calculated rise time t _rise of the standard deviation △ t _rise. Or, based on the signal energy E _S , the power spectral density N _{0 of the} noise n(t), the bandwidth of the intermediate frequency amplifier, and the duration of the received wireless signal, the standard deviation Δt of the rise time t _rise is calculated. _Rise . It is noted that the present invention is not limited to calculate the standard deviation rise time t _rise specific implementation of the _rise of △ t, the present technology having ordinary knowledge in the art can be designed according to actual needs or applications.

Embodiment, the measuring module 40 calculates the rise time t _rise after standard deviation △ t _rise, and this rise may be determined standard deviation _rise time t _rise of △ t is smaller than a specific value in another embodiment. If the rise time t _rise standard deviation △ t of this particular value when the small _rise, the ranging module 40 may determine that this is the rise time interval t standard deviation △ t _rise to _rise only slightly affect the wireless signal received t _R . Therefore, the ranging module 40 can estimate the distance between the distance measuring device 4 and the object based on the interval time _{R R of} the received wireless signal. Conversely, if the rise time t standard deviation △ _rise of the t _rise is not less than this certain value, the ranging module 40 determines this standard differential rise time t of t _rise △ _rise seriously affect the received wireless signal interval Time t _R . Thus, the ranging module 40 instructs the controller 41 to adjust to the associated rise time t _rise standard deviation △ t of the at least one parameter of the _rise, and performs the ranging operation again to obtain adjustment parameters in response to the rise time t _rise of the standard The difference is Δt _rise . Thus, the distance measuring device 4 can be effectively eliminated the rise time t of t standard deviation △ _{rise Rise,} to improve the accuracy of distance measurement.

According to the above, the effective bandwidth B _eff , the signal energy E _S , the bit energy E _b , the bit energy and the power spectral density E _b /N ₀ , the type or pulse shape of the wireless signal used, and the threshold value can be It is used to adjust to reduce the standard deviation Δt _rise of the rise time t _rise . For example, a correlated signal can be used as a transmitted or responsive wireless signal, wherein the correlated signal can simultaneously use multiple "complementary" representations of "complementary" representations, such as related signals. Includes up-chirp or down-chirp. It should be noted that the "complementary" representation of the above related signals may have different weights, for example, the rising pulse and the falling pulse have different amplitude amplitudes.

In another embodiment, among the plurality of parameters at a specified constraints, the ranging module 40 may choose to have a rise time of the received radio signal t standard deviation △ _rise to a minimum parameter t _rise group. At least one parameter included in each parameter set is a standard deviation Δt _rise associated with a rise time t _rise of the received wireless signal.

According to the above, under this specific constraint, the effective bandwidth B _eff , the signal energy E _S , the bit energy E _b , the bit energy and the power spectral density E _b /N ₀ , the type of wireless signal used or the pulse wave The shape, the threshold value, and the like may all be adjusted to reduce the standard deviation Δt _rise of the rise time t _rise . For example, under cost constraints and the signal energy E _S and the distance measuring device can select the type or shape of the wireless signal pulse rise time t is allowed to _rise in the standard of a minimum difference △ t _rise, in order to increase the distance Accuracy.

On the other hand, please refer to FIG. 5 again. FIG. 5 is a schematic diagram of the positioning principle provided by the embodiment of the present invention. In the present embodiment, the mobile phone 24 can be equipped with a positioning device, and by means of the positioning device, the respective distances R1 to R3 between the mobile phone 24 and the base stations 20-22 can be obtained. Therefore, the positioning device can thereby effectively determine the position of the mobile phone 24 based on the respective distances R1 to R3.

Next, an embodiment of the positioning device is further provided below. Please refer to FIG. 6. FIG. 6 is a functional block diagram of a positioning apparatus according to an embodiment of the present invention. It should be noted that the positioning device described below is only one of the implementations of the above methods, and is not intended to limit the present invention. The positioning device 6 can include a positioning module 60, a controller 61, a media access control module 62, and a physical module 63. The media access control module 62 is connected to the controller 61 and the physical module 63, and the positioning module 60 is connected between the media access control module 62 and the controller 61. In addition, each of the above components may be implemented by a pure hardware circuit, or by hardware or software, or software. In general, the present invention does not limit the specific implementation of the positioning device 6.

Specifically, the physical module 63 can be used to transmit a wireless signal in addition to receiving a wireless signal from somewhere (for example, a wireless ranging signal, a wireless response signal, or a wireless reflected signal). (for example, wireless ranging signals, wireless response signals, or wireless reflected signals). In addition, according to the above teachings, those of ordinary skill in the art should understand that the positioning module 60 can obtain distance information between a plurality of objects and the positioning device 6, wherein the distances will be from the above consideration to reception. rise time t of the wireless signal standard deviation △ _rise of the t _rise is obtained. In addition, the positioning module 60 can also further instruct the controller 61 to adjust at least one parameter associated with the standard deviation Δt _rise of the rise time t _rise .

In order to further illustrate the operational flow of the ranging device, the present invention further provides several embodiments of its ranging method. Referring to FIG. 7A, FIG. 7A is a schematic flowchart of a ranging method according to an embodiment of the present invention. The method described in this example can be performed in the distance measuring device 4 shown in FIG. 4, so please understand it in conjunction with FIG. In addition, the detailed steps are as described in the foregoing embodiments, and thus are merely summarized herein and are not redundantly described.

First, in step S701, the ranging device obtains the received wireless signal (for example, a wireless ranging signal from an object, a wireless response signal from the object, or wireless from the object) The interval between the reflected signals). Next, in step S702, the ranging device calculates a standard deviation of the rise time of the received wireless signal, wherein the detailed manner of calculating the standard deviation of the rise time of the received wireless signal is as described in the foregoing embodiment, and thus No longer. Next, in step S703, the distance measuring device corrects the interval time of the received wireless signal using the standard deviation of the rise time. Finally, in step S704, the distance measuring device estimates the distance between the object and the distance measuring device based on the corrected interval time.

On the other hand, please refer to FIG. 7B again. FIG. 7B is a schematic flowchart diagram of a ranging method according to another embodiment of the present invention. The method of FIG. 7B can also be performed by the distance measuring device 4 shown in FIG. 4, so please understand it in conjunction with FIG. Compared with the ranging method of FIG. 7A, the ranging method of FIG. 7B further considers whether the standard deviation of the rise time is less than a certain value, so that the ranging device can more effectively eliminate the standard deviation of the rise time to improve the ranging. The accuracy. However, the following is only one of the methods of ranging. A detailed implementation is not intended to limit the invention. First, in step S711, the ranging device acquires an interval time of the received wireless signal, wherein the received wireless signal is a wireless signal from an object (for example, wireless ranging from an object) Signal, the wireless response signal from the object, or the wireless reflection from the object). Next, in step S712, the ranging device calculates a standard deviation of the rise time of the received wireless signal, wherein the detailed manner of calculating the standard deviation of the rise time of the received wireless signal is as described in the foregoing embodiment, so No longer. Next, in step S713, the distance measuring device determines whether the standard deviation of the rise time is less than a specific value.

If the standard deviation of the rise time is less than the specific value, step S714 is performed; conversely, if the standard deviation of the rise time is not less than the specific value, step S715 is performed. In step S714, the distance measuring device estimates the distance between the object and the distance measuring device according to the corrected interval time, wherein the corrected interval time is corrected by using the standard deviation of the rising time. Produced. In step S715, the ranging device adjusts at least one parameter associated with the standard deviation of the rise time, and after adjusting at least one parameter associated with the standard deviation of the rise time, performs the entire ranging operation again, that is, And returning to step S711, the ranging device may reacquire the interval time of the received wireless signal in response to the adjusted at least one parameter. In addition, it should be noted that those of ordinary skill in the art will appreciate that the number of executions of step S711 can be further limited in the method of FIG. 7B. That is to say, the number of executions of this step S711 can be calculated in the method of FIG. 7B, and if the number of executions is greater than a certain number of thresholds, the entire ranging method is terminated, and a measurement error report is proposed.

In addition, please refer to FIG. 7C again. FIG. 7C is a schematic flowchart of a ranging method according to another embodiment of the present invention. The method of FIG. 7C can also be performed in the distance measuring device 4 shown in FIG. 4, so please understand it in conjunction with FIG. In addition, the following is only one of the detailed implementations of the ranging method, which is not intended to limit the present invention. First, in step S721, among a plurality of parameter groups under a certain restriction condition, ranging The device first selects a parameter group having the smallest standard deviation of the rise time of the received wireless signal, wherein each parameter group includes at least one parameter associated with a standard deviation of the rise time of the received wireless signal. Next, in step S722, the distance measuring device acquires the interval time of the received wireless signal. Finally, in step S723, the distance measuring device estimates the distance between the object and the distance measuring device according to the corrected interval time, wherein the corrected interval time is the interval interval by using the standard deviation of the rising time. Time is corrected to produce.

In addition, the embodiment of the present invention further provides a positioning method using one of the above ranging methods. First, by using the above ranging method to estimate a plurality of distances between the positioning device and the plurality of objects, the positioning device then determines the position of the positioning device based on the distances between the objects.

In summary, the ranging and positioning method or device provided by the embodiments of the present invention has higher accuracy than the conventional ranging and positioning method or device.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the invention.

S701~S704‧‧‧ Process steps

Claims (16)

A ranging method is suitable for use in a ranging device, wherein the ranging method comprises the steps of: obtaining a trip time of a received wireless signal, wherein the received wireless signal is from an object. a wireless signal; calculating a statistical value of a rising time of the received wireless signal, wherein the statistical value is a standard deviation of the rising time; determining whether the statistical value of the rising time of the received wireless signal is less than a specific value; when the statistical value of the rising time of the received wireless signal is less than the specific value, estimating a distance between the object and the ranging device according to a corrected interval time, The interval time is corrected by the statistical value of the rise time to generate the corrected interval time; and when the statistical value of the rise time of the received wireless signal is not less than the specific value, Adjusting at least one parameter of the statistic value associated with the rise time in the ranging device; wherein the parameter includes: an effective bandwidth B _eff , a signal energy E _S , one-bit energy E _b , one-bit energy and power spectral density E _b /N ₀ , a type of wireless signal used, a pulse shape. The ranging method according to claim 1, wherein the consideration of a noise is an additive white Gaussian noise. The ranging method according to claim 2, wherein the standard deviation of the rise time is calculated according to an effective bandwidth and energy of the received wireless signal and a power spectral density of the noise. The ranging method of claim 2, wherein the energy of the received wireless signal, a power spectral density of the noise, a bandwidth of an intermediate frequency amplifier, and a duration of the received wireless signal are The duration is calculated to calculate the standard deviation of the rise time. The ranging method of claim 1, wherein the wireless signal is a band limited signal. The ranging method of claim 1, wherein the wireless signal is a complementary signaling. A positioning method is applicable to a positioning device, wherein the positioning method comprises the steps of: obtaining a plurality of distances between the positioning device and the plurality of objects; and determining a position of the positioning device according to the distances; The distance between the positioning device and each of the objects is obtained by: obtaining a trip time of a received wireless signal, wherein the received wireless signal is a wireless signal from the object; a statistical value of a rising time of the received wireless signal, wherein the statistical value is a standard deviation of the rising time; determining whether the statistical value of the rising time of the received wireless signal is less than a specific value; When the statistical value of the rising time of the received wireless signal is less than the specific value, the distance between the object and a ranging device is estimated according to a corrected interval time, wherein the rising time is The statistical value is used to correct the interval to generate the corrected interval time; and when the received wireless signal When the count value is not smaller than the rise time of a certain value, then adjusting the statistical value of the distance-measuring device associated with the rise time of at least one parameter; wherein the parameter comprises: an effective bandwidth B _eff, a signal Energy E _S , one-bit energy E _b , one-bit energy and power spectral density E _b /N ₀ , a type of wireless signal used, a pulse shape. The positioning method according to claim 7, wherein the consideration of a noise is additive white Gaussian noise. The positioning method of claim 8, wherein the standard deviation of the rise time is calculated according to an effective bandwidth and energy of the received wireless signal and a power spectral density of the noise. The positioning method of claim 8, wherein the energy of the received wireless signal, a power spectral density of the noise, a bandwidth of an intermediate frequency amplifier, and a duration of the received wireless signal (duration) to calculate the standard deviation of the rise time. The positioning method of claim 7, wherein the wireless signal is a band limited signal. The positioning method of claim 7, wherein the wireless signal is a complementary signaling. A distance measuring device includes: a physical module for receiving a wireless signal; a media access control module coupled to the physical module; a controller coupled to the media access control module; and a The ranging module is connected between the media access control module and the controller, and is configured to perform the following steps: obtaining a trip time of a received wireless signal, wherein the received wireless The signal is the wireless signal from an object; calculating a statistical value of a rising time of the received wireless signal, wherein the statistical value is a standard deviation of the rising time; determining the rising time of the received wireless signal Whether the statistical value is less than a specific value; when the statistical value of the rising time of the received wireless signal is less than the specific value, estimating the object and the ranging device according to a corrected interval time a distance therebetween, wherein the interval time is corrected by the statistical value of the rise time to generate the corrected interval time; and when the received wireless signal is When the count value is not smaller than the rise time of a certain value, then adjusting the statistical value of the distance-measuring device associated with the rise time of at least one parameter; wherein the parameter comprises: an effective bandwidth B _eff, a signal Energy E _S , one-bit energy E _b , one-bit energy and power spectral density E _b /N ₀ , a type of wireless signal used, a pulse shape. The distance measuring device of claim 13, wherein the noise is an additivity white Gaussian noise. A positioning device includes: a physical module for receiving a wireless signal; a media access control module coupled to the physical module; a controller coupled to the media access control module; and a positioning The module is connected between the media access control module and the controller, and is configured to: obtain a plurality of distances between the positioning device and the plurality of objects; and determine the positioning according to the distances a position of the device; wherein the distance between the positioning device and each of the objects is obtained by: obtaining a trip time of a received wireless signal, wherein the received wireless signal is from the The wireless signal of the object; calculating a statistical value of a rising time of the received wireless signal, wherein the statistical value is a standard deviation of the rising time; determining the statistical value of the rising time of the received wireless signal Whether it is less than a specific value; when the statistical value of the rising time of the received wireless signal is less than the specific value, it is estimated according to a corrected interval time Deviating the distance between the object and a ranging device, wherein the interval time is corrected by the statistical value of the rise time to generate the corrected interval time; and when the received wireless signal is When the statistic value of the rise time is not less than the specific value, adjusting at least one parameter of the statistic value associated with the rise time in the ranging device; wherein the parameter includes: an effective bandwidth B _eff , a signal Energy E _S , one-bit energy E _b , one-bit energy and power spectral density E _b /N ₀ , a type of wireless signal used, a pulse shape. The positioning device of claim 15, wherein the noise is an additivity white Gaussian noise.