TWI736043B - Multi-target radio frequency positioning system, positioning method and initial distance measurement method - Google Patents

Abstract

The present invention is a multi-target radio frequency positioning system, a positioning method, and an initial distance measurement method. The multi-target radio frequency positioning system includes a plurality of transceivers, at least one positioning tag, a signal module and a computing host, wherein the at least one The positioning tag is set on the target to be located, and the transceiver generates a transmission signal and a transmission signal electromagnetic wave; the positioning tag receives the transmission signal electromagnetic wave and generates a modulation signal electromagnetic wave; the transceiver receives the modulation signal electromagnetic wave and generates A modulated signal; the processing unit in the signal module demodulates the modulated signal by an identification signal to generate a received signal, and mixes the received signal with the transmit signal to obtain an intermediate frequency signal; an operation The host compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, and obtains the initial distance and distance change between the positioning tag and each transceiver according to the phase difference, thereby calculating This is the coordinate position of the label.

Description

Multi-target radio frequency positioning system, positioning method and initial distance measurement method

A radio frequency positioning system, a positioning method, and an initial distance measurement method are used to perform radio frequency positioning calculations to locate the coordinate position of the tag and the initial distance between the tag antenna and the transceiver in the positioning tag through the bidirectional signal transmission of the positioning tag and the transceiver.

The positioning technologies used in surgical positioning include mechanical positioning, ultrasonic positioning, electromagnetic positioning, optical positioning, radio frequency positioning, and X-ray and CT. Positioning, etc. At present, most of the positioning technology products used in surgical navigation on the market use infrared positioning in optical positioning technology, which consists of an optical probe and a dynamic reference frame embedded in a reflective sphere. , DRF), through the installation of the reference frame on the surgical instrument and the affected part, the optical technology is used to track the relative position of the surgical instrument and the affected part, and then the surgical guidance software is used to assist the doctor in the precise operation of the instrument. However, the clinical data shows that the optical positioning technology There are problems of direct-view obscuration and the reference frame is large in size, the operating space is easily limited, the device is generally bulky, and it is easy to affect the feel of the doctor in operating the instrument.

The main purpose of the present invention is to provide a radio frequency positioning system that utilizes radio frequency signal transmission for positioning.

The multi-target radio frequency positioning system of the present invention includes a plurality of transceivers, at least one positioning tag, a signal module and a computing host, wherein: Each transceiver includes: A transmitting circuit connected to a transmitting antenna, the transmitting circuit generates a transmitting signal, and a transmitting signal electromagnetic wave corresponding to the transmitting signal is generated through the transmitting antenna for external transmission; and A receiving circuit connected to a receiving antenna, the receiving circuit intercepts a modulation signal electromagnetic wave emitted by the at least one positioning tag through the receiving antenna and generates a modulation signal; The at least one positioning label includes: At least one tag circuit and a tag antenna corresponding to the tag circuit. The tag antenna receives the electromagnetic wave of the transmitted signal externally transmitted by the transmitting antenna, and adds an identification code corresponding to the tag antenna through the tag circuit, and the tag antenna generates the modulation Signal electromagnetic waves are transmitted outwards; The signal module includes: At least one processing unit, a multiplexer, and an analog-to-digital converter, wherein the at least one processing unit is connected to the multiplexer, and each processing unit is responsible for processing the modulation signal of the corresponding tag antenna, and each processing unit It includes an identification circuit and a complex processing circuit. The identification circuit provides an identification signal corresponding to the tag antenna to the processing circuits for each processing circuit to demodulate the modulated signal to obtain a received signal. Each processing circuit Mix the transmitted signal with the received signal to generate an intermediate frequency signal and transmit it to the multiplexer. The multiplexer is connected to the analog-to-digital converter. The multiplexer simplifies the number of channels for signal transmission. Reduce the number of channels of the analog-to-digital converter required by the signal module. The analog-to-digital converter converts the intermediate frequency signal transmitted by the multiplexer into a digital signal format; The arithmetic host is connected to the analog-to-digital converter, the intermediate frequency signal is compared with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, a distance change is calculated from the phase difference, and the distance change is changed according to the phase difference Perform initial distance measurement, coordinate position measurement of each transceiver, or multi-target radio frequency positioning.

The initial distance measurement method of the present invention measures the initial distance between at least one tag antenna in at least one positioning tag and a plurality of transceivers, and the steps include:

計算各該收發器與該至少一定位標籤中該標籤天線的距離變化量，其中，上式中的∆D代表距離變化量、

代表波長、∆Ф代表相位差、π代表圓周率。When at least one positioning tag is set at a plurality of different coordinate positions with known relative positions, the distance change between the tag antenna and the plurality of transceivers set at a plurality of different known coordinate positions is calculated, when the at least one positioning tag When setting at each coordinate position with a known relative position, the following steps are performed: the transmitting circuit in each of the transceivers generates a transmitting signal, and generates a transmitting signal through the transmitting antenna; electromagnetic waves are transmitted outward; the at least one positioning tag The tag antenna in the antenna receives the radio wave of the transmitted signal, adds an identification code corresponding to the tag antenna through the tag circuit, and the tag antenna generates a modulated signal electromagnetic wave and transmits it outward; the receiver in each transceiver The antenna receives the modulated signal electromagnetic wave, the receiving circuit connected to the receiving antenna generates a modulated signal according to the modulated signal electromagnetic wave, and transmits the modulated signal to the signal module; the signal module in the signal module The identification circuit generates an identification signal corresponding to the tag antenna, and each of the processing circuits in the processing unit demodulates the modulated signal by the identification signal to generate a received signal; each of the processing circuits combines the transmitted signal with the The received signal is mixed to obtain an intermediate frequency signal, and then the intermediate frequency signal is transmitted to the multiplexer; the multiplexer receives the intermediate frequency signal transmitted by the processing unit and transmits it to the analog-to-digital converter, and the analog-to-digital converter The converter converts the intermediate frequency signal into a digital signal format and transmits it to the computing host; the computing host compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, and the phase difference , According to the calculation formula of distance change

Calculate the distance change between each transceiver and the tag antenna in the at least one positioning tag, where ∆D in the above formula represents the distance change,

Represents the wavelength, ∆Ф represents the phase difference, and π represents the pi.

The computing host calculates the initial distance between the tag antenna and each transceiver according to the distance change between the tag antenna and each transceiver in the at least one positioning tag.

The multi-target radio frequency positioning method of the present invention measures the coordinate position of at least one tag antenna in at least one positioning tag, and the steps include:

及距離變化量的計算公式

計算各該收發器與該標籤天線的距離，其中，D代表距離、∆D代表距離變化量、D₁ 代表初始距離、

代表波長、∆Ф代表相位差、π代表圓周率；When calculating the distance between at least one positioning tag set at the coordinate position to be located, and a plurality of transceivers set at a plurality of different known coordinate positions, the following steps are performed: The transmitting circuit in each of the transceivers generates a transmitting signal , The transmitting antenna generates a transmitted signal electromagnetic wave for outward transmission; the tag antenna of the at least one positioning tag receives the transmitted signal electric wave, and adds an identification code corresponding to the tag antenna through the tag circuit, the tag antenna Generate a modulated signal electromagnetic wave to transmit outward; the receiving antenna in each transceiver receives the modulated signal electromagnetic wave, and the receiving circuit connected to the receiving antenna generates a modulated signal according to the modulated signal electromagnetic wave, and The modulated signal is transmitted to the signal module; the identification circuit in the signal module generates an identification signal corresponding to the tag antenna, and each processing circuit in the processing unit decodes the modulated signal by the identification signal Modulate to generate a received signal; each processing circuit mixes the transmitted signal and the received signal to generate an intermediate frequency signal, and transmits the intermediate frequency signal to the multiplexer; the multiplexer receives the processing unit The transmitted intermediate frequency signal is sent to the analog-to-digital converter, and the analog-to-digital converter converts the intermediate frequency signal into a digital signal format and transmits it to the computing host; and the computing host compares the intermediate frequency signal with the corresponding center One of the initial intermediate frequency signals of the frequency signal, a phase difference is obtained, with the phase difference, according to the distance calculation formula

And the calculation formula of distance change

Calculate the distance between each transceiver and the tag antenna, where D represents the distance, ∆D represents the distance change, D ₁ represents the initial distance,

Represents the wavelength, ∆Ф represents the phase difference, and π represents the pi ratio;

The computing host calculates the coordinate position of the tag antenna according to the distance between the tag antenna and each transceiver in the at least one positioning tag and the known coordinate position of each transceiver.

The present invention calculates the initial distance between the tag antenna and the plurality of transceivers in the at least one positioning tag through the two-way electromagnetic wave signal transmission of the at least one positioning tag and the plurality of transceivers, which can be applied to the initialization of the radio frequency positioning device; when performing radio frequency positioning, this The invention uses the initial distance between the tag antenna and the plurality of transceivers and the phase difference between the intermediate frequency signal and the initial intermediate frequency signal of each transceiver corresponding to the tag antenna to measure the coordinate position of the tag antenna in the at least one positioning tag and the The orientation of at least one locating tag.

Please refer to FIG. 1, the multi-target radio frequency positioning system of the present invention includes a plurality of transceivers 10, at least one positioning tag 20, a signal module 30 and a computing host 40.

Please refer to FIG. 2, each of the transceivers 10 includes a transmitting circuit 11, a transmitting antenna 12, a receiving circuit 13, and a receiving antenna 14. The transmitting circuit 11 is connected to the transmitting antenna 12, and the receiving circuit 13 is connected to the The receiving antenna 14 is connected; the transmitting circuit 11 generates a transmitting signal, and the transmitting antenna 12 transmits the electromagnetic wave corresponding to the transmitting signal and transmitting the electromagnetic wave to the outside. The receiving circuit 13 captures the at least one positioning tag through the receiving antenna 14 20 transmits a modulation signal electromagnetic wave, and generates a modulation signal.

Please refer to FIG. 3, the at least one positioning tag 20 includes at least one tag circuit 21 and a tag antenna 22 correspondingly connected to the at least one tag circuit 21, and the tag antenna 22 receives the external transmission of the transmitting antenna 12. The signal electromagnetic wave is added with an identification code corresponding to the tag antenna 22 through the tag circuit 21. The tag antenna 22 generates the modulated signal electromagnetic wave and transmits it outwards. Different tag antennas 22 have different identification codes. That is to say, which tag antenna 22 emits the electromagnetic wave of the modulation signal can be identified.

Please refer to FIG. 4A. The signal module 30 includes at least one processing unit 31, a multiplexer 32, and an analog-to-digital converter 33. The at least one processing unit 31 is connected to the multiplexer 32, and each processing unit 31 is connected to the multiplexer 32. The unit 31 is responsible for processing the modulated signal of the corresponding tag antenna 22, so the total number of processing units 31 is equivalent to the total number of tag antennas 22. Further referring to FIG. 4B, the processing unit 31 includes an identification circuit 311 and complex number processing Circuit 312. The identification circuit 311 provides the identification signal corresponding to the tag antenna 22 to the processing circuits 312 for the processing circuits 312 to demodulate the modulated signal to obtain a received signal, and combine the transmitted signal with the The received signal is mixed to generate an intermediate frequency signal and transmitted to the multiplexer 32; the multiplexer 32 is connected to the analog-to-digital converter 33, and the multiplexer 32 simplifies the number of signal transmission channels and reduces the The number of channels of the analog-to-digital converter 33 required by the signal module 30; the analog-to-digital converter 33 converts the intermediate frequency signal transmitted by the multiplexer into a digital signal format and transmits it to the computing host 40; wherein, the processing unit 31 The total number of the processing circuits 312 is equal to the total number of the transceivers 10.

The host computer 40 is connected to the analog-to-digital converter 33, compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, and performs distance and position coordinate calculations based on the phase difference. Since the distance calculation method is obtained through signal phase comparison, the distance calculation error of the distance will be less than one wavelength, so the accuracy of calculating the position coordinates can be improved.

Among them, in the multi-target radio frequency positioning system of the present invention, the transmission signal passes through frequency modulation. In order to be able to distinguish the transmission signals generated by the transceivers 10, each transmission circuit 11 is designed to have a different frequency modulation interval, as shown in Fig. 5A As shown, taking three such transceivers 10 as an example, the three sets of transmit signals TX1~TX3 can adopt different frequency modulation intervals to achieve frequency division multiplexing; as shown in Figure 5B, four such transceivers can also be used. Take the transceiver 10 as an example, each transmitting circuit 11 is designed to sequentially generate transmission signals TX1 to TX4 at different time periods to achieve time division multiplexing; or, as shown in FIG. 5C, use four such transceivers 10 as an example , The four groups of transmission signals TX1~TX4 are distinguished by time division frequency division, so that the transmission signals of the same time or the same frequency will not overlap, so as to achieve the purpose of distinguishing and identifying.

Before the radio frequency positioning system of the present invention performs radio frequency positioning, system initialization is required. First, the position coordinates of each transceiver 10 are measured, and the two-way electromagnetic wave signal transmission between the positioning tag 20 and the transceiver 10 is used to locate each of the transceivers. The position coordinates of the transceiver 10; after the position coordinates of each transceiver 10 are found, the initial distance measurement between the tag antenna 22 in the positioning tag 20 and each transceiver 10 is performed to perform the radio frequency positioning calculation of the positioning tag 20.

Please refer to FIG. 6, in the initial distance measurement method of the present invention, the steps of measuring the initial distance between the tag antenna 22 and each of the transceivers 10 include:

S101: When at least one positioning tag 20 is set at a plurality of different coordinate positions with known relative positions, the distance change from the plurality of transceivers 10 set at a plurality of different known coordinate positions is calculated. When the at least one positioning tag 20 is positioned When the label 20 is set at the coordinate positions of which the relative positions are known, this step is to perform the following steps S102 to S108:

S102: The transmitting circuit 11 in each of the transceivers 10 generates a transmitting signal, and generates a transmitting signal electromagnetic wave through the transmitting antenna 12, and transmits the transmitting signal to the outside in the form of electromagnetic wave;

S103: The tag antenna 22 of the at least one positioning tag 20 receives the transmitted signal radio wave, adds an identification code corresponding to the tag antenna 22 through the tag circuit 21, and the tag antenna 22 generates a modulation signal electromagnetic wave Outward transmission

S104: The receiving antenna 14 in each of the transceivers 10 receives the modulated signal electromagnetic wave, the receiving circuit 13 connected to the receiving antenna 14 generates a modulated signal according to the modulated signal electromagnetic wave, and sends the modulated signal Sent to the signal module 30;

S105: The identification circuit 311 in the processing unit 31 in the signal module 30 generates an identification signal corresponding to the tag antenna 22, and each processing circuit 312 in the processing unit 31 demodulates the modulated signal by the identification signal Change to generate a received signal;

S106: Each processing circuit 312 mixes the transmit signal with the received signal to obtain an intermediate frequency signal IF, and then transmits the intermediate frequency signal IF to the multiplexer 32;

S107: The multiplexer 32 receives the intermediate frequency signal IF transmitted by the processing unit 31 and transmits it to the analog-to-digital converter 33. The analog-to-digital converter 33 converts the intermediate frequency signal IF into a digital signal format and transmits it to the Operation host 40;

計算各該收發器10與該至少一定位標籤20中該標籤天線22的距離變化量∆D；S108: The computing host 40 compares the intermediate frequency signal IF with an initial intermediate frequency signal IF _{1 corresponding to the} intermediate frequency signal IF, and obtains a phase difference ∆Ф. With the phase difference ∆Ф, the distance change ∆D Calculation formula

Calculate the distance change ΔD between each of the transceiver 10 and the tag antenna 22 in the at least one positioning tag 20;

S109: The computing host 40 calculates the initial distance between the tag antenna 22 and each transceiver 10 according to the distance change ΔD between the tag antenna 22 and each transceiver 10 in the positioning tag 20.

In step S106, each of the processing circuits 312 in the processing unit 31 may define an intermediate frequency signal obtained by mixing the first transmitted signal and the first received signal as an initial intermediate frequency signal.

Please refer to FIG. 7A and FIG. 7B. A radio frequency positioning system including four transceivers 10a~10d, a positioning tag 20, a signal module 30 and a computing host 40 operates in a three-dimensional environment with time-sharing multiplexing. In the first embodiment, the above steps S101 to S109 are described. In a three-dimensional environment, at least four different and known relative positions of the positioning tag 20 are required to solve for each tag antenna 22 and four transceivers in the positioning tag 20 The initial distance of 10a~10d. In this embodiment, six different positions of the positioning tag 20 with known relative positions are taken as an example, and the positioning tag 20 includes three tag circuits 21 and three tag antennas 22. To facilitate the description of the following circuit actions, the three tag antennas in the positioning tag 20 are specifically labeled A1 to A3 here. Place the positioning tag 20 at a first unknown coordinate position in the environment, and fix the first to fourth transceivers 10a-10d at known coordinate positions (x _a , y _a , z _a ), (x _b , y _b , z _b ), (x _c , y _c , z _c ), (x _d , y _d , z _d ), and the first to fourth transceivers 10a to 10d are connected to a signal module 30, The signal module 30 includes three processing units 31 a to 31 c, a multiplexer 32 and an analog-to-digital converter 33, and the signal module 30 is connected to a computing host 40.

Please refer to Figure 8, the positioning label 20 can be installed on a jig, the jig has a plurality of installation slots, the x-axis, y-axis, z-axis distance changes between the installation slots are known Take the coordinates of the positioning label 20 installed in the slot A and the slot B as an example. The positioning label 20 is installed in the coordinates (x _A , y _A , z _A ) of the slot A and the coordinates (x A, y A, z A) installed in the slot B _B , y _B , z _B ) between the x-axis distance change Δx, the y-axis distance change Δy, and the z-axis distance change Δz can be known through the fixture for the computing host 40 to perform Step S109.

First, the transmitting circuit 10a of the first transceiver 11a is generated in a transmission signal S _a, and transmit through the transmitting antenna 12a connected thereto to the transmission signal S _a signal corresponding to the emission of electromagnetic waves E _a, and the transmission signal S _a will also be transmitted to the processing circuit 312a of the three processing units 31a~31c; after the positioning tag 20 receives the transmitted signal electromagnetic wave E _a through the three tag antennas A1~A3, the tag circuit 21a adds it to the tag antenna The electromagnetic wave of the modulated signal generated by an identification code of A1 is labeled E _at1A1 , and the electromagnetic wave of the modulated signal generated by adding an identification code of the second and third tag antennas A2 and A3 to the tag circuits 21b, 21c is labeled E _at1A2 E _at1A3 , the three tag antennas A1~A3 transmit the modulated signal electromagnetic waves E _at1A1 , E _at1A2 , E _at1A3 ; the receiving antenna 14a receives the modulated signal electromagnetic waves E _at1A1 , E _at1A2 , E _at1A3 , and then the receiving circuit 13a generates a modulated signal wave _E at1A1, E at1A2, E at1A3 corresponding to a modulation signal _{S at1A1, S at1A2, S at1A3} .

In the same way, the transmitting circuits 11b-11d in the second to fourth transceivers 10b, 10c, and 10d generate transmitting signals in sequence, and output electromagnetic waves of the transmitted signals through the transmitting antennas 12b-12d connected to them; the positioning tag 20 through three tag antennas A1~A3 to receive the transmitted signal electromagnetic waves in sequence, and the modulation signal electromagnetic waves generated by the tag circuit 21a adding an identification code of the tag antenna A1 are marked as E _bt1A1 , E _ct1A1 , E _dt1A1 , The electromagnetic waves of the modulated signal generated by the tag circuits 21b, 21c adding the identification codes of the second and third tag antennas A2 and A3 are marked as E _bt1A2 , E _ct1A2 , E _dt1A2 , E _bt1A3 , E _ct1A3 , E _dt1A3 , three The tag antennas A1~A3 transmit the electromagnetic waves of the modulation signals outward; the receiving antennas 14b-14d receive the electromagnetic waves of the modulation signals, and then the receiving circuits 13b-13d generate electromagnetic waves corresponding to the modulation signals. Corresponding modulation signal.

The first processing unit 31a in the signal module 30 receives the modulated signal S _at1A1 corresponding to the tag antenna A1 transmitted by the first transceiver 10a, and the identification circuit 311a in the first processing unit 31a generates the modulation signal corresponding to the tag antenna A1. An identification signal of A1 for the processing circuit 312a to _{demodulate the modulated signal S at1A1 to} generate a corresponding received signal S _at1A1 '; the first processing unit 31a receives the second to fourth transceivers 10b~10d and transmits corresponding to the The modulation signal of the tag antenna A1, the identification circuit 311a in the first processing unit 31a generates an identification signal corresponding to the tag antenna A1, and the processing circuits 312b~312d demodulate the modulation signal to generate the corresponding received signal .

Similarly, the second and third processing units 31b~31c in the signal module 30 receive the modulated signals S _at1A2 and S _at1A3 corresponding to the tag antennas A2 and A3 transmitted by the first transceiver 10a, and the second The identification circuits 311b and 311c in the processing unit 31b and the third processing unit 31c generate an identification signal corresponding to the tag antennas A2 and A3 for each processing circuit in the second processing unit 31b and the third processing unit 31c 312a respectively _{demodulates the modulated signals S at1A2} and S _{at1A3 to} generate corresponding received signals S _at1A2 'and S _at1A3 '; the second and third processing units 31b and 31c receive the second to fourth transceivers 10b~10d. The modulation signals corresponding to the tag antennas A2 and A3 are transmitted, and the identification circuits 311b and 311c in the second processing unit 31b and the third processing unit 31c generate an identification signal corresponding to the tag antennas A2 and A3 for The processing circuits 312b to 312d demodulate the modulated signal to generate corresponding received signals.

The first processing unit 31a _{mixes the transmitted signal S a} with the received signal S _{at1A1 ′ to generate an initial intermediate frequency signal S at1A1} corresponding to the tag antenna A1 when the tag antenna A1 is set at the first unknown position. ; the second, third processing unit 31b, 31c respectively transmit signal and the received signal S _{a S} at1A2 ', S at1A3' mixes, generating a first transceiver 10a corresponding to the tag antenna A2, A3 disposed on the first unknown An initial intermediate frequency signal S _{at1A2 ”} , S _{at1A3 ”} at the time of the position.

In the same way, the first to third processing units 31a to 31c respectively mix the transmitted signals of the second to fourth transceivers 10b to 10d with the received signals to generate second to fourth transceivers 10b to 10d corresponding to the tags The initial intermediate frequency signal when the antennas A1 to A3 are set at the first unknown position.

The multiplexer 32 receives the initial intermediate frequency signals transmitted by the first to third processing units 31a to 31c, and transmits them to the analog-to-digital converter 33, and the analog-to-digital converter 33 transmits the initial intermediate frequency signals Converted into a digital signal format, and transmitted to the computing host 40.

The positioning tag 20 is placed in a second position. The relative position of the second position and the first unknown coordinate position is known. Taking the first transceiver 10a as an example, the transmitting circuit 11a in the first transceiver 10a generating a transmission signal S _a, and transmit through the transmitting antenna 12a connected thereto to the transmission signal S _a signal corresponding to the emission of electromagnetic waves E _a, and which also sends the transmission signal S _a to the three processing units 31a ~ 31c of In the processing circuit 312a; after the positioning tag 20 receives the transmitted signal electromagnetic wave E _a through three tag antennas A1 ~ A3, the modulation signal electromagnetic wave generated by the tag circuit 21a adding an identification code of the tag antenna A1 is marked as E _at2A1 , the modulation signal generated by adding an identification code of the second and third tag antennas A2 and A3 to the tag circuits 21b, 21c, the electromagnetic waves are marked as E _at2A2 , E _at2A3 , and the three tag antennas A1~A3 will be modulated Signal electromagnetic waves E _at2A1 , E _at2A2 , E _at2A3 are transmitted outward; the receiving antenna 14a receives modulation signal electromagnetic waves E _at2A1 , E _at2A2 , E _at2A3 , and then the receiving circuit 13a generates and modulates signal electromagnetic waves E _at2A1 , E _at2A2 , E _at2A3 corresponding to a modulation signal _{S at2A1, S at2A2, S at2A3} .

The first to third processing units 31a to 31c in the signal module 30 receive the modulated signals S _at2A1 , S _at2A2 , and S _at2A3 corresponding to the tag antennas A1 to A3 transmitted by the first transceiver 10a, and the first ~The identification circuits 311a~311c in the third processing units 31a~31c generate an identification signal corresponding to the tag antennas A1~A3 for the respective processing circuits 312a in the first~third processing units 31a~31c to respectively modulate The signals S _at2A1 , S _at2A2 , and S _{at2A3 are} demodulated to generate corresponding received signals S _at2A1 ', S _at2A2 ', and S _at2A3 '.

The first to third processing units 31a ~ 31c are respectively the transmit signal and the received signal S _{a S at2A1 ', S at2A2',} S at2A3 ' mixes, generating a first transceiver 10a corresponding to the tag antenna provided in the A1 ~ A3 an intermediate frequency signal _S at2A1 second position at which the _{'', S at2A2 '',} S at2A3 ''.

The multiplexer 32 receives the first to third processing units 31a ~ 31c of the first transceiver 10a to transmit the intermediate frequency signal _{S at2A1 '', S at2A2 '} ', S at2A3 '', such ratio and transmitted to digital conversion The analog-to-digital converter 33 converts the intermediate frequency signals S _{at2A1 ”} , S _{at2A2 ”} , and S _{at2A3 ”} into digital signal formats and transmits them to the computing host 40.

The host computer compares the _{phases of the} intermediate frequency signals S at2A1 ``, S <sub>at2A2</sub> '', and S <sub>at2A3</sub> '' with the phases of the initial intermediate frequency signals S <sub>at1A1</sub> '', S <sub>at1A2</sub> '', and S <sub>at1A3</sub> ``, respectively, and obtains The first transceiver 10a corresponds to the phase difference _{∆Ф at2A1} , _{∆Ф at2A2} , and _{∆Ф at2A3 of the} tag antennas A1 to A3.

In the same way, the transmitting circuits 11b-11d in the second to fourth transceivers 10b-10d generate transmission signals, and transmit the transmission signals corresponding to the transmission signals through the transmission antennas 12b-12d connected to them. Electromagnetic waves, and the transmitted signals will also be transmitted to the processing circuit 312a of the three processing units 31a~31c; after the positioning tag 20 receives the electromagnetic waves of the transmitted signals through the three tag antennas A1~A3, the tag circuit 21a~ 21c adds an identification code corresponding to the tag antennas A1 to A3 to the transmitted signal electromagnetic waves to generate the modulated signal electromagnetic waves, and then the three tag antennas A1 to A3 transmit the modulated signal electromagnetic waves outward; the receiving antennas 14b-14d receive the electromagnetic wave of the modulation signal, and then the receiving circuit 13b-13d generates the modulation signal corresponding to the electromagnetic wave of the modulation signal.

The first to third processing units 31a to 31c in the signal module 30 receive the modulated signals corresponding to the tag antennas A1 to A3 transmitted by the second to fourth transceivers 10b to 10d. The identification circuits 311a to 311c in the three processing units 31a to 31c generate an identification signal corresponding to the tag antennas A1 to A3 for the processing circuits 312b to 312d in the first to third processing units 31a to 31c to respectively modulate The signal is demodulated, and the corresponding received signal is generated.

The first to third processing units 31a to 31c respectively mix the transmitted signals of the second to fourth transceivers 10b to 10d with the received signals to generate the second to fourth transceivers 10b to 10d corresponding to tag antennas The intermediate frequency signals when A1 to A3 are set at the second position.

The multiplexer 32 receives the intermediate frequency signals from the second to fourth transceivers 10b to 10d transmitted by the first to third processing units 31a to 31c, and transmits them to the analog-to-digital converter 33, and the analog-to-digital conversion The converter 33 converts the intermediate frequency signals of the second to fourth transceivers 10 b to 10 d into a digital signal format and transmits it to the computing host 40.

The computing host 40 performs phase comparison of the intermediate frequency signals with the corresponding initial intermediate frequency signals to obtain the phase differences of the tag antennas A1 to A3 corresponding to the second to fourth transceivers 10b to 10d.

Then, the positioning tag 20 is placed in a third position, a fourth position, a fifth position, and a sixth position in sequence. The relative positions of the third to sixth positions and the first unknown coordinate position have been It is known that by repeating the above procedures S102 to S107, the computing host 40 obtains that when the positioning tag 20 is at the third to sixth positions, the first to fourth transceivers 10a to 10d correspond to the phase differences of the tag antennas A1 to A3.

得知該定位標籤20中標籤天線A1~A3設置於該第二~第六位置時分別與該第一未知座標位置的距離變化量ΔD_at2A1 ~ΔD_at6A1 、ΔD_at2A2 ~ΔD_at6A2 、ΔD_at2A3 ~ΔD_at6A3 ，得到下列關係式：

其中，(x_t1A1 ,y_t1A1 ,z_t1A1 )代表該標籤天線A1設置於該第一未知座標位置時的未知座標，已知量∆x_t2A1 ~∆x_t6A1 代表該定位標籤20中該標籤天線A1設置於該第二~第六位置時與該第一未知座標位置的x軸方向距離變化量，已知量∆y_t2A1 ~∆y_t6A1 代表該定位標籤20中該標籤天線A1設置於該第二~第六位置時與該第一未知座標位置的y軸方向距離變化量，已知量∆z_t2A1 ~∆z_t6A1 代表該定位標籤20中該標籤天線A1設置於該第二~第六位置時與該第一未知座標位置的z軸方向距離變化量。In step S108, taking the measurement of the distance change between the first transceiver 10a and the tag antenna A1~A3 as an example, the calculation host 40 can determine the phase difference _{∆Ф at2A1} ~ _{∆Ф at2A3} , _{∆Ф at3A1} ~∆Ф _at3A3 , _{∆Ф at4A1} ~ _{∆Ф at4A3} , _{∆Ф at5A1} ~ _{∆Ф at5A3} , _{∆Ф at6A1} ~ _{∆Ф at6A3} according to the formula

It is known that when the tag antennas A1~A3 of the positioning tag 20 are set at the second to sixth positions, the distance change ΔD _at2A1 ~ΔD _at6A1 , ΔD _at2A2 ~ΔD _at6A2 , ΔD _at2A3 ~ΔD _at6A3 , get the following relationship:

Among them, (x _t1A1 ,y _t1A1 ,z _t1A1 ) represents the unknown coordinate when the tag antenna A1 is set at the first unknown coordinate position, and the known quantity ∆x _t2A1 ~ ∆x _t6A1 represents the tag antenna A1 in the positioning tag 20 When set at the second to sixth positions, the distance change in the x-axis direction from the first unknown coordinate position. The known quantities ∆y _t2A1 ~ ∆y _t6A1 represent that the tag antenna A1 of the positioning tag 20 is set in the second ~ The change in the y-axis distance from the first unknown coordinate position at the sixth position, the known quantity ∆z _t2A1 ~ ∆z _t6A1 represents when the tag antenna A1 in the positioning tag 20 is set at the second to sixth positions The amount of change in the z-axis distance from the first unknown coordinate position.

In step S109, taking the tag antenna A1 and the first transceiver 10a as an example, when the computing host 40 is placed at the second to sixth positions through the tag antenna A1, the distance change ΔD from the first unknown coordinate position respectively _at2A1 ~ΔD _at6A1 , get the following relationship matrix:

以此類推，該運算主機40可透過上述方法得知該定位標籤20中該標籤天線A2、A3設置於該第一未知座標位置時與第一收發器10a的初始距離D_at1A2 、D_at1A3 。 _{Then know the initial distance D at1A1} between the tag antenna A1 of the positioning tag 20 and the first transceiver 10a when the tag antenna A1 is set at the first unknown coordinate position through the following relationship matrix:

_{By analogy, the computing host 40 can learn the initial distances D at1A2} and D _at1A3 between the tag antennas A2 and A3 of the positioning tag 20 and the first transceiver 10a when the tag antennas A2 and A3 are set at the first unknown coordinate position through the aforementioned method.

In the same way, the computing host 40 can also learn the initial distances between the tag antennas A1, A2, and A3 of the positioning tag 20 and the second to fourth transceivers 10b~10d when the tag antennas A1, A2, A3 are set at the first unknown coordinate position through the above-mentioned method. .

After the initial distance measurement of the tag antenna 22 in a positioning tag 20, when the plurality of transceivers 10 do not move, the positioning tag 20 can be set at the target location to be located, and radio frequency of the target to be located can be performed. For positioning, please refer to Figure 9. The steps of the multi-target radio frequency positioning method of the present invention include:

S201: When calculating the distance between the tag antenna 22 and the plurality of transceivers 10 arranged at a plurality of different known coordinate positions when at least one positioning tag 20 is set at the coordinate position to be located, the following steps S202 to S208 are performed;

S202: The transmitting circuit 11 in each of the transceivers 10 generates a transmitting signal, and the transmitting antenna 12 generates a transmitting signal electromagnetic wave for outward transmission;

S203: The tag antenna 22 of the at least one positioning tag 20 receives the transmitted signal radio wave, adds an identification code corresponding to the tag antenna 22 through the tag circuit 21, and the tag antenna 22 generates a modulation signal electromagnetic wave Outward transmission

S204: The receiving antenna 14 in each transceiver 10 receives the modulated signal electromagnetic wave, the receiving circuit 13 connected to the receiving antenna 14 generates a modulated signal according to the modulated signal electromagnetic wave, and sends the modulated signal Sent to the signal module 30;

S205: The identification circuit 311 in the signal module 30 generates an identification signal corresponding to the tag antenna 22, and each of the processing circuits 312 in the processing unit 31 demodulates the modulated signal by the identification signal to generate a receive signal;

S206: Each processing circuit 312 mixes the transmission signal and the reception signal to generate an intermediate frequency signal, and transmits the intermediate frequency signal to the multiplexer 32;

S207: The multiplexer 32 receives the intermediate frequency signal transmitted by the processing unit 31 and transmits it to the analog-to-digital converter 33. The analog-to-digital converter 33 converts the intermediate frequency signal into a digital signal format and transmits it to the arithmetic host 40;

及距離變化量的計算公式

計算各該收發器10與該定位標籤20中該標籤天線22的距離；S208: The computing host 40 compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal, and obtains a phase difference ∆Ф. With the phase difference ∆Ф, the distance calculation formula is used

And the calculation formula of distance change

Calculate the distance between each transceiver 10 and the tag antenna 22 in the positioning tag 20;

S209: The computing host 40 calculates the coordinate position of the tag antenna 22 according to the distance between the tag antenna 22 and each transceiver 10 in the positioning tag 20 and the known coordinate position of each transceiver 10.

In step S208, the initial intermediate frequency signal is the intermediate frequency signal obtained by the tag antenna 22 in the initial distance measurement step S106, and each of the processing circuits 312 mixes the first transmitted signal with the first received signal. .

Please refer to FIG. 10A and FIG. 10B. A radio frequency positioning system including four transceivers 10a~10d, a positioning tag 20, a signal module 30 and a computing host 40 operates in a three-dimensional environment with time division multiplexing. In the second embodiment, the above steps S201 to S209 are described. In this embodiment, the first to fourth transceivers 10a-10d are fixedly arranged at known coordinate positions (x _a , y _a , z _a ), (x _b , y _b , z _b ), (x _c , y _c , z _c ), (x _d , y _d , z _d ), and the first to fourth transceivers 10a to 10d are connected to a signal module 30 that includes three processing units 31a to 31c, A multiplexer 32 and an analog-to-digital converter 33, and the signal module 30 is connected to an arithmetic host 40, and the positioning tag 20 includes three tag circuits 21 and three tag antennas 22, in order to facilitate the description of the following circuits Action, the three antennas in the positioning tag 20 are specifically marked as A1~A3 here.

First, the positioning tab 20 is provided to be positioned in a known position, to the tag antenna A1, for example, the transmitting circuit 10a of the first transceiver 11a generates in a transmission signal S _a, and transmitted through the transmitting antenna connected thereto 12a transmit the transmission signal S _a signal corresponding to the emission of electromagnetic waves E _a, the transmission signal S _a and also transmitted to the processing circuit 31a of the processing unit 312a; and positioning the tag 20 receiving the tag through the transmitting antennas A1 After the signal electromagnetic wave E _a , the tag circuit 21a adds an identification code of the tag antenna A1, the tag antenna A1 generates a modulation signal electromagnetic wave E _atA1 and transmits it outward; the receiving antenna 14a receives the modulation signal electromagnetic wave E _atA1 , and then the reception circuit 13a generates a modulated signal corresponding to the electromagnetic waves _E atA1 a modulated signal S _atA1.

In the same way, the transmitting circuits 11b-11d in the second to fourth transceivers 10b, 10c, and 10d sequentially generate transmission signals S _b , _Sc , S _d , and pass through the transmitting antenna 12 b ˜ connected thereto. 12d outputs the corresponding emission signal electromagnetic waves E _b , E _c , E _d ; the positioning tag 20 sequentially receives the emission signal electromagnetic waves E _b , E _c , E _d through the tag antenna A1, and is added by the tag circuit 21a An identification code of the tag antenna A1, the tag antenna A1 generates the modulation signal electromagnetic waves E _btA1 , E _ctA1 , E _dtA1 and transmits outwards; the receiving antennas 14b-14d receive the modulation signal electromagnetic waves E _btA1 , E _ctA1 , E _dtA1 , and then the receiving circuits 13b-13d generate modulation signals S _btA1 , S _ctA1 , S _dtA1 corresponding to the electromagnetic waves of the modulation signals, respectively.

The first processing unit 31a in the signal module 30 receives the modulated signal S _atA1 corresponding to the tag antenna A1 transmitted by the first transceiver 10a, and the identification circuit 311a in the first processing unit 31a generates the modulation signal corresponding to the tag antenna A1. An identification signal of A1 is used by the processing circuit 312a to _{demodulate the modulated signal S atA1 to} generate the corresponding received signal S _atA1 '; in the same way, the first processing unit 31a in the signal module 30 receives the second to fourth _{The modulated signals S btA1} , S _ctA1 , and S _dtA1 corresponding to the tag antenna A1 transmitted by the transceivers 10b~10d, the identification circuit 311 in the first processing unit 31a generates an identification signal corresponding to the tag antenna A1 for The processing circuits 312b to 312d _{demodulate the modulated signals S btA1} , S _ctA1 , and S _{dtA1 to} generate corresponding received signals S _btA1 ′, S _ctA1 ′, and S _dtA1 ′.

The first processing unit 31a _{mixes the transmitted signals S a} , S _b , S _c , and S _d with the received signals S atA1 ′, S _btA1 ′, S _ctA1 ′, S _dtA1 ′, respectively, to generate first to fourth transceivers. device 10a ~ 10d correspond to the tag antenna A1 disposed in the intermediate frequency signal _S atA1 to be positioned at the position _{'', S btA1 '',} S ctA1 '', S dtA1 ''.

By analogy, taking tag antennas A2 and A3 as examples, the transmitting circuits 11a-11d in the first to fourth transceivers 10a-10d generate a transmission signal, and transmit it through the transmitting antenna 12a-12d connected to it. The transmission signal electromagnetic wave corresponding to the transmission signal, and the transmission signal will also be transmitted to the processing circuits 312a~312d of the processing units 31b and 31c; the positioning tag 20 receives the transmission signal through the tag antennas A2 and A3. After transmitting the signal electromagnetic waves, the tag circuits 21b, 21c add an identification code of the tag antennas A2, A3, and the tag antennas A2, A3 generate the modulated signal electromagnetic waves and transmit them outward; the receiving antennas 14a ~14d receives the electromagnetic wave of the modulation signal, and then the receiving circuits 13a-13d generate the modulation signal corresponding to the electromagnetic wave of the modulation signal.

The second and third processing units 31b and 31c in the signal module 30 receive the modulated signals corresponding to the tag antennas A2 and A3 transmitted by the first to fourth transceivers 10a to 10d, and the second and third The identification circuits 311b and 311c in the processing units 31b and 31c generate an identification signal corresponding to the tag antennas A2 and A3 for the processing circuits 312a to 312d to demodulate the modulated signal to generate the corresponding received signal; The second and third processing units 31b and 31c respectively mix the transmitted signals of the first to fourth transceivers 10a to 10d with the received signals to generate the first to fourth transceivers 10a to 10d corresponding to the tag antennas A2 to A3 Set each intermediate frequency signal at the position to be positioned.

The first to third processing units 31a to 31c transmit the intermediate frequency signals corresponding to the tag antennas A1 to A3 when the tag antennas A1 to A3 are set to the multiplexer 32 to the multiplexer 32, and the multiplexer 32 transfers The first transceiver 10a corresponds to each intermediate frequency signal when the tag antennas A1~A3 are set at the position to be located and transmits to the analog-to-digital converter 33, and then the analog-to-digital converter 33 converts the first transceiver 10a to the tag When the antennas A1 to A3 are set at the position to be positioned, each intermediate frequency signal is converted into a digital signal format and transmitted to the computing host 40.

In the same way, the first to third processing units 31a to 31c sequentially transmit the intermediate frequency signals of the second to fourth transceivers 10b to 10d corresponding to the tag antennas A1 to A3 to the position to be located. The multiplexer 32 sequentially transmits the intermediate frequency signals of the second to fourth transceivers 10b to 10d corresponding to the tag antennas A1 to A3 at the position to be positioned to the analog-to-digital converter 33 , And then the analog-to-digital converter 33 sequentially converts the IF signals of the second to fourth transceivers 10b to 10d corresponding to the tag antennas A1 to A3 when the tag antennas A1 to A3 are set to the position to be positioned into a digital signal format for transmission to the calculation Host 40.

The initial operation by the host 40 to the intermediate frequency signal _S at1A1 tag antenna A1 in the initial distance measurement obtained in the _{'', S bt1A1 '',} S ct1A1 '', S dt1A1 '', respectively, the intermediate frequency signal S _AtA1 '', S _btA1 '', S _ctA1 '', S _dtA1 '' perform phase comparison to obtain phase differences _{∆Ф atA1} , _{∆Ф btA1} , _{∆Ф ctA1} , _{∆Ф dtA1} .

得知該標籤天線A1設置於該欲定位位置時與第一座標位置的距離變化量ΔD_atA1 、ΔD_btA1 、ΔD_ctA1 、ΔD_dtA1 ，並根據距離D=距離變化量∆D+初始距離D₁ 得到下列關係式：

In step S208, taking the measurement of the distance between the first to fourth transceivers 10a and the tag antenna A1 as an example, the computing host 40 can be based on the phase differences _{∆Ф atA1} , _{∆Ф btA1} , _{∆Ф ctA1} , and _{∆Ф dtA1} formula

_{Knowing the distance change ΔD atA1} , ΔD _btA1 , ΔD _ctA1 , and ΔD _dtA1 from the first coordinate position when the tag antenna A1 is set at the position to be located, and according to the distance D=distance change ΔD+initial distance D _{1, the} following are obtained Relationship:

In step S209, taking the tag antenna A1 in the positioning tag 20 as an example, the computing host 40 can pass through the known coordinate positions (x _a , y _a , z _a ), (x _b ,y _b ,z _b ), (x _c ,y _c ,z _c ), (x _d ,y _d ,z _d ), calculate the coordinate position of the tag antenna A1 according to the following relationship:

Similarly, the computing host 40 can calculate the coordinate positions (x _tA2 , y _tA2 , z _tA2 ) and (x _tA3 , y _tA3 , z _tA3 ) of the tag antennas A2 and A3 according to the above process.

After the computing host 40 knows the coordinate positions of the tag antennas A1 to A3, it can further calculate the position (u, v, w) of the positioning tag 20 according to the following formula.

In another embodiment, it includes four transceivers 10a-10d, three positioning tags 20, a signal module 30 and a computing host 40, wherein each positioning tag 20 has a tag circuit 21 and a tag antenna 22, The signal module 30 has three processing units 31a~31c, a multiplexer 32, and an analog-to-digital converter 33. Each processing unit 31 has an identification circuit 311 and four processing circuits 312a~312d. The following is for convenience of description , The tag antennas 22 of the three positioning tags 20 are respectively labeled as A1, A2, and A3. The three positioning tags are set on a target to be located.

The host computer 40 receives the intermediate frequency signals output by the three processing units 30a-30c through the signal module 30, and obtains the initial distance measurement by the three tag antennas A1, A2, and A3 Initial IF signal and initial distance, respectively calculate the coordinate positions of the three tag antennas A1, A2, A3 (x _t1A1 ,y _t1A1 ,z _t1A1 ), (x _t2A2 ,y _t2A2 ,z _t2A2 ), (x _t3A3 , y _t3A3 , z _t3A3 ), and the computing host 40 can further calculate the orientation (u, v, w) of the target according to the following formula.

In summary, the present invention can locate and find the coordinate position of the positioning tag 20 based on the two-way electromagnetic wave signal transmission between the transceiver 10 and the positioning tag 20. Further referring to FIG. 11, the method of the present invention can be applied to the preoperative erection process and the positioning process of the surgical positioning device. The radio frequency positioning calculation is performed through the transmitted signals and received signals of the transceivers 10, and each of the position tags 20 is measured. The initial distance between the tag antenna 22 and each transceiver 10, in the case where the positions of the transceivers 10 are known and fixed, the coordinate position of each tag antenna 22 is calculated according to the distance between each tag antenna 22 and each transceiver 10, and is provided for The surgical positioning device accurately calculates the position and orientation of the positioning tag 20 installed on the surgical instrument and the patient's part during the operation, so as to reduce the calculation error caused by the circuit delay and the phase center of the transceiver 10 antenna is not on the geometric center of the transceiver 10. And through the intermediate frequency signal phase comparison to improve the accuracy of the coordinate position of the tag antenna 22 and the orientation of the positioning tag 20, the doctor can operate the equipment more accurately and improve the quality of the operation.

10, 10a, 10b, 10c, 10d: transceiver 11, 11a, 11b, 11c, 11d: transmitting circuit 12, 12a, 12b, 12c, 12d: transmitting antenna 13, 13a, 13b, 13c, 13d: receiving circuit 14, 14a, 14b, 14c, 14d: receiving antenna 20: positioning tag 21, 21a, 21b, 21c: tag circuit 22, A1, A2, A3: tag antenna 30: signal module 31, 31a, 31b, 31c: processing unit 311 , 311a, 311b, 311c: identification circuit 312, 312a, 312b, 312c, 312d: processing circuit 32: multiplexer 33: analog-to-digital converter 40: operation host TX, TX1, TX2, TX3, TX4: transmit signal RX: Received signal IF ₁ : Initial IF signal IF: IF signal

Figure 1: Schematic diagram of the multi-target radio frequency positioning system of the present invention. Figure 2: Schematic diagram of the transceiver in the multi-target radio frequency positioning system of the present invention. Figure 3: Schematic diagram of positioning tags in the multi-target radio frequency positioning system of the present invention. Fig. 4A: A schematic diagram of the signal module in the multi-target radio frequency positioning system of the present invention. Fig. 4B: A schematic diagram of the processing unit in the multi-target radio frequency positioning system of the present invention. Figure 5A: Schematic diagram of waveforms of transmitted signals at different frequencies. Figure 5B: Schematic diagram of the waveform of the transmitted signal in different time periods. Figure 5C: Schematic diagram of the waveform of the transmitted signal at different frequencies and different time periods. Figure 6: Flow chart of measuring the initial distance between the tag antenna and the transceiver. Fig. 7A: A schematic diagram of the multi-target radio frequency positioning system in the first embodiment. Fig. 7B: A schematic diagram of the processing unit of the multi-target radio frequency positioning system in the first embodiment. Figure 8: Schematic diagram of the positioning label installation jig in the first embodiment. Figure 9: Flow chart of measuring the coordinate position of the tag antenna. Fig. 10A: A schematic diagram of the multi-target radio frequency positioning system in the second embodiment. Fig. 10B: A schematic diagram of the processing unit of the multi-target radio frequency positioning system in the second embodiment. Figure 11: A schematic diagram of the practical application of the multi-target radio frequency positioning system of the present invention.

10: Transceiver

20: Positioning label

30: Signal module

40: Computing host

Claims (14)

A multi-target radio frequency positioning system includes a plurality of transceivers, at least one positioning tag, a signal module and a computing host, wherein: Each transceiver includes: A transmitting circuit connected to a transmitting antenna, the transmitting circuit generates a transmitting signal, and a transmitting signal electromagnetic wave corresponding to the transmitting signal is generated through the transmitting antenna for external transmission; and A receiving circuit connected to a receiving antenna, the receiving circuit intercepts a modulation signal electromagnetic wave emitted by the at least one positioning tag through the receiving antenna and generates a modulation signal; The at least one positioning label includes: At least one tag circuit and a tag antenna corresponding to the tag circuit. The tag antenna receives the electromagnetic wave of the transmitted signal externally transmitted by the transmitting antenna, and adds an identification code corresponding to the tag antenna through the tag circuit, and the tag antenna generates the modulation Signal electromagnetic waves are transmitted outwards; The signal module is connected to each transceiver and includes: At least one processing unit includes an identification circuit and a plurality of processing circuits. The number of the processing circuits is consistent with the total number of the transceivers. The identification circuit provides an identification signal corresponding to the tag antenna to the processing circuits for each of the processing circuits. The circuit demodulates the modulated signal into a received signal, and each of the processing circuits mixes the transmitted signal with the received signal to generate an intermediate frequency signal; A multiplexer connected to the at least one processing unit, receiving the intermediate frequency signal transmitted by the at least one processing unit and transmitting it to the outside; and An analog-to-digital converter is connected to the multiplexer. The multiplexer simplifies the number of channels for signal transmission and reduces the number of analog-to-digital converter channels required by the signal module. The intermediate frequency signal transmitted by the worker is converted into a digital signal format; The arithmetic host is connected to the analog-to-digital converter, the intermediate frequency signal is compared with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, a distance change is calculated from the phase difference, and the distance change is changed according to the phase difference Perform initial distance measurement, coordinate position measurement of each transceiver, or multi-target radio frequency positioning. The multi-target radio frequency positioning system according to claim 1, wherein the complex transmitting circuits of the plurality of transceivers generate the plurality of transmission circuits in one of three ways: frequency division multiplexing, time division multiplexing, and frequency division time division multiplexing. When transmitting signals, the frequencies of the transmitted signals sent at the same time will not overlap. The multi-target radio frequency positioning system according to claim 1, wherein the at least one positioning tag includes a plurality of tag circuits, each of the tag circuits is connected to a corresponding tag antenna, and the total number of the tag antennas is the same as the number of the tag circuits ; The number of the at least one processing unit in the signal module is the same as the total number of the tag antenna, and each processing unit is responsible for processing the modulated signal of the corresponding tag antenna. The multi-target radio frequency positioning system according to claim 1, wherein the at least one positioning tag is a plurality of positioning tags; the number of the at least one processing unit in the signal module is the same as the total number of the tag antenna, and each processing The unit is responsible for processing the modulation signal of the corresponding tag antenna. An initial distance measurement method, including: A. Calculate the distance between a tag antenna in the at least one positioning tag and a plurality of transceivers installed at a plurality of different coordinate positions when the at least one positioning tag is set at a plurality of different coordinate positions with known relative positions The amount of change, when the at least one positioning label is set at each coordinate position with a known relative position, the following steps are performed: a1. A transmission circuit in each of the transceivers generates a transmission signal, and generates a transmission signal through a transmission antenna connected to the transmission circuit to transmit electromagnetic waves to the outside; a2. The tag antenna in the at least one positioning tag receives the transmitted signal radio waves, and adds an identification code corresponding to the tag antenna through a tag circuit connected to the tag antenna, and the tag antenna generates a modulation signal Electromagnetic waves are transmitted outwards; a3. A receiving antenna in each of the transceivers receives the modulated signal electromagnetic wave, and a receiving circuit connected to the receiving antenna generates a modulated signal according to the modulated signal electromagnetic wave, and transmits the modulated signal to a signal module Group; a4. An identification circuit in at least one processing unit in the signal module generates an identification signal corresponding to the tag antenna, and a complex processing circuit in the at least one processing unit demodulates the modulated signal by the identification signal To generate a received signal; a5. Each of the processing circuits mixes the transmitted signal with the received signal to generate an intermediate frequency signal, and transmits the intermediate frequency signal to a multiplexer; a6. The multiplexer receives the intermediate frequency signal transmitted by the at least one processing unit and transmits it to an analog-to-digital converter, which converts the intermediate frequency signal into a digital signal format and transmits it to an arithmetic host; a7. The computing host compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference. With the phase difference, each transceiver and the at least one transceiver are calculated according to the calculation formula of the distance change. A distance change of the tag antenna in the positioning tag; B. The computing host calculates the initial distance between the tag antenna and each transceiver according to the distance change between the tag antenna and each transceiver in the at least one positioning tag. The initial distance measurement method according to claim 5, wherein, in step a5, the intermediate frequency signal obtained by mixing the first transmitted signal and the first received signal in each of the processing circuits is the initial intermediate frequency signal. The initial distance measurement method described in claim 5, wherein, in step a7, the calculation formula of the distance change is

, ∆D represents the distance change,

Represents the wavelength, ∆Ф represents the phase difference, and π represents the pi. A multi-target radio frequency positioning method, including: A. Calculating the distance between at least one tag antenna in the at least one positioning tag and the plurality of transceivers installed at a plurality of different known coordinate positions when the at least one positioning tag is set at the coordinate position to be located, the following steps are performed: a1. A transmitting circuit in each of the transceivers generates a transmitting signal, and a transmitting antenna connected to the transmitting circuit generates a transmitting signal electromagnetic wave for outward transmission; a2. The at least one tag antenna in the at least one positioning tag receives the transmitted signal radio waves, and a tag circuit connected to the at least one tag antenna adds an identification code corresponding to the at least one tag antenna, and the at least one tag antenna The tag antenna generates a modulated signal electromagnetic wave and transmits it outward; a3. A receiving antenna in each of the transceivers receives the modulated signal electromagnetic wave, and a receiving circuit connected to the receiving antenna generates a modulated signal according to the modulated signal electromagnetic wave, and transmits the modulated signal to a signal module Group; a4. An identification circuit in at least one processing unit in the signal module generates an identification signal corresponding to at least one tag antenna, and a complex processing circuit in the at least one processing unit decodes the modulation signal by the identification signal Modulate to generate a received signal; a5. Each of the processing circuits mixes the transmitted signal with the received signal to generate an intermediate frequency signal, and transmits the intermediate frequency signal to a multiplexer; a6. The multiplexer receives the intermediate frequency signal transmitted by the at least one processing unit and transmits it to an analog-to-digital converter, which converts the intermediate frequency signal into a digital signal format and transmits it to an arithmetic host; a7. The computing host compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal, and obtains a phase difference. With the phase difference, each of the transceivers is calculated according to the distance calculation formula and the distance change calculation formula The distance between the device and the at least one tag antenna in the at least one positioning tag; B. The computing host calculates the coordinate position of the at least one tag antenna according to the distance between the at least one tag antenna and each transceiver in the at least one positioning tag and the known coordinate position of each transceiver. The multi-target radio frequency positioning method according to claim 8, wherein in step A, the at least one positioning tag is a positioning tag and includes a plurality of tag antennas. The multi-target radio frequency positioning method according to claim 8, wherein, in step A, the at least one positioning tag is a plurality of positioning tags. The multi-target radio frequency positioning method according to claim 9, wherein the computing host calculates the position of the positioning tag according to the position coordinates of the plurality of tag antennas of the positioning tag. The multi-target radio frequency positioning method according to claim 10, wherein the computing host calculates at least one position according to the position coordinates of the plurality of tag antennas of the plurality of positioning tags. The multi-target radio frequency positioning method according to claim 8, wherein, in step a7, the initial intermediate frequency signal is the at least one tag antenna in an initial distance measurement, and each processing circuit compares the first transmitted signal with the second An intermediate frequency signal obtained by mixing the received signal. The multi-target radio frequency positioning method according to claim 8, wherein, in step a7, the distance calculation formula is

And the calculation formula of distance change is

, D stands for distance, ∆D stands for distance change, D ₁ stands for initial distance,

Represents the wavelength, ∆Ф represents the phase difference, and π represents the pi.

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