WO2007083889A1 - Procede et appareil de localisation d'emetteur au moyen d'un recepteur unique - Google Patents

Procede et appareil de localisation d'emetteur au moyen d'un recepteur unique Download PDF

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Publication number
WO2007083889A1
WO2007083889A1 PCT/KR2006/005409 KR2006005409W WO2007083889A1 WO 2007083889 A1 WO2007083889 A1 WO 2007083889A1 KR 2006005409 W KR2006005409 W KR 2006005409W WO 2007083889 A1 WO2007083889 A1 WO 2007083889A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmitter
frequency signals
phase difference
transmission
angle
Prior art date
Application number
PCT/KR2006/005409
Other languages
English (en)
Inventor
Nak-Seon Seong
Choon-Sik Yim
Cheol-Sig Pyo
Jong-Suk Chae
Original Assignee
Electronics And Telecommunications Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020060121678A external-priority patent/KR100904681B1/ko
Application filed by Electronics And Telecommunications Research Institute filed Critical Electronics And Telecommunications Research Institute
Priority to US12/097,406 priority Critical patent/US20080316105A1/en
Publication of WO2007083889A1 publication Critical patent/WO2007083889A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/12—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial

Definitions

  • the present invention relates to a method and apparatus for locating a transmitter; and, more particularly, to a method and apparatus for locating a transmitter in a single receiver.
  • Triangulation is generally used to receive a transmission signal of a transmitter in at least three receivers and locate a transmitter based on measured time of arrival (ToA), time difference of arrival (TDoA), received signal strength indication (RSSI), and angle of arrival (AoA) .
  • ToA time of arrival
  • TDoA time difference of arrival
  • RSSI received signal strength indication
  • AoA angle of arrival
  • at least three radio stations 111, 112 and 113 should receive a signal of a transmitter 100 and measure a range or an angle of the transmitter.
  • a single location calculating server 140 is required to calculate a location 130 of the transmitter by integrating the measured information.
  • At least three receivers 111, 112 and 113 are required to locate the transmitter 100 according to the triangulation. Accordingly, a problem generated in a single receiver may affect an entire location measuring system. Also, when a system is modified or additionally disposed to control or extend a location determination region, there is a difficulty in overall control of the location determination system due to characteristics of the system where each of the receivers 111, 112 and 113 cooperates. The difficulty becomes a large obstacle when the current location determination system is actively applied.
  • an object of the present invention to provide a method and apparatus for locating a transmitter in a single receiver by receiving at least two orthogonal frequencies from a transmitter, measuring a range of transmission (ROT) of the transmitter and measuring an angle of the transmitter based on array of at least two antennas.
  • ROT range of transmission
  • an apparatus for locating a transmitter including: an antenna having an antenna array for receiving first and second frequency signals transmitted from the transmitter and measuring an angle of the transmitter; a range of transmission (ROT) calculating unit for calculating the range of transmission of the transmitter based on phase difference between the first and second frequency signals; an angle of arrival (AoA) calculating unit for calculating the angle of the transmitter based on phase difference of common frequency signals received in the antenna; and a transmission location determining unit for determining the location of the transmitter based on the range of transmission and the angle of arrival of the transmitter.
  • the first and second frequency signals have an orthogonal frequency.
  • the ROT calculating unit extracts a propagation time based on the phase difference of the first and second frequency signals and calculates the range of transmission of the transmitter based on the extracted propagation time.
  • the apparatus further includes a time difference of arrival (TDoA) calculating unit for calculating the approximate location of the transmitter based on the time difference of arrival between common frequency signals received in the antenna.
  • the transmission location determining unit determines the location of the transmitter by removing ambiguity of the range of transmission of the transmitter due to phase difference between the orthogonal frequency signals based on the approximate location, which is calculated in the TDoA calculating unit, and ambiguity of the angle of the transmitter due to phase difference between common frequency signals.
  • a method for locating a transmitter including the steps of: a) receiving first and second frequency signals transmitted from the transmitter through an antenna having an antenna array for measuring an angle of arrival of the transmitter; b) calculating an ROT based on phase difference of the first and second frequency signals; c) calculating the angle of the transmitter based on phase difference of the received common frequency signal; and d) determining a location of the transmitter based on the range of transmission of the transmitter and the angle of the transmitter.
  • the first and second frequency signals have an orthogonal frequency.
  • the method further includes the step of: e) calculating an approximate location of the transmitter based on the time difference of arrival between received common frequency signals. In the steps d) , the location of the transmitter is determined by removing ambiguity of the range of transmission of the transmitter based on the approximate location and removing ambiguity of the angle of the transmitter based on the approximate location, which is calculated in the step e).
  • the present invention can locate a transmitter in a single receiver by receiving at least two orthogonal frequencies from the transmitter, measuring a range of transmission (ROT) of the transmitter and measuring an angle of the transmitter based on array of at least two antennas.
  • the present invention can calculate an exact location of the transmitter not by using conventional triangulation based on a plurality of receivers but by using a single receiver. Therefore, the present invention can solve an inflexibility problem of a location determination system and provide flexibility to the system by setting up and extending the system.
  • the present invention can exactly locate the transmitter by removing ambiguity of the range and the angle of the transmitter based on the time difference of arrival of common frequency radio signals transmitted through an array antenna.
  • Fig. 1 shows a conventional locating method based on triangulation
  • Fig. 2 is a block diagram showing an apparatus for locating a transmitter in accordance with an embodiment of the present invention
  • Fig. 3 is a flowchart describing an operation of the transmitter locating apparatus of Fig. 2;
  • Fig. 4 shows a location determining method of the transmitter according to an embodiment of the present invention.
  • the present invention calculates a range of transmission (ROT) of a transmitter based on the phase difference between orthogonal frequency signals transmitted from the transmitter and calculates an angle of arrival (AoA) of the transmitter based on the phase difference between common frequency signals transmitted from the transmitter to an array antenna. Also, the present invention can determine a location of the transmitter in a single receiver by determining a location of a radio transmitter according to the range of transmission of the transmitter and the angle of the transmitter.
  • ROT range of transmission
  • AoA angle of arrival
  • the present invention measures the range of transmission of the transmitter by receiving at least two orthogonal frequency signals transmitted from the transmitter by using multiple antennas more than two and locates the transmitter by measuring the angle of arrival of the transmitter by using at least two array antennas. Also, the present invention can estimate an exact location of the transmitter by removing ambiguity of the range of transmission and the angle of arrival based on time difference between common frequency radio signals transmitted from at least two array antennas. The present invention can locate a radio transmitter by receiving at least two different frequencies, which are not orthogonal, and remove ambiguity. The orthogonal frequency may be used to minimize interference of the signals that the transmitter locating apparatus receives. Fig.
  • the transmitter locating apparatus includes at least two antennas 201, 202 and 203, a Radio Frequency (RF) processing unit 210, a phase difference detecting unit between orthogonal frequencies 230, a phase difference detecting unit between common frequencies 240, a time difference detecting unit between common frequencies 250, an ROT calculating unit 260, an angle of arrival (AoA) calculating unit 270, a time difference of arrival (TDoA) calculating unit 280 and a transmitter location determining unit 290.
  • RF Radio Frequency
  • the multiple antennas 201, 202 and 203 receive the orthogonal frequency signal transmitted from the transmitter.
  • the first antenna 201 receives a signal having orthogonal frequencies fl and f2 and the second antenna 202 receives a signal having orthogonal frequencies f2 and f3.
  • the third antenna 203 receives a signal having orthogonal frequencies f3 and fl.
  • antenna devices receiving a common frequency signal have an array for measuring the angle of arrival of the transmitter.
  • the multiple antennas 201 to 203 may have diverse formats of an omni antenna, a sector antenna, and a polarization antenna.
  • the RF processing unit 210 performs an RF signal process such as signal amplification and signal compensation on the orthogonal frequency signal received in the multiple antennas 201 to 203. Subsequently, the RF processing unit 210 transmits the orthogonal frequency signal to the phase difference detecting unit between orthogonal frequencies 230, the phase difference detecting unit between common frequencies 240, the time difference detecting unit between common frequencies 250.
  • RF end output can be realized as intermediate frequency (IF) output.
  • the phase difference detecting unit between orthogonal frequencies 230 detects phase differences ⁇ l, ⁇ 2, and ⁇ 3 of the orthogonal frequency signal on which the RF signal process is performed.
  • the phase difference detecting unit between common frequencies 240 detects phase differences ⁇ l, ⁇ 2 and ⁇ 3 of the common frequency signal on which the RF signal process is performed.
  • the time difference detecting unit between common frequencies 250 detects time differences ⁇ tl, ⁇ t2 and ⁇ t3 of the common frequency signal on which the RF signal process is performed.
  • the ROT calculating unit 260 calculates ROTs Rl, R2 , and R3 based on the phase differences ⁇ l, ⁇ 2, and ⁇ 3 of the orthogonal frequency signal detected in the phase difference detecting unit between orthogonal frequencies 230. That is, the ROT calculating unit 260 extracts a propagation time from the detected phase difference according to Equation 1 below and calculates the ROTs Rl,
  • Phase difference of two orthogonal frequencies 1 and 2 (Frequency 1-Frequency 2) * Propagation time of Radio wave.
  • the AoA calculating unit 270 calculates AoAs ⁇ l, ⁇ 2, and ⁇ 3 of the transmitter based on the phase differences ⁇ l, ⁇ 2 and ⁇ 3 of the common frequency signal detected in the phase difference detecting unit between common frequencies 240. That is, the AoA calculating unit 270 calculates the angle of arrival of the transmitter based on three antenna arrays .
  • the TDoA calculating unit 280 calculates approximate locations (Xl, Yl) and (X2,Y2) of the transmitter according to the TDoA method based on the time differences ⁇ tl, ⁇ t2 and ⁇ t3 of the common frequency signal detected in the time difference detecting unit between common frequencies 250.
  • the transmitter location determining unit 290 receives the ROT information Rl, R2 and R3 , the AoA information ⁇ l, ⁇ 2 and ⁇ 3, and approximate location information (Xl, Yl) and (X2,Y2) of the transmitter from the ROT calculating unit 260, the AoA calculating unit 270 and the TDoA calculating unit 280. Subsequently, the transmitter location determining unit 290 exactly calculates an ROT (X, Y).
  • the transmitter location determining unit 290 determines an exact ROT R by removing ambiguity of an ROT 261 calculated in the ROT calculating unit 260 based on approximate location information 281 of the TDoA, removes ambiguity of an AoA 271 calculated in the AoA calculating unit 270 based on the approximate location information 281 by the TDO, and determines the exact AoA ⁇ , thereby calculating the ROT (X, Y) of the exact transmitter.
  • the transmitter location determining unit 290 receives AoA information through TDoA from the TDoA calculating unit 280, thereby removing ambiguity of the ROT 261.
  • Fig. 3 is a flowchart describing an operation of the transmitter locating apparatus of Fig. 2.
  • the transmitter locating apparatus receives an orthogonal frequency signal transmitted from the transmitter based on three antennas 201, 202 and 203 at step S310.
  • the time difference detecting unit between common frequencies 250 detects time differences ⁇ tl, ⁇ t2 and ⁇ t3 of the common frequency signal received in the multiple antennas 201 to 203 at step S330. Subsequently, the TDoA calculating unit 280 estimates approximate locations (Xl, Yl) and (X2,Y2) of the transmitter according to the TDoA method based on the time differences ⁇ tl, ⁇ t2 and ⁇ t3 of the common frequency signal detected in the time difference detecting unit between common frequencies 250 at step S335.
  • the phase difference detecting unit between orthogonal frequencies 230 detects the phase differences ⁇ l, ⁇ 2 and ⁇ 3 of the orthogonal frequency signal received in the multiple antennas 201 to 203 at step S320. Subsequently, the ROT calculating unit 260 calculates ROTs Rl, R2 and R3 based on the phase differences ⁇ l, ⁇ 2 and ⁇ 3 of the orthogonal frequency signal detected in the phase difference detecting unit between orthogonal frequencies 230 at step S325.
  • the same phase may be generated is a plurality of time durations.
  • the transmitter location determining unit 290 removes the ambiguity of the range of transmission of the transmitter based on the approximate location information estimated by the TDoA at the step S335 and determines an exact ROT R at step S350. That is, the transmitter location determining unit 290 determines a radius of which circle among circles drawn by the range of transmission of the transmitter calculated at the step S325 corresponds to an actual range of transmission of the transmitter. Meanwhile, the transmitter location determining unit 290 receives the AoA information calculated in the TDoA calculating unit 280 through the TDoA and determines the exact ROT R.
  • the phase difference detecting unit between common frequencies 240 detects phase differences ⁇ l, ⁇ 2 and ⁇ 3 of the common frequency signal received in the multiple antennas 201 to 203 at step S340. Subsequently, the AoA calculating unit 270 calculates AoAs ⁇ l, ⁇ 2 and ⁇ 3 of the transmitter based on the phase differences ⁇ l, ⁇ 2 and ⁇ 3 of the common frequency signal detected in the phase difference detecting unit between common frequencies 240 at step S345. That is, the AoA calculating unit 270 calculates the angle of arrival of the transmitter by using three antenna arrays.
  • the transmitter location determining unit 290 removes ambiguity of the angle of arrival based on the approximate location information estimated by the TDoA at the step S335 and determines an exact AoA ⁇ at step S360.
  • the transmitter location determining unit 290 calculates an exact location (X, Y) of the transmitter, which is an intersecting point of the circle drawn by the ROT R determined at the step S350 and the AoA ⁇ determined at step S360.
  • the transmitter is located through three antennas.
  • the transmitter can be located by receiving two orthogonal frequency signals transmitted from the transmitter through at least two antennas.
  • the transmitter locating apparatus estimates two ROTs by detecting two orthogonal frequency phase differences and estimates two AoAs by detecting two common frequency phase differences.
  • the transmitter locating apparatus estimates an approximate location by the TDoA by detecting the time difference between two common frequencies and removes the ambiguity of the range of transmission of the transmitter and the angle of arrival based on the estimated approximate location.
  • Fig. 4 shows a location determining method of the transmitter based on two antennas and the orthogonal frequency according to an embodiment of the present invention.
  • Fig. 4 shows two ROT circles 420 and 421 having two different ROTs as a radius due to the phase ambiguity generated by detecting the phase difference of the orthogonal frequency signal.
  • Two AoAs 430 and 431 appears due to the ambiguity of the phase generated by detecting the phase difference of the common frequency signal.
  • the transmitter locating apparatus detects a time difference of a common frequency signal, calculates an approximate location 440 according to the TDoA method based on the detected difference information of the common frequency signal, removes the ambiguity of the range of transmission and the angle of arrival based on the calculated approximate location 440, and determines a final single ROT circle 420 and a final single AoA 430. Subsequently, the transmitter locating apparatus determines an intersecting point of the determined ROT circle 420 and the AoA 430 as a final location 401 of the transmitter 400. While the present invention has been described with respect to certain preferred embodiments, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the scope of the invention as defined in the following claims, Industrial Applicability
  • the present invention is used to a transmitter locating apparatus and a location determination system.

Abstract

L'invention concerne un procédé et un appareil de localisation d'émetteur. Ledit appareil comprend: une antenne pourvue d'un réseau d'antennes destinée à recevoir des signaux à une première fréquence et à une seconde fréquence provenant de l'émetteur et à mesurer un angle d'émetteur; une unité de calcul de distance d'émission (ROT) destinée à calculer la distance d'émission de l'émetteur en fonction d'un déphasage entre les signaux à une première fréquence et à une seconde fréquence; une unité de calcul d'angle d'arrivée (AoA) permettant de calculer l'angle de l'émetteur en fonction d'un déphasage de signaux à fréquence commune reçus dans l'antenne; et une unité de détermination de localisation d'émission permettant de déterminer la localisation de l'émetteur en fonction de la distance d'émission et de l'angle d'arrivée de l'émetteur.
PCT/KR2006/005409 2005-12-15 2006-12-12 Procede et appareil de localisation d'emetteur au moyen d'un recepteur unique WO2007083889A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/097,406 US20080316105A1 (en) 2005-12-15 2006-12-12 Method and Apparatus For Transmitter Locating Using a Single Receiver

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2005-0123652 2005-12-15
KR20050123652 2005-12-15
KR1020060121678A KR100904681B1 (ko) 2005-12-15 2006-12-04 하나의 무선수신국을 이용한 무선발신기의 위치측정 방법및 장치
KR10-2006-0121678 2006-12-04

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WO2007083889A1 true WO2007083889A1 (fr) 2007-07-26

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2438456A4 (fr) * 2009-05-27 2015-07-29 Snu R&Db Foundation Système et procédé de localisation basés sur un dispositif de radiocommunication comprenant une pluralité d'antennes
US10094902B2 (en) 2016-02-22 2018-10-09 Apple Inc. Dual frequency angle of arrival estimation
CN110895326A (zh) * 2012-12-12 2020-03-20 波尔特公司 确定无线系统中的用户设备的位置的方法
US11722840B2 (en) 2012-08-03 2023-08-08 Qualcomm Technologies, Inc Angle of arrival (AOA) positioning method and system for positional finding and tracking objects using reduced attenuation RF technology
US11733341B2 (en) 2018-03-27 2023-08-22 Qualcomm Technologies, Inc. Multi-path mitigation in tracking objects using compressed RF data
US11835639B2 (en) 2011-08-03 2023-12-05 Qualcomm Technologies, Inc. Partially synchronized multilateration or trilateration method and system for positional finding using RF
US11917493B2 (en) 2014-08-01 2024-02-27 Qualcomm Technologies, Inc. Network architecture and methods for location services

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6229844B1 (en) * 1998-12-17 2001-05-08 Samsung Electronics Co., Ltd. Device and method for locating a mobile station in a mobile communication system
US6459903B1 (en) * 1999-03-11 2002-10-01 Samsung Electronics Co., Ltd. Method and system for locating mobile station in mobile telecommunication system
US20050237953A1 (en) * 2000-06-06 2005-10-27 Carrender Curtis L Distance/ranging determination using relative phase data

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6229844B1 (en) * 1998-12-17 2001-05-08 Samsung Electronics Co., Ltd. Device and method for locating a mobile station in a mobile communication system
US6459903B1 (en) * 1999-03-11 2002-10-01 Samsung Electronics Co., Ltd. Method and system for locating mobile station in mobile telecommunication system
US20050237953A1 (en) * 2000-06-06 2005-10-27 Carrender Curtis L Distance/ranging determination using relative phase data

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2438456A4 (fr) * 2009-05-27 2015-07-29 Snu R&Db Foundation Système et procédé de localisation basés sur un dispositif de radiocommunication comprenant une pluralité d'antennes
US11835639B2 (en) 2011-08-03 2023-12-05 Qualcomm Technologies, Inc. Partially synchronized multilateration or trilateration method and system for positional finding using RF
US11722840B2 (en) 2012-08-03 2023-08-08 Qualcomm Technologies, Inc Angle of arrival (AOA) positioning method and system for positional finding and tracking objects using reduced attenuation RF technology
CN110895326A (zh) * 2012-12-12 2020-03-20 波尔特公司 确定无线系统中的用户设备的位置的方法
CN110895326B (zh) * 2012-12-12 2024-03-22 高通科技公司 确定无线系统中的用户设备的位置的方法
US11917493B2 (en) 2014-08-01 2024-02-27 Qualcomm Technologies, Inc. Network architecture and methods for location services
US10094902B2 (en) 2016-02-22 2018-10-09 Apple Inc. Dual frequency angle of arrival estimation
US11733341B2 (en) 2018-03-27 2023-08-22 Qualcomm Technologies, Inc. Multi-path mitigation in tracking objects using compressed RF data

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