WO2008071457A1 - Procédé et système de détermination d'une position - Google Patents

Procédé et système de détermination d'une position Download PDF

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Publication number
WO2008071457A1
WO2008071457A1 PCT/EP2007/011283 EP2007011283W WO2008071457A1 WO 2008071457 A1 WO2008071457 A1 WO 2008071457A1 EP 2007011283 W EP2007011283 W EP 2007011283W WO 2008071457 A1 WO2008071457 A1 WO 2008071457A1
Authority
WO
WIPO (PCT)
Prior art keywords
frequency
transmitter
receiver
beat
transmission
Prior art date
Application number
PCT/EP2007/011283
Other languages
German (de)
English (en)
Inventor
Ralf Salomon
Original Assignee
Universität Rostock
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
Application filed by Universität Rostock filed Critical Universität Rostock
Publication of WO2008071457A1 publication Critical patent/WO2008071457A1/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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/022—Means for monitoring or calibrating
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • G01S1/20—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems
    • G01S1/30—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems the synchronised signals being continuous waves or intermittent trains of continuous waves, the intermittency not being for the purpose of determining direction or position line and the transit times being compared by measuring the phase difference

Definitions

  • the present invention relates to a method and a system for determining position with the features mentioned in claims 1 and 31. More particularly, the present invention relates to a method of locating a receiver in an environment where conventional positioning systems, such as GPS, are not available.
  • GPS Global Positioning System
  • GPS can only be used in areas in which a GPS receiver can receive the signals emitted by the (at least) four satellites sufficiently well.
  • a GPS receiver can receive the signals emitted by the (at least) four satellites sufficiently well.
  • these include, for example, vehicle tunnels in which the vehicle position is to be determined for navigation.
  • GPS signals can not be received within vehicle tunnels.
  • a location of the vehicle can be realized only after leaving the tunnel by means of GPS, which is particularly disadvantageous if within the tunnel several directions to choose from, between which must distinguish the navigation system.
  • Another example is a grain silo, where GPS signals can not be received well enough.
  • EP 47 561 A1 discloses a method for determining the location of a mobile object by means of radio-technical signals emitted by at least two stationary transmitting stations. The localization is based on the transit time of the time difference of a zero crossing at two different locations.
  • a particular advantage of the invention is that with low-cost transmitters and receivers, the position of a receiver in (difficult for GPS signals) areas, can be determined accurately and quickly. In a preferred embodiment only two transmitters and one receiver are needed. Therefore, the system according to the invention is suitable, for example, as a supplement for GPS receivers in areas of weak or non-existent GPS signals that receive corresponding signals emitted by the system according to the invention, and thus can determine their position in the area of the transmitter as an alternative to GPS. This creates a good alternative or supplement to GPS positioning.
  • the method according to the invention for determining the position of a movable receiver has the following method steps:
  • Emitting electromagnetic radiation of a second transmission frequency by means of a second transmitter wherein the second transmission frequency is modulated by means of a second modulation frequency, and wherein the first transmission frequency and the second transmission frequency are selected such that a (low-frequency) beat (with a beat frequency f s ) forms,
  • the idea of the invention is therefore that a modulation of the carrier frequencies (first and second transmission frequency) leads to a beat, which in addition to a maximum (beat) amplitude also has additional secondary maxima whose amplitude is phase-dependent. Therefore, the phase shift of the beat and thus the relative movement of the receiver between the first time and the second time can be reconstructed by simple amplitude measurement of the low-frequency beat signal.
  • at least one secondary maximum of the modulated beat frequency determined and from this amplitude value, the phase shift of the receiver relative to the at least two transmitters and thus the relative movement of the receiver during the corresponding time interval (t 2 -ti) can be determined.
  • Free transmission frequencies are preferably used as first and second transmission frequencies.
  • a moving receiver continuously measures the amplitudes of the beat frequency and continuously determines its relative movement and thus its position from the change in these amplitudes, preferably from the change in the amplitudes of the secondary maxima. If the receiver is aware of its initial absolute position (for example, by receiving a GPS signal), the receiver can now continue to determine the absolute position continuously by determining its relative position at an initially known absolute position. It is particularly preferred to select the transmission and modulation frequencies in such a way that the beat signal (per period) has, in addition to a global main maximum, at least one secondary maximum (preferably between 2 and 5 secondary maxima).
  • a particular advantage of the present invention is that only the amplitude of the low-frequency beat signal is measured and from this the relative movement of the receiver between the two transmitters can already be determined.
  • the use of a reference signal or a high synchronous clock is not necessary.
  • the transmitters can be positioned within a tunnel, it would be possible to determine the position of a car passing through a tunnel (even if not receiving a GPS signal) with high precision and at a very low cost.
  • the at least two transmitters are spatially constant and arranged stationary relative to one another.
  • the first and second modulation frequencies are each an integral multiple or a part of the beat frequency (the first and second modulation frequencies each differ from the beat frequency).
  • ⁇ / 2 half wavelength of the beat frequency
  • the first and second transmission frequencies, the first and second modulation frequencies and consequently the beat frequency are constant.
  • the first modulation frequency is chosen equal to the second modulation frequency.
  • the beat frequency is set in a range between 10 MHz and 100 MHz.
  • the position of the receiver and thus the movement of the receiver along the connecting line of the two transmitters can be determined exactly.
  • a first, a second and a third transmitter emit electromagnetic radiation having a first, second and third transmission frequency, wherein the first transmission frequency a first modulation frequency, the second transmission frequency with a second modulation frequency and the third transmission frequency with a third modulation frequency is modulated and wherein the first, second and third transmission frequencies each differ from each other such that forms a (low frequency) beat and wherein the amplitude of the low-frequency Beat frequency is measured at different times and from the amplitude of the beat frequency (in particular from the amplitude of the at least one secondary maximum) at different times, the relative movement of the receiver within the corresponding time interval s is determined.
  • the statements made above on preferred frequencies as well as the features of claims 2-22 shall apply analogously for this embodiment.
  • the system can also be extended to four or more transmitters.
  • the requirements for the receiver do not increase, since it only has to measure the amplitude of the low-frequency beat frequency and from this can determine its position (via the relative movement). It is preferably provided that the transmission frequencies and the modulation frequencies are standardized. Then, after measuring the amplitudes, the receiver may become different Times determine automatically by appropriate mathematical transformations its relative position. The computational effort obviously increases with the number of transmitters. It is preferably provided that the receiver has a corresponding data processing device, which determines the relative movement mathematically from the first and second transmission frequency, the first and second modulation frequency and the at least two measured amplitudes. Alternatively, it can be provided that the receiver has a data table from which it can take the corresponding relative position in the case of measured amplitude value pairs.
  • the position-determining system according to the invention may work with different (also temporally variable) transmission and modulation frequencies, and the transmitters possibly being positioned or positioned at different distances from one another. Then it is provided according to the invention that at least one of the transmitters transmits data corresponding to the receiver via the transmission and modulation sequences, so that the receiver can then automatically determine its relative movement by means of a data processing device and the transmitted data after measuring pairs of amplitudes.
  • FIG. 1 shows the system for position determination according to the invention in a schematic representation
  • FIG. 2a shows the beat signal measured by a receiver at a first location, provided that the first and second transmission frequencies have not been modulated (prior art),
  • FIG. 2b shows the beat signal measured by a receiver at a second location, wherein the transmission frequencies have not been modulated (prior art)
  • FIG. 3a shows the beat signal measured by a receiver at a first location according to the invention when both the first and the second beat frequencies have been modulated.
  • FIG. 3b shows the beat signal measured by a receiver according to FIG.
  • 4a shows the beat signal measured by a receiver according to the invention at a first location, which was generated by means of three transmitters, and
  • FIG. 4b shows the beat signal measured by a transmitter at a second location according to the invention.
  • FIG. 1 shows a schematic representation of the system according to the invention.
  • This system according to the invention consists of a first transmitter 1 and a second transmitter 2.
  • the first transmitter 1 transmits electromagnetic radiation having a first transmission frequency f ⁇ and the second transmitter 2 corresponding to electromagnetic radiation having a second frequency f 2 .
  • the transmission frequencies fi and f 2 are selected such that a beat frequency f s> preferably forms between 0.1 MHz and 100 MHz.
  • the transmitters 1, 2 are connected to the modulator 3, which modulates the transmission frequencies fi and f 2 in each case with a modulation frequency fMi and f ⁇ w 2 .
  • the modulation frequencies are preferably an integral multiple or a whole part of the beat frequency.
  • the modulator 3 modulates the transmission frequencies fi and f 2 of the transmitters 1, 2 accordingly.
  • the receiver 4, which moves between the transmitters 1, 2, can now determine its position independently and without contact.
  • a particular advantage is that the transmitter 4 does not have to have either a highly synchronous clock or a reference signal.
  • the receiver 4 can be manufactured inexpensively, since it is only for measuring the amplitude of the low-frequency Beating signal must be suitable. From successive measurements of the amplitude of the beat signal, the receiver 4 can always determine its relative position and thus in the course of several measurements its movement between the transmitters 1, 2. If the receiver 4 is aware of its initial, absolute position between the transmitters 1, 2, it can also continuously calculate its absolute position from its relative movement.
  • Figure 2a shows a beat signal according to the prior art.
  • a beat signal would be received by the receiver 4, for example, if the transmission frequencies fi, f 2 leading to the beat were not modulated.
  • the receiver 4 In the movement of the receiver 4 its relative position to the transmitters 1, 2 would change and thus a phase shift of the received beat signal take place (see FIG. 2b), however, in the case of non-modulated transmission frequencies (as in FIGS. 2a, 2b) determine its relative movement only if it were synchronized with the transmitters or received a reference signal from at least one transmitter.
  • this would make correspondingly higher demands on the transmitter and the receiver, so that the corresponding method would be significantly more complex.
  • Another disadvantage would be an increased susceptibility to failure of such a system.
  • the beat image that is to say that received by the receiver 4 will also be modulated
  • the beat amplitude measured by the receiver has, as can be seen in FIG. 3a
  • the time values (the x-axes of Figs. 2-4) are by factor
  • the idea according to the invention consists in the fact that the modulation image of the beat changes very strongly (see FIG. 3b) when the receiver 4 moves between the transmitters 1, 2, whereby a phase shift of the transmission signals is produced. Such a phase shift leads to a change in the amplitude of the secondary maxima (of the at least one secondary maximum).
  • the receiver 4 can now determine the amplitude of the at least one secondary maximum and very easily calculate its relative displacement. For this, however, it is necessary for the receiver to know all the transmission and modulation frequencies in addition to the at least two amplitude values.
  • the transmission frequencies fi and ⁇ set such that forms a beat and on the other hand to select the modulation frequencies such that the forming beating at least a secondary maximum (whose amplitude is phase-dependent).
  • Recalculation of the relative movement from the transmission and modulation frequencies can be carried out in a simple manner by means of known mathematical algorithms.
  • the amplitude of the beat frequency can be calculated as a function of the phase shift (ie the relative movement) by means of a corresponding mathematical superposition of the modulated transmission frequencies.
  • the resolution of the corresponding equations after the phase shift or the relative movement can then be made explicitly or numerically with the aid of corresponding computer programs, such as Mathematica.
  • Figures 4a and 4b show a further embodiment according to the present invention. In the embodiment, three spaced apart transmitters were used, each transmitting at respective transmission frequencies to form a beat sequence.
  • the modulation frequencies of the individual transmitters were set such that the beat frequency has four additional secondary maxima in addition to the main maximum.
  • the beat image for an initial phase (first position of the transmitter - see FIG. 4 a) has a characteristic beat image, in which obviously the secondary maximum lying to the left of the main maximum has a clearly higher amplitude than the remaining secondary maxima. If the receiver 4 moves relative to the three transmitters (and thereby reaches the second position - see FIG. 4b), this leads to a phase shift which leads to a change in the amplitude of the secondary maxima.
  • the secondary maximum lying to the left of the main maximum has a significantly reduced amplitude compared to FIG. 4a. From the change in the amplitudes of the secondary maxima can now be closed in the manner described above on the position (relative movement) of the receiver 4.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un procédé et un système de détermination d'une position. Le problème à la base de la présente invention est de proposer une détermination autonome et sans contact avec l'émetteur de la position d'un récepteur tout en garantissant une détermination précise de la position par recours à des récepteurs peu coûteux et à un nombre aussi petit que possible d'émetteurs, en particulier dans les régions dans lesquelles les signaux GPS ne sont pas disponibles. Le procédé selon l'invention présente les étapes suivantes : émission d'un rayonnement électromagnétique à une première fréquence d'émission (f1) au moyen du premier émetteur (1), la première fréquence d'émission (f1) étant modulée par une première fréquence de modulation (fM1); émission d'un rayonnement électromagnétique à une deuxième fréquence d'émission (f2) au moyen du deuxième émetteur (2), la deuxième fréquence d'émission (f2) étant modulée par une deuxième fréquence de modulation (fM2) et la première fréquence (f1) différant de la deuxième fréquence (f2) de telle sorte qu'un battement s'établisse à une fréquence de battement (fs); mesure d'au moins une première amplitude (A1) de la fréquence de battement (fs) à partir d'un premier instant (t1) en une première position (x1) du récepteur (4); mesure d'au moins une deuxième amplitude (A2) de la fréquence de battement (fs) à partir d'un deuxième instant (t2) en une deuxième position (x2) du récepteur (4) et détermination de la deuxième position (x2) du récepteur (4) par rapport à la première position (x1) du récepteur (4) à partir de la ou des premières amplitudes (A1) et de la ou des deuxièmes amplitudes (A2) de la fréquence de battement (fs).
PCT/EP2007/011283 2006-12-14 2007-12-14 Procédé et système de détermination d'une position WO2008071457A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006059623.4 2006-12-14
DE200610059623 DE102006059623B3 (de) 2006-12-14 2006-12-14 Verfahren und System zur Positionsbestimmung

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WO2008071457A1 true WO2008071457A1 (fr) 2008-06-19

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WO (1) WO2008071457A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011085769B4 (de) 2011-11-04 2014-11-06 Universität Rostock Verfahren und System zur Positionsbestimmung
DE102012201368B4 (de) 2012-01-31 2016-12-08 Universität Rostock Verfahren und System zur Positionsbestimmung
CN109477881A (zh) 2016-05-25 2019-03-15 弗劳恩霍夫应用研究促进协会 用于定位系统的波形设计

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2198113A (en) * 1938-09-30 1940-04-23 William H Donnelly Navigation method and apparatus
US2551604A (en) * 1942-11-13 1951-05-08 Int Standard Electric Corp Radio position determining system
US2718002A (en) * 1949-02-02 1955-09-13 Int Standard Electric Corp Long range navigation system
US2778013A (en) * 1953-04-10 1957-01-15 Seismograph Service Corp Radio surveying apparatus
US3303499A (en) * 1963-10-02 1967-02-07 Seismograph Service Corp Radio location ranging system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0047561A1 (fr) * 1980-09-10 1982-03-17 BBC Aktiengesellschaft Brown, Boveri & Cie. Procédé de détermination de la position d'un objet mobile

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2198113A (en) * 1938-09-30 1940-04-23 William H Donnelly Navigation method and apparatus
US2551604A (en) * 1942-11-13 1951-05-08 Int Standard Electric Corp Radio position determining system
US2718002A (en) * 1949-02-02 1955-09-13 Int Standard Electric Corp Long range navigation system
US2778013A (en) * 1953-04-10 1957-01-15 Seismograph Service Corp Radio surveying apparatus
US3303499A (en) * 1963-10-02 1967-02-07 Seismograph Service Corp Radio location ranging system

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