WO2015114190A1 - Method and device for detecting distance, speed and direction of objects - Google Patents

Method and device for detecting distance, speed and direction of objects Download PDF

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Publication number
WO2015114190A1
WO2015114190A1 PCT/ES2015/070049 ES2015070049W WO2015114190A1 WO 2015114190 A1 WO2015114190 A1 WO 2015114190A1 ES 2015070049 W ES2015070049 W ES 2015070049W WO 2015114190 A1 WO2015114190 A1 WO 2015114190A1
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Prior art keywords
speed
phase
transducer
objects
distance
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PCT/ES2015/070049
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Spanish (es)
French (fr)
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Vicente Diaz Fuente
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Vicente Diaz Fuente
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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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. P.S.K. signals
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
    • G01S15/104—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S15/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. of phase-shift keyed [PSK] signals
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
    • G01S15/8959—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using coded signals for correlation purposes
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/26—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
    • G01S13/888—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons through wall detection
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
    • G01S13/951—Radar or analogous systems specially adapted for specific applications for meteorological use ground based
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/50—Systems of measurement, based on relative movement of the target
    • G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S15/588—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
    • G01S15/8979—Combined Doppler and pulse-echo imaging systems
    • G01S15/8984—Measuring the velocity vector
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Definitions

  • the invention referred to herein refers to a method and apparatus for detecting distance, speed and direction of objects, static or moving, by emitting encoded electromagnetic (radio or light) or mechanical (ultrasound) waves. , and the detection and decoding of received signals or echoes, to obtain greater sensitivity and resolution than current similar systems.
  • the present invention has its development in very varied fields of detection and visualization.
  • SAR synthetic aperture radar
  • LIDAR applications based on Laser, it can be used to improve the measurement of distances or in medical images based on near-infrared tomography, for example.
  • Conventional pulsed active detection systems are usually based on the compression or coding of pulses transmitted by phase modulations and frequency sweeps or chirp.
  • the detection is usually carried out by means of adapted filter techniques or correlation in order to obtain greater sensitivity and robustness against noise and jamming, without significantly reducing the resolution in distance or ability to detect very close objects.
  • pulse compression produces an increase in the lateral lobes of the correlation function that can produce false detections of nearby or clutter echoes, while high-energy echoes can mask much weaker nearby echoes.
  • a solution to this problem is time-poisoning techniques that allow the lateral lobes of the correlation to be reduced to extremely low values by multiplying the signal over time by special mathematical functions.
  • the greater the reduction of said lobes the greater is the widening of the main lobe produced, which results in a loss of discrimination in distance or axial resolution which reduces the possibility of detecting objects close to each other by "cheating" the apparatus, It detects a larger object instead of several smaller ones.
  • the techniques of poisoning require that the transmission stages work in a linear mode which makes the energy efficiency of the transmitter be reduced by increasing the consumption of the equipment.
  • reducing the lateral lobes and narrowing the main lobe without reducing energy efficiency is particularly important in active detection systems, especially when there is the possibility of detecting high reflectivity echoes close to weak echoes that may be masked but whose detection is vitally important.
  • the echo of the objective is masked by the powerful echo of the soil, mountains or the surface of the sea that is very close to the objective and prevents its correct detection.
  • TTWS of English Through The Wall Systems
  • UWB Ultra Wide Band
  • the wall itself reflects most of the energy passing through only a small part that, in addition, must cross the wall again, very attenuated, and be detected by the receiving device and interpret the data of position, speed, direction and even the breathing of objects or people on the other side.
  • the sensitivity problem is not resolved and it is necessary to use, for example, a higher power and use a large number of measurements or pulses to increase the signal-to-noise ratio (SNR) of the equipment and obtain more accurate information of the images obtained, which leads to greater consumption and less autonomy of the devices.
  • SNR signal-to-noise ratio
  • another solution is to use enough bandwidth to detect objects whose echoes are very attenuated and use techniques that use more energy, but distributed over time instead of frequency.
  • Another solution is the use of techniques used in pulsed radar.
  • the energy is extended over time by means of a chirp (or frequency sweep) coding, for example, which allows increasing sensitivity and robustness.
  • transcranial ultrasound in which the objective is to know the nature and state of the tissues of the brain, as well as the speed, direction and volume of blood in the different internal vessels in order to detect brain lesions such as stroke, stenosis or tumors.
  • the need for a method of detecting distance, direction and speed that allows, on the one hand to increase the sensitivity of the measurement, the reduction of the lateral lobes without using poisoning techniques and, therefore, without reducing the distance resolution, nor the discrimination of nearby objects, and on the other allow a transmission so that the amplifiers work in saturation mode in order to reduce the cost and consumption of the equipment to allow a smaller size and greater autonomy in autonomous teams.
  • This method of detecting distance, direction and speed can be used in any detection apparatus that uses a signal, electromagnetic or mechanical, transmitted to a medium in order to analyze the nature of the received pulses and obtain information from them.
  • the invention to which this description refers consists, on the one hand, of a method of compression or coding of pulses, their modulation and demodulation, and the decoding of said pulses to obtain the information of distance, speed and direction of the received pulses. .
  • the fundamental basis of the method of detecting distance, speed and direction is based on the two main properties of the sets N orthogonal elements of N complementary sequences of length L. a) The sum of the autocorrelations of the N sequences that are part of a element p of the set, is a delta of Krónecker.
  • the device Being ⁇ t> (p, q) the mathematical function correlation of the L values that make up the sequence p with the L values of the sequence q.
  • the pyq sequences are orthogonal, because they meet the previous property, and are composed of L numerical values each and can take any real or complex value.
  • the device consists of several elements:
  • Electronic process means to perform the operation of the calculation of the module and the phase of decoded echoes.
  • Electronic process means for the use of the obtained module and phase values for the calculation of the distance, speed and direction of the different echoes received. And the method is as follows:
  • the means for selecting codes which select from a memory or calculate a number p of elements of the set of N orthogonal elements where p corresponds to the number of simultaneous transmitters used in the apparatus.
  • the pulse coding means which encode each pulse corresponding to each transmitter by an element composed of N complementary sequences of the set. That is, transmitter 7 with the N sequences of element a, transmitter 2 with the N sequences of element b, and so on.
  • the modulation and transmission means which define the order of the sequences that make up each element (a, b, c, etc.) whose N sequences are separated by a selected time T between them and transmitted digitally modulated to the medium at the frequency of interest .
  • the reception and demodulation means which receive the signals or echoes by means of simultaneous receiver transducers adapted to the medium and extract their components in phase and quadrature.
  • the means to process the components in phase and quadrature, which correlate each signal received from each receiving transducer, by the N sequences of each of the p elements stored in memory in the order in which they were sent and cyclically and at intervals of corresponding time.
  • the means for storage which store the previous 2xNxpxk decoded results corresponding to the Nxp results of processing the phase and quadrature components of the P receivers used.
  • the electronic processing means that calculate for each receiving element k the sum of the N results stored in memory for each p element transmitted both in the phase component and in the quadrature component and calculate its module and phase ⁇ as:
  • phase and quadrature components respectively of the receiver k at time T ⁇ and p ⁇ correspond to the complementary sequence of length L of the element p, transmitted in the order / " .
  • the electronic processing means which use the results of at least 2 previous consecutive transmissions to calculate the position, speed and direction of a number m of detected targets.
  • the distances R (i) of the m echoes are calculated, as in any pulsed radar, measuring the flight time of the detected pulses corresponding to the local maximums of, which we will call T mx (i), as:
  • c is the speed of propagation of the wave in the medium where it is transmitted.
  • V (i) speeds of the m echoes can be calculated, as in any pulsed radar, such as: c- (& (n) - & (n- T))
  • I feel f 0 the center frequency at which the signal is transmitted. Obviously, although less accurately, they can also be calculated using the differences between the positions of the echoes received in two consecutive captures divided by the time between T measurements. And the directions D (i) of the m echoes are calculated, as the sign of the velocity, if it is positive, the objective approaches the transducer and if it is negative the objective moves away from the transducer. D (i) 3gn [V (i)] (6)
  • FIGURE 1 A first figure.
  • FIGURE 7 It shows the schematic diagram of a possible implementation of a medical ultrasound or near-infrared laser imaging system based on the described patent, where a possible arrangement of the transducers and their location in the member is observed, in this case it is a transcranial image.
  • FIGURE 7 It shows the schematic diagram of a possible implementation of a medical ultrasound or near-infrared laser imaging system based on the described patent, where a possible arrangement of the transducers and their location in the member is observed, in this case it is a transcranial image.
  • FIGURE 7 It shows the schematic diagram of a possible implementation of a medical ultrasound or near-infrared laser imaging system based on the described patent, where a possible arrangement of the transducers and their location in the member is observed, in this case it is a transcranial image.
  • FIGURE 7 It shows the schematic diagram of a possible implementation of a medical ultrasound or near-infrared laser imaging system based on the described patent, where a possible arrangement of the transducers and their location in the
  • the invention referred to herein is an apparatus for detecting the distance, speed and direction of objects by means of received pulses that employs electromagnetic or mechanical signals encoded by the described method to improve the sensitivity, resolution and robustness of the systems. of current detection.
  • the device consists of eight main blocks:
  • Means for selecting elements (1) which can be based, for example, on a memory where the sequences to be used are stored. It makes the selection of an element of the set formed by N sequences of L numerical values each.
  • Pulse coding means (2) which use the stored values, which can be arranged in a circular memory (2) of NxL values that are accessed at defined time intervals T and are used to encode the pulses to be transmitted cyclic and successively (1 1) with the values of the stored sequences.
  • the process is cyclic and continuous because after reading the sequence N the sequence 1 begins to be transmitted again in the next cycle T and so cyclically.
  • Modulation and transmission means (3) which modulates the signal at intermediate frequency (13) and subsequently raises it to the frequency of interest by a higher converter (14) that is amplified (15) and transmitted by an adapted transducer to the middle (16).
  • Receiving and demodulation means (4) which receives the signal (22) by means of a transducer adapted to the medium (21) is lowered to intermediate frequency (24) by a lower coherent converter (23) and the components in phase (25) are extracted and quadrature (26) in baseband.
  • Means for processing the components in phase and quadrature (5) which cyclically and simultaneously correlate the signals received in baseband of each component (25 and 26), by the N sequences stored in circular memories in the order in which they were sent and of cyclically and at the corresponding time intervals synchronously.
  • Means for storage (6) which store the results of the last N cyclic correlations, of each component in phase and quadrature, in a memory.
  • Electronic process means for calculating the module and phase (7) which calculate, in each interval T the module as the square root of the sum of the squares of the sums of the last N correlations stored in memory, and calculate the phase as the arc tangent of the quotient between the sum of the last N correlations of the quadrature component and the sum of the last N correlations of the phase component.
  • the invention described constitutes a powerful detection system that improves not only axial resolution and sensitivity, but also its robustness against noise and jamming and reduces lateral lobes and clutter.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention relates to a method and device for the detection of distance, speed and direction of objects, using the emission of coded electromagnetic (radio or light) or mechanical (ultrasonic) waves, and the detection and decoding of the received signals or echoes, in order to achieve greater sensitivity and resolution than the current similar systems. The device consists of eight main blocks: means for selecting elements or codes; means for coding pulses; modulation and transmission means; receiving and demodulation means; means for processing the in-phase and quadrature components; storage means; electronic processing means for calculating the modulus and phase; and electronic processing means for calculating distance, speed and direction.

Description

MÉTODO Y APARATO PARA LA DETECCIÓN DE DISTANCIA, VELOCIDAD METHOD AND APPARATUS FOR DISTANCE, SPEED DETECTION
Y DIRECCIÓN DE OBJETOS AND OBJECT ADDRESS
D E S C R I P C I O N D E S C R I P C I O N
OBJETO DE LA INVENCIÓN OBJECT OF THE INVENTION
La invención a la que se refiere la presente memoria trata de un método y aparato para la detección de distancia, velocidad y dirección de objetos, estáticos o en movimiento, mediante la emisión de ondas electromagnéticas (radio o luz) o mecánicas (ultrasonidos) codificadas, y la detección y decodificación de las señales recibidas o ecos, para obtener una mayor sensibilidad y resolución que los actuales sistemas similares. CAMPO DE LA INVENCION The invention referred to herein refers to a method and apparatus for detecting distance, speed and direction of objects, static or moving, by emitting encoded electromagnetic (radio or light) or mechanical (ultrasound) waves. , and the detection and decoding of received signals or echoes, to obtain greater sensitivity and resolution than current similar systems. FIELD OF THE INVENTION
La presente invención tiene su desarrollo en muy variados campos de la detección y visualización. A nivel recitativo pero no limitativo podemos hablar de su utilización en el campo de las aplicaciones RADAR para la detección tanto de objetivos militares como civiles, en el campo de la investigación atmosférica o detección de recursos naturales para geo-radares de penetración, en sus múltiples variantes, así como su aplicación a técnicas de radar de apertura sintética (SAR), entre otros. En el campo de aplicaciones LIDAR, basadas en Láser, puede emplearse para mejorar la medida de distancias o en imágenes médicas basadas en tomografía de infrarrojo cercano, por ejemplo. The present invention has its development in very varied fields of detection and visualization. At a recitative level but not limitation we can talk about its use in the field of RADAR applications for the detection of both military and civilian objectives, in the field of atmospheric research or detection of natural resources for penetration geo-radar, in its multiple variants, as well as its application to synthetic aperture radar (SAR) techniques, among others. In the field of LIDAR applications, based on Laser, it can be used to improve the measurement of distances or in medical images based on near-infrared tomography, for example.
En el campo de las ondas mecánicas, para mejorar las aplicaciones de SONAR en el campo militar y civil, las imágenes médicas basadas en ultrasonidos o la detección de parámetros médicos en los que sea necesario medir la velocidad, volumen y densidad de tejidos, así como en aplicaciones industriales para la medición de la rigidez, densidad y estado de materiales. In the field of mechanical waves, to improve the applications of SONAR in the military and civil field, medical images based on ultrasound or the detection of medical parameters in which it is necessary to measure the speed, volume and density of tissues, as well as in industrial applications for the measurement of stiffness, density and condition of materials.
i Evidentemente, todas las aplicaciones en las que se emplee una señal electromagnética o mecánica para la detección o medida, también puede beneficiarse de este método y aparato para mejorar sus capacidades. ANTECEDENTES DE LA INVENCIÓN i Obviously, all applications in which an electromagnetic or mechanical signal is used for detection or measurement, can also benefit from this method and apparatus to improve its capabilities. BACKGROUND OF THE INVENTION
Los sistemas activos de detección pulsados convencionales suelen estar basados en la compresión o codificación de los pulsos transmitidos mediante modulaciones de fase y barridos de frecuencia o chirp. Conventional pulsed active detection systems are usually based on the compression or coding of pulses transmitted by phase modulations and frequency sweeps or chirp.
De este modo la detección se suele realizar mediante técnicas de filtro adaptado o correlación con el objetivo de obtener una mayor sensibilidad y robustez frente al ruido y el jamming, sin reducir significativamente la resolución en distancia o capacidad de detectar objetos muy próximos. In this way the detection is usually carried out by means of adapted filter techniques or correlation in order to obtain greater sensitivity and robustness against noise and jamming, without significantly reducing the resolution in distance or ability to detect very close objects.
Desafortunadamente, la compresión de pulsos produce un incremento de los lóbulos laterales de la función de correlación que puede producir falsas detecciones de ecos próximos o "clutter", al tiempo que ecos de alta energía pueden enmascarar ecos próximos mucho más débiles. Unfortunately, pulse compression produces an increase in the lateral lobes of the correlation function that can produce false detections of nearby or clutter echoes, while high-energy echoes can mask much weaker nearby echoes.
Una solución a este problema son las técnicas de enventanado en el tiempo que permiten reducir los lóbulos laterales de la correlación a valores extremadamente bajos mediante la multiplicación de la señal en el tiempo por funciones matemáticas especiales. Sin embargo, cuanto mayor es la reducción de dichos lóbulos mayor es el ensanchamiento del lóbulo principal producido, lo cual produce una pérdida de discriminación en distancia o resolución axial lo cual reduce la posibilidad de detectar objetos próximos unos de otros "engañando" al aparato, que detecta un objeto más grande en lugar de varios más pequeños. A solution to this problem is time-poisoning techniques that allow the lateral lobes of the correlation to be reduced to extremely low values by multiplying the signal over time by special mathematical functions. However, the greater the reduction of said lobes, the greater is the widening of the main lobe produced, which results in a loss of discrimination in distance or axial resolution which reduces the possibility of detecting objects close to each other by "cheating" the apparatus, It detects a larger object instead of several smaller ones.
Por otra parte, las técnicas de enventanado requieren que las etapas de transmisión trabajen en modo lineal lo que hace que la eficiencia energética del transmisor se reduzca incrementando el consumo del equipo. Así pues, reducir los lóbulos laterales y estrechar el lóbulo principal sin reducir la eficiencia energética es particularmente importante en los sistemas activos de detección, especialmente cuando existe la posibilidad de detectar ecos de alta reflectividad próximos a ecos débiles que pueden quedar enmascarados pero cuya detección es de vital importancia. On the other hand, the techniques of poisoning require that the transmission stages work in a linear mode which makes the energy efficiency of the transmitter be reduced by increasing the consumption of the equipment. Thus, reducing the lateral lobes and narrowing the main lobe without reducing energy efficiency is particularly important in active detection systems, especially when there is the possibility of detecting high reflectivity echoes close to weak echoes that may be masked but whose detection is vitally important.
Este es el caso, por ejemplo, de la detección de misiles o aviones cuya trayectoria se realiza cerca del suelo o cerca de la superficie del mar.  This is the case, for example, of the detection of missiles or airplanes whose trajectory is carried out near the ground or near the surface of the sea.
En estos casos el eco del objetivo queda enmascarado por el potente eco del suelo, montañas o de la superficie del mar que se encuentra muy cercano al objetivo e impide su correcta detección. In these cases the echo of the objective is masked by the powerful echo of the soil, mountains or the surface of the sea that is very close to the objective and prevents its correct detection.
El caso más extremo de este efecto se produce en los sistemas de visión tras muro o TTWS (del inglés Through The Wall Systems). Estos aparatos emplean, en general, ondas electromagnéticas de ultra banda ancha o UWB (Ultra Wide Band) transmitidas en dirección al muro o pared que rodea un recinto cerrado con el objetivo de detectar el movimiento de objetos o personas en el interior. El propio muro refleja la mayor parte de la energía atravesando sólo una pequeña parte que, además, debe volver a cruzar el muro de nuevo, muy atenuada, y ser detectada por el aparato receptor e interpretar los datos de posición, velocidad, dirección e incluso la respiración de los objetos o personas al otro lado. The most extreme case of this effect occurs in systems of vision behind wall or TTWS (of English Through The Wall Systems). These devices employ, in general, ultra-wide electromagnetic waves or UWB (Ultra Wide Band) transmitted in the direction of the wall or wall that surrounds a closed enclosure with the aim of detecting the movement of objects or people inside. The wall itself reflects most of the energy passing through only a small part that, in addition, must cross the wall again, very attenuated, and be detected by the receiving device and interpret the data of position, speed, direction and even the breathing of objects or people on the other side.
Esto supone un reto tecnológico enorme debido, no solo a la enorme atenuación que sufre la información de interés, respecto a la que vuelve reflejada del muro, sino a la dificultad de discriminar objetos que se encuentran cerca entre ellos y del propio muro que se interpone entre el aparato detector y el objeto. This is a huge technological challenge due, not only to the enormous attenuation suffered by the information of interest, with respect to the one that becomes reflected from the wall, but to the difficulty of discriminating objects that are close to each other and the wall itself that interposes between the detector apparatus and the object.
Una solución al problema de la discriminación entre objetos es transmitir pulsos extremadamente cortos, inferior a nanosegundos, y con un elevado ancho de banda. De hecho estas técnicas de pulsos ultracortos y de ultra amplio ancho de banda o UWB son las que se utilizan actualmente en casi todos los sistemas TTWS. A solution to the problem of discrimination between objects is to transmit extremely short pulses, less than nanoseconds, and with a high bandwidth. In fact these ultra-short and ultra-wide pulse techniques Bandwidth or UWB are the ones currently used in almost all TTWS systems.
Sin embargo, el problema de la sensibilidad no queda resuelto y es necesario utilizar, por ejemplo, una mayor potencia y utilizar un número elevado de medidas o pulsos para incrementar así la relación señal a ruido (SNR) del equipo y obtener una información más precisa de las imágenes obtenidas, lo que conlleva un mayor consumo y menor autonomía de los aparatos. Evidentemente, en lugar de utilizar pulsos UWB muy cortos, otra solución es emplear un ancho de banda suficiente para detectar los objetos cuyos ecos están muy atenuados y utilizar técnicas que empleen mayor energía, pero distribuida en el tiempo en lugar de en la frecuencia. Así, técnicas basadas en radares continuos (CW o LFM) se están empleando desde hace tiempo con cierto éxito en prototipos y en productos del mercado, sin embargo, dichos sistemas son extremadamente caros y voluminosos debido a la necesidad de antenas con elevada ganancia y dimensiones, además de que las etapas de transmisión y recepción son complejas y de alta linealidad, encareciendo el aparato. However, the sensitivity problem is not resolved and it is necessary to use, for example, a higher power and use a large number of measurements or pulses to increase the signal-to-noise ratio (SNR) of the equipment and obtain more accurate information of the images obtained, which leads to greater consumption and less autonomy of the devices. Obviously, instead of using very short UWB pulses, another solution is to use enough bandwidth to detect objects whose echoes are very attenuated and use techniques that use more energy, but distributed over time instead of frequency. Thus, techniques based on continuous radars (CW or LFM) have been used for some time with some success in prototypes and market products, however, such systems are extremely expensive and bulky due to the need for antennas with high gain and dimensions , in addition to the stages of transmission and reception are complex and high linearity, making the device more expensive.
Otra solución es el uso de técnicas empleadas en radares pulsados. En este caso la energía se extiende en el tiempo mediante una codificación chirp (o barrido en frecuencia), por ejemplo, lo que permite incrementar la sensibilidad y robustez. Another solution is the use of techniques used in pulsed radar. In this case, the energy is extended over time by means of a chirp (or frequency sweep) coding, for example, which allows increasing sensitivity and robustness.
Lamentablemente, tal como se ha explicado, es necesario enventanar el pulso transmitido y recibido para poder detectar ecos débiles muy por debajo de ecos próximos de gran reflectividad, como el que refleja un muro, lo que empeora la resolución en distancia haciendo imposible discriminar objetos próximos unos de otros y, especialmente, si están cercanos al muro. Unfortunately, as explained, it is necessary to poison the transmitted and received pulse in order to detect weak echoes well below nearby echoes of great reflectivity, such as that reflected by a wall, which worsens the resolution at a distance making it impossible to discriminate nearby objects from each other and, especially, if they are close to the wall.
Además, el coste y consumo del aparato se incrementa debido a las restricciones de linealidad y potencia necesarios para su funcionamiento óptimo. Evidentemente, este problema se encuentra también en el campo de las imágenes médicas por ultrasonidos. In addition, the cost and consumption of the device is increased due to the linearity and power restrictions necessary for its optimal operation. Obviously, this problem is also in the field of ultrasound medical imaging.
El caso más evidente es el de las ecografías transcraneales en las que el objetivo es conocer la naturaleza y estado de los tejidos del cerebro, así como la velocidad, dirección y volumen de la sangre en los distintos vasos internos con el objetivo de detectar lesiones cerebrales tales como íctus, estenosis o tumores. The most obvious case is that of transcranial ultrasound in which the objective is to know the nature and state of the tissues of the brain, as well as the speed, direction and volume of blood in the different internal vessels in order to detect brain lesions such as stroke, stenosis or tumors.
En estos casos, debido a la dureza del cráneo en los adultos, es una prueba diagnóstica que no puede emplearse a pesar de sus ventajas frente a otro tipo de pruebas diagnósticas o de imagen como el TAC. In these cases, due to the hardness of the skull in adults, it is a diagnostic test that cannot be used despite its advantages over other types of diagnostic or imaging tests such as CT.
De todo lo anterior se deduce la necesidad de un método de detección de distancia, dirección y velocidad que permita, por una parte incrementar la sensibilidad de la medida, la reducción de los lóbulos laterales sin emplear técnicas de enventanado y, por tanto, sin reducir la resolución en distancia, ni la discriminación de objetos próximos, y por la otra permitir una transmisión de modo que los amplificadores trabajen en modo de saturación con el objetivo de reducir el coste y consumo del equipo para permitir un menor tamaño y una mayor autonomía en equipos autónomos. From all of the above, the need for a method of detecting distance, direction and speed that allows, on the one hand to increase the sensitivity of the measurement, the reduction of the lateral lobes without using poisoning techniques and, therefore, without reducing the distance resolution, nor the discrimination of nearby objects, and on the other allow a transmission so that the amplifiers work in saturation mode in order to reduce the cost and consumption of the equipment to allow a smaller size and greater autonomy in autonomous teams.
Este método de detección de distancia, dirección y velocidad puede ser empleado en cualquier aparato de detección que emplee una señal, electromagnética o mecánica, transmitida a un medio con el objeto de analizar la naturaleza de los pulsos recibidos y obtener información de los mismos. This method of detecting distance, direction and speed can be used in any detection apparatus that uses a signal, electromagnetic or mechanical, transmitted to a medium in order to analyze the nature of the received pulses and obtain information from them.
No se conoce la existencia de antecedentes, patentes o modelos de utilidad, cuyas características sean iguales o similares a las preconizadas en la presente invención. DESCRIPCIÓN DE LA INVENCIÓN There is no known existence of background, patents or utility models, the characteristics of which are the same or similar to those recommended in the present invention. DESCRIPTION OF THE INVENTION
La invención a la que se refiere esta descripción consiste, por una parte, en un método de compresión o codificación de pulsos, su modulación y demodulación, y la decodificación de dichos pulsos para obtener la información de distancia, velocidad y dirección de los pulsos recibidos. The invention to which this description refers consists, on the one hand, of a method of compression or coding of pulses, their modulation and demodulation, and the decoding of said pulses to obtain the information of distance, speed and direction of the received pulses. .
Por otra parte, consiste en el aparato o aparatos que utilizan el método para obtener la distancia, velocidad y dirección de los pulsos recibidos. On the other hand, it consists of the device or devices that use the method to obtain the distance, speed and direction of the pulses received.
La base fundamental del método de detección de distancia, velocidad y dirección está basado en las dos propiedades principales de los conjuntos N elementos ortogonales de N secuencias complementarias de longitud L. a) La suma de las autocorrelaciones de las N secuencias que forman parte de un elemento p del conjunto, es una delta de Krónecker. The fundamental basis of the method of detecting distance, speed and direction is based on the two main properties of the sets N orthogonal elements of N complementary sequences of length L. a) The sum of the autocorrelations of the N sequences that are part of a element p of the set, is a delta of Krónecker.
1 w 1 w
—∑Φ(ρι(η), ρι(η)) = δ(η) (i )—∑Φ (ρ ι (η), ρ ι (η)) = δ (η) (i)
/VL (=1 b) La suma de las correlaciones cruzadas de las N secuencias de un elemento p del conjunto por las N secuencias de otro elemento ortogonal q del conjunto de elementos ortogonales, es cero para cualquier desplazamiento de tiempo. / VL (= 1 b) The sum of the cross correlations of the N sequences of an element p of the set by the N sequences of another orthogonal element q of the set of orthogonal elements, is zero for any time shift.
w  w
∑B(0(A7), q(A7)) = O (2) i=l  ∑B (0 (A7), q (A7)) = O (2) i = l
Siendo <t>(p,q) la función matemática correlación de los L valores que componen la secuencia p con los L valores de la secuencia q. Las secuencias p y q son ortogonales, por el hecho de cumplir la propiedad anterior, y están compuestas por L valores numéricos cada una y pueden tomar cualquier valor real o complejo. Para la correcta implementación del resultado, el aparato consta de diversos elementos: Being <t> (p, q) the mathematical function correlation of the L values that make up the sequence p with the L values of the sequence q. The pyq sequences are orthogonal, because they meet the previous property, and are composed of L numerical values each and can take any real or complex value. For the correct implementation of the result, the device consists of several elements:
Medios para seleccionar al menos un elemento a, compuesto por N secuencias complementarias de longitud L, de entre los N elementos de un conjunto de N secuencias complementarias. Means for selecting at least one element a, composed of N complementary sequences of length L, from among the N elements of a set of N complementary sequences.
Medios para codificar los pulsos a transmitir utilizando las N secuencias complementarias que componen el elemento a seleccionado. Means to encode the pulses to be transmitted using the N complementary sequences that make up the element to be selected.
Medios para modular los N pulsos correspondientes al elemento a y transmitirlos, en un orden definido sucesivamente uno detrás de otro y separados por un tiempo T, a un medio mediante ondas electromagnéticas o mecánicas gracias a un transductor adaptado al medio y a la frecuencia de interés. Means for modulating the N pulses corresponding to the element a and transmitting them, in a sequence defined successively one after the other and separated by a time T, to a medium by means of electromagnetic or mechanical waves thanks to a transducer adapted to the medium and the frequency of interest.
Medios para recibir las señales tras su propagación por el medio mediante un transductor adaptado al medio y demodular dichas señales o ecos para extraer sus componentes en fase y cuadratura. Means for receiving the signals after their propagation through the medium by means of a transducer adapted to the medium and demodulating said signals or echoes to extract their components in phase and quadrature.
Medios para procesar las componentes en fase y cuadratura y decodificarlas mediante las N secuencias correspondientes al elemento a utilizado en transmisión en el orden establecido en transmisión sucesivamente uno detrás del otro y separados en un tiempo T. Means for processing the components in phase and quadrature and decoding them by means of the N sequences corresponding to the element to be used in transmission in the order established in transmission successively one after the other and separated at a time T.
Medios para almacenar los resultados de las sucesivas N decodificaciones de las componentes en fase y cuadratura Means for storing the results of successive N decodes of the components in phase and quadrature
Medios de proceso electrónico para realizar la operación del cálculo del módulo y la fase de los ecos decodificados. Electronic process means to perform the operation of the calculation of the module and the phase of decoded echoes.
Medios de proceso electrónico para la utilización de los valores obtenidos de módulo y fase para el cálculo de la distancia, velocidad y dirección de los distintos ecos recibidos. Y el método es el siguiente: Electronic process means for the use of the obtained module and phase values for the calculation of the distance, speed and direction of the different echoes received. And the method is as follows:
Los medios para seleccionar códigos, que seleccionan de una memoria o calculan un número p de elementos del conjunto de N elementos ortogonales donde p corresponde al número de transmisores simultáneos empleados en el aparato. The means for selecting codes, which select from a memory or calculate a number p of elements of the set of N orthogonal elements where p corresponds to the number of simultaneous transmitters used in the apparatus.
Los medios de codificación de pulsos, que codifican cada pulso correspondiente a cada transmisor por un elemento compuesto por N secuencias complementarias del conjunto. Es decir, el transmisor 7 con las N secuencias del elemento a, el transmisor 2 con las N secuencias del elemento b, y así sucesivamente. The pulse coding means, which encode each pulse corresponding to each transmitter by an element composed of N complementary sequences of the set. That is, transmitter 7 with the N sequences of element a, transmitter 2 with the N sequences of element b, and so on.
Los medios de modulación y transmisión, que definen el orden de las secuencias que componen cada elemento (a, b, c, etc.) cuyas N secuencias son separadas un tiempo seleccionado T entre ellas y transmitidas moduladas digitalmente al medio a la frecuencia de interés. The modulation and transmission means, which define the order of the sequences that make up each element (a, b, c, etc.) whose N sequences are separated by a selected time T between them and transmitted digitally modulated to the medium at the frequency of interest .
Los medios de recepción y demodulación, que reciben las señales o ecos mediante k simultáneos transductores receptores adaptados al medio y extraen sus componentes en fase y cuadratura. The reception and demodulation means, which receive the signals or echoes by means of simultaneous receiver transducers adapted to the medium and extract their components in phase and quadrature.
Los medios para procesar las componentes en fase y cuadratura, que correlan cada señal recibida de cada transductor receptor, por las N secuencias de cada uno de los p elementos almacenados en memoria en el orden en que se enviaron y de manera cíclica y en los intervalos de tiempo correspondientes. The means to process the components in phase and quadrature, which correlate each signal received from each receiving transducer, by the N sequences of each of the p elements stored in memory in the order in which they were sent and cyclically and at intervals of corresponding time.
Los medios para el almacenamiento, que almacenan los 2xNxpxk anteriores resultados decodificados correspondiente a los Nxp resultados de procesar las componentes en fase y cuadratura de los P receptores empleados. The means for storage, which store the previous 2xNxpxk decoded results corresponding to the Nxp results of processing the phase and quadrature components of the P receivers used.
Los medios de proceso electrónico que calculan para cada elemento receptor k la suma de los N resultados almacenados en memoria por cada p elemento transmitido tanto en la componente de fase como en la de cuadratura y calculan su módulo y fase Θ como:
Figure imgf000010_0002
Figure imgf000010_0001
The electronic processing means that calculate for each receiving element k the sum of the N results stored in memory for each p element transmitted both in the phase component and in the quadrature component and calculate its module and phase Θ as:
Figure imgf000010_0002
Figure imgf000010_0001
Siendo lkTl y Qkr, las componentes en fase y cuadratura respectivamente del receptor k en el instante T¡ y p¡ corresponde a la secuencia complementaria de longitud L del elemento p,transmitida en el orden /". Being l kTl and Q k r, the phase and quadrature components respectively of the receiver k at time T¡ and p¡ correspond to the complementary sequence of length L of the element p, transmitted in the order / " .
Los medios de proceso electrónico, que utilizan los resultados de, al menos, 2 transmisiones consecutivas anteriores para calcular la posición, velocidad y dirección de un número m de objetivos detectados. The electronic processing means, which use the results of at least 2 previous consecutive transmissions to calculate the position, speed and direction of a number m of detected targets.
Las distancias R(i) de los m ecos se calculan, como en cualquier radar pulsado, midiendo los tiempo de vuelo de los pulsos detectados correspondientes a los máximos locales de , que denominaremos Tmx(i), como: The distances R (i) of the m echoes are calculated, as in any pulsed radar, measuring the flight time of the detected pulses corresponding to the local maximums of, which we will call T mx (i), as:
F i) = C' T™(° (4) F i) = C 'T ™ (° (4)
Donde c es la velocidad de propagación de la onda en el medio donde se transmite. Where c is the speed of propagation of the wave in the medium where it is transmitted.
Las velocidades V(i) de los m ecos se pueden calculan, como en cualquier radar pulsado, como: c- (&(n) - &(n- T)) The V (i) speeds of the m echoes can be calculated, as in any pulsed radar, such as: c- (& (n) - & (n- T))
V(i) (5)  V (i) (5)
4π - Τ- t  4π - Τ- t
Siento f0 la frecuencia central en la que se transmite la señal. Evidentemente, aunque de manera menos precisa, también se pueden calcular utilizando las diferencias entre las posiciones de los ecos recibidos en dos capturas consecutivas dividido por el tiempo entre medidas T. Y las direcciones D(i) de los m ecos se calculan, como el signo de la velocidad, si es positivo, el objetivo se acerca al transductor y si es negativo el objetivo se aleja del transductor. D(i) = 3gn[V(i)] (6) I feel f 0 the center frequency at which the signal is transmitted. Obviously, although less accurately, they can also be calculated using the differences between the positions of the echoes received in two consecutive captures divided by the time between T measurements. And the directions D (i) of the m echoes are calculated, as the sign of the velocity, if it is positive, the objective approaches the transducer and if it is negative the objective moves away from the transducer. D (i) = 3gn [V (i)] (6)
Es evidente para cualquier conocedor de las técnicas radar, y similares, que el empleo de esta técnica con varios receptores y transmisores simultáneos, o el empleo de técnicas SAR (Small Aperture Radar), puede permitir conocer exactamente los datos de cada objetivo en dos o en tres dimensiones (2D/3D) y reconstruir una imagen de los ecos y su desplazamiento respecto al receptor con el empleo de un sistema de visualización específico. It is evident to any connoisseur of radar techniques, and the like, that the use of this technique with several simultaneous receivers and transmitters, or the use of SAR (Small Aperture Radar) techniques, can allow to know exactly the data of each objective in two or in three dimensions (2D / 3D) and reconstruct an image of the echoes and their displacement with respect to the receiver with the use of a specific visualization system.
Por parte del inventor no se conoce ninguna anterioridad que incorpore las disposiciones que presenta la actual invención, ni las ventajas que conlleva dicha disposición. On the part of the inventor there is no known priority that incorporates the provisions presented by the present invention, nor the advantages that such provision entails.
BREVE DESCRIPCIÓN DE LOS DIBUJOS En primer lugar relacionamos los elementos que componen los dibujos teniendo en cuenta que idénticas referencias se refieren a idénticos elementos BRIEF DESCRIPTION OF THE DRAWINGS First we relate the elements that make up the drawings taking into account that identical references refer to identical elements
FIGURA 1. FIGURE 1.
Muestra el diagrama esquematizado de un sistema actual de detección de distancia, velocidad y dirección basado en RADAR Doppler pulsado.  Displays the schematic diagram of a current distance, speed and direction detection system based on pulsed RADAR Doppler.
FIGURA 2. FIGURE 2
Muestra un diagrama esquematizado de un ejemplo de ocultación del eco débil de un avión (B) situado en una posición cercana al eco de alta reflectividad (A) correspondiente a una montaña empleando procedimientos actuales de procesado chirp, donde se observa en la gráfica que sólo el eco A es detectado.  It shows a schematic diagram of an example of concealment of the weak echo of an airplane (B) located in a position close to the echo of high reflectivity (A) corresponding to a mountain using current chirp processing procedures, where it is observed in the graph that only Echo A is detected.
FIGURA 3. FIGURE 3
Presenta una comparativa entre el resultado de la detección de un eco de alta reflectividad junto a otro de muy baja reflectividad. La primera basada en chirp enventanado (izquierda), imposible de ser discriminados, y la codificación propuesta en esta invención (derecha), donde se detecta perfectamente el eco atenuado 90dB respecto al principal. FIGURA 4. It presents a comparison between the result of the detection of an echo of high reflectivity together with another of very low reflectivity. The first based on poisoned chirp (left), impossible to be discriminated against, and the coding proposed in this invention (right), where the attenuated echo 90dB with respect to the main one is perfectly detected. FIGURE 4.
Muestra el diagrama esquematizado del aparato transmisor de un RADAR Doppler pulsado basado en la patente descrita, donde se refleja la transmisión de las secuencias cíclicamente, de forma continua y a intervalos de tiempo T.  It shows the schematic diagram of the transmitter apparatus of a pulsed RADAR Doppler based on the described patent, where the transmission of the sequences is reflected cyclically, continuously and at time intervals T.
FIGURA 5. FIGURE 5
Muestra el diagrama esquematizado del aparato receptor de un RADAR Doppler pulsado basado en la patente descrita, donde se muestra esquemáticamente que en cada intervalo T de transmisión el método detecta información de distancia, velocidad y dirección de los ecos recibidos empleando la información de las correlaciones previas.  It shows the schematic diagram of the receiver apparatus of a pulsed Doppler RADAR based on the described patent, where it is shown schematically that in each transmission interval T the method detects distance, speed and direction information of the echoes received using the information from the previous correlations .
FIGURA 6. FIGURE 6.
Muestra el diagrama esquematizado de una posible implementación de un sistema de imágenes médicas por ultrasonidos o láser de infrarrojo cercano basado en la patente descrita, donde se observa una posible disposición de los transductores y su ubicación en el miembro, en este caso se trata de una imagen transcraneal. FIGURA 7.  It shows the schematic diagram of a possible implementation of a medical ultrasound or near-infrared laser imaging system based on the described patent, where a possible arrangement of the transducers and their location in the member is observed, in this case it is a transcranial image. FIGURE 7.
Muestra el diagrama esquematizado de una posible implementación de un sistema de imágenes tras muro basado en la patente descrita, donde se observa una posible ubicación de los transductores detrás del equipo para obtener imágenes 2D/3D en su display frontal.  It shows the schematic diagram of a possible implementation of an image system behind the wall based on the described patent, which shows a possible location of the transducers behind the equipment to obtain 2D / 3D images on its front display.
Y en todas ellas con la misma numeración se definen iguales elementos entre los que se distinguen And in all of them with the same numbering, the same elements are defined between which they are distinguished
- (1 ) Medios de selección de elementos o códigos - (1) Means for selecting elements or codes
- (2) Medios de codificación de pulsos, 3) Medios de modulación y transmisión, - (2) Pulse coding means, 3) Modulation and transmission means,
4) Medios de recepción y demodulación,  4) Means of reception and demodulation,
5) Medios para procesar las componentes en fase y cuadratura,  5) Means to process the components in phase and quadrature,
6) Medios para el almacenamiento de resultados,  6) Means for storing results,
7) Medios de proceso electrónico para el cálculo del módulo y fase,  7) Electronic process means for the calculation of the module and phase,
8) Medios de proceso electrónico para el cálculo de distancia, velocidad y dirección,  8) Electronic process means for calculating distance, speed and direction,
9) Aparato transmisor,  9) Transmitter,
10 Aparato receptor,  10 Receiving device,
1 1 Pulsos codificados ordenados y transmitidos cíclicamente,  1 1 Coded pulses ordered and transmitted cyclically,
12 Codificador convencional C irp  12 Conventional encoder C irp
13 Pulsos a transmitir en frecuencia intermedia,  13 Pulses to be transmitted at intermediate frequency,
14 Conversor superior a frecuencia de interés,  14 Converter higher than frequency of interest,
15 Amplificador de señal de transmisión,  15 Transmission signal amplifier,
16 Transductor de transmisión,  16 Transmission transducer,
20 Decodificador convencional Chirp,  20 Chirp conventional decoder,
21 Transductor de recepción,  21 Receiving transducer,
22 Señal recibida,  22 Signal received,
23 Conversor inferior a frecuencia intermedia,  23 Lower to intermediate frequency converter,
24 Señal recibida en frecuencia intermedia,  24 Signal received at intermediate frequency,
25 Componente en fase de la señal demodulada en banda base,  25 Phase component of the demodulated baseband signal,
26 Componente en cuadratura de la señal demodulada en banda base, 27 Visualización de información  26 Quadrature component of the demodulated baseband signal, 27 Information display
REALIZACION PREFERENTE DE LA INVENCION PREFERRED EMBODIMENT OF THE INVENTION
La invención a la que se refiere la presente memoria trata de un aparato para detección de la distancia, velocidad y dirección de objetos mediante pulsos recibidos que emplea señales electromagnéticas o mecánicas codificadas mediante el método descrito para mejorar la sensibilidad, resolución y robustez de los sistemas de detección actuales. The invention referred to herein is an apparatus for detecting the distance, speed and direction of objects by means of received pulses that employs electromagnetic or mechanical signals encoded by the described method to improve the sensitivity, resolution and robustness of the systems. of current detection.
Para describir la invención de una manera más simple se va a explicar su aplicación para la implementación en un aparato de RADAR que transmite con 1 antena y recibe con 1 antena y donde el número de secuencias que forman parte de un elemento del conjunto de secuencias complementarias ortogonales es N. To describe the invention in a simpler way, its application for implementation in a RADAR device that transmits with 1 will be explained. antenna and receive with 1 antenna and where the number of sequences that are part of an element of the set of orthogonal complementary sequences is N.
En este caso el aparato consta de ocho bloques principales:  In this case the device consists of eight main blocks:
Medios de selección de elementos o códigos(1 )  Means for selecting elements or codes (1)
Medios de codificación de pulsos (2)  Pulse coding means (2)
Medios de modulación y transmisión (3),  Modulation and transmission means (3),
Medios de recepción y demodulación (4),  Means of reception and demodulation (4),
Medios para procesar las componentes en fase y cuadratura (5), Medios para el almacenamiento (6)  Means for processing components in phase and quadrature (5), Means for storage (6)
Medios de proceso electrónico para el cálculo del módulo y fase Electronic process means for module and phase calculation
(7) (7)
Medios de proceso electrónico para el cálculo de distancia, velocidad y dirección (8) Medios de selección de elementos (1), que pueden estar basados, por ejemplo, en una memoria donde se encuentran almacenados las secuencias a utilizar. Realiza la selección de un elemento del conjunto formado por N secuencias de L valores numéricos cada una.  Electronic process means for calculating distance, speed and direction (8) Means for selecting elements (1), which can be based, for example, on a memory where the sequences to be used are stored. It makes the selection of an element of the set formed by N sequences of L numerical values each.
Medios de codificación de pulsos (2), que utilizan los valores almacenados, que pueden estar ordenados en una memoria circular (2) de NxL valores a la que se accede a intervalos de tiempo definidos T y son utilizados para codificar los pulsos a transmitir cíclica y sucesivamente (1 1 ) con los valores de las secuencias almacenada. El proceso es cíclico y continuo porque después de leer la secuencia N se comienza de nuevo a transmitir la secuencia 1 en el siguiente ciclo T y así cíclicamente.  Pulse coding means (2), which use the stored values, which can be arranged in a circular memory (2) of NxL values that are accessed at defined time intervals T and are used to encode the pulses to be transmitted cyclic and successively (1 1) with the values of the stored sequences. The process is cyclic and continuous because after reading the sequence N the sequence 1 begins to be transmitted again in the next cycle T and so cyclically.
Medios de modulación y transmisión (3), que realiza la modulación de la señal a frecuencia intermedia (13) y posteriormente la sube a la frecuencia de interés mediante un conversor superior (14) que es amplificada (15) y transmitida mediante un transductor adaptado al medio (16). Modulation and transmission means (3), which modulates the signal at intermediate frequency (13) and subsequently raises it to the frequency of interest by a higher converter (14) that is amplified (15) and transmitted by an adapted transducer to the middle (16).
Medios de recepción y demodulación (4), que recibe la señal (22) mediante un transductor adaptado al medio (21 ) es bajado a frecuencia intermedia (24) por un conversor coherente inferior (23) y extraídas las componentes en fase (25) y cuadratura (26) en banda base. Medios para procesar las componentes en fase y cuadratura (5), que correlan cíclicamente y simultáneamente las señales recibidas en banda base de cada componente (25 y 26), por las N secuencias almacenadas en memorias circulares en el orden en que se enviaron y de manera cíclica y en los intervalos de tiempo correspondientes síncronamente. Receiving and demodulation means (4), which receives the signal (22) by means of a transducer adapted to the medium (21) is lowered to intermediate frequency (24) by a lower coherent converter (23) and the components in phase (25) are extracted and quadrature (26) in baseband. Means for processing the components in phase and quadrature (5), which cyclically and simultaneously correlate the signals received in baseband of each component (25 and 26), by the N sequences stored in circular memories in the order in which they were sent and of cyclically and at the corresponding time intervals synchronously.
Medios para el almacenamiento (6), que almacenan los resultados de los N últimas correlaciones cíclicas, de cada componente en fase y cuadratura, en una memoria. Means for storage (6), which store the results of the last N cyclic correlations, of each component in phase and quadrature, in a memory.
Medios de proceso electrónico para el cálculo del módulo y fase (7), que calculan, en cada intervalo T el módulo como la raíz cuadrada de la suma de los cuadrados de las sumas de las últimas N correlaciones almacenadas en memoria, y calcula la fase como el arcotangente del cociente entre la suma de las N últimas correlaciones de las componente en cuadratura y la suma de las N últimas correlaciones de la componente en fase. Electronic process means for calculating the module and phase (7), which calculate, in each interval T the module as the square root of the sum of the squares of the sums of the last N correlations stored in memory, and calculate the phase as the arc tangent of the quotient between the sum of the last N correlations of the quadrature component and the sum of the last N correlations of the phase component.
Medios de proceso electrónico para el cálculo de distancia, velocidad y dirección (8), que calculan la distancia, velocidad y dirección empleando los datos de las capturas previas. Electronic process means for calculating distance, speed and direction (8), which calculate distance, speed and direction using the data from previous captures.
La generalización para p transmisores, k receptores y N elementos del conjunto es evidente para un experto en la materia. Por tanto, la invención que se describe constituye un potente sistema de detección que mejora, no sólo la resolución axial y la sensibilidad, sino también su robustez frente al ruido y el jamming y reduce los lóbulos laterales y el clutter. The generalization for p transmitters, k receivers and N elements of the set is evident to a person skilled in the art. Therefore, the invention described constitutes a powerful detection system that improves not only axial resolution and sensitivity, but also its robustness against noise and jamming and reduces lateral lobes and clutter.
Descrita suficientemente la naturaleza de la invención, así como la manera de llevarse a la práctica, debe hacerse constar que las disposiciones anteriormente indicadas y representadas en los dibujos adjuntos son susceptibles de modificaciones de detalle en cuanto no alteren sus principios fundamentales, establecidos en los párrafos anteriores y resumidos en las siguientes reivindicaciones Describing sufficiently the nature of the invention, as well as the manner in which it is put into practice, it should be noted that the provisions indicated above and represented in the attached drawings are subject to modifications in detail as long as they do not alter its fundamental principles, established in the paragraphs. above and summarized in the following claims

Claims

REIVINDICACIONES
1a.- APARATO PARA LA DETECCIÓN DE DISTANCIA, VELOCIDAD Y DIRECCIÓN DE OBJETOS, estáticos o en movimiento, mediante la emisión de ondas electromagnéticas (radio o luz) o mecánicas (ultrasonidos) codificadas, y la detección y decodificación de las señales recibidas o ecos, para obtener una mayor sensibilidad y resolución que transmite señales codificadas y moduladas mediante un transductor adaptado al medio y detecta dicha información de las señales recibidos por el mismo u otro transductor adaptado y cuyo aparato está caracterizado por estar constituido al menos por: 1 .- APPARATUS FOR DETECTING DISTANCE, SPEED AND DIRECTION OBJECTS, static or moving, by emitting electromagnetic or mechanical waves (radio or light) (ultrasonic) encoded, and detecting and decoding the received signals or echoes, to obtain a greater sensitivity and resolution that transmits encoded and modulated signals by means of a transducer adapted to the medium and detects said information of the signals received by the same or another adapted transducer and whose apparatus is characterized by being constituted at least by:
Medios de selección de elementos (1 ), que realiza la selección de un elemento del conjunto almacenado formado por N secuencias complementarias de L valores numéricos cada una. Means for selecting elements (1), which performs the selection of an element of the stored set consisting of N complementary sequences of L numerical values each.
Medios de codificación de pulsos (2), que utilizan los valores almacenados, y ordenados en una memoria circular (2) de NxL valores a la que se accede a intervalos de tiempo definidos T y son utilizados para codificar los pulsos a transmitir cíclica y sucesivamente (1 1 ) con los valores de las secuencias almacenadas. El proceso es cíclico y continuo porque después de leer la secuencia N se comienza de nuevo a transmitir la secuencia 1 en el siguiente ciclo T y así cíclicamente.  Pulse encoding means (2), which use the stored values, and ordered in a circular memory (2) of NxL values that are accessed at defined time intervals T and are used to encode the pulses to be transmitted cyclically and successively (1 1) with the values of the stored sequences. The process is cyclic and continuous because after reading the sequence N the sequence 1 begins to be transmitted again in the next cycle T and so cyclically.
Medios de modulación y transmisión (3), que realiza la modulación de la señal (en fase, amplitud o frecuencia) a frecuencia intermedia (13) y posteriormente la sube a la frecuencia de interés mediante un conversor superior (14) que es amplificada (15) y transmitida mediante un transductor adaptado al medio (16). Modulation and transmission means (3), which modulates the signal (in phase, amplitude or frequency) at intermediate frequency (13) and subsequently raises it to the frequency of interest by means of a higher converter (14) that is amplified ( 15) and transmitted by means of a transducer adapted to the medium (16).
Medios de recepción y demodulación (4), que recibe la señal (22) mediante un transductor adaptado al medio (21 ) es bajado a frecuencia intermedia (24) por un conversor coherente inferior (23), demoduladas y extraídas las componentes en fase (25) y cuadratura (26) en banda base. Medios para procesar las componentes en fase y cuadratura (5), que correlan cíclicamente y simultáneamente las señales recibidas en banda base de cada componente (25 y 26), por las N secuencias almacenadas en memorias circulares en el orden en que se enviaron y de manera cíclica y continua. Receiving and demodulation means (4), which receives the signal (22) by means of a transducer adapted to the medium (21) is lowered at intermediate frequency (24) by a lower coherent converter (23), demodulated and extracted the components in phase ( 25) and quadrature (26) in baseband. Means for processing the components in phase and quadrature (5), which cyclically and simultaneously correlate the signals received in baseband of each component (25 and 26), by the N sequences stored in circular memories in the order in which they were sent and of Cyclic and continuous way.
Medios para el almacenamiento (6), que almacenan los resultados de los N últimas correlaciones cíclicas, de cada componente en fase y cuadratura, en una memoria. Medios de proceso electrónico para el cálculo del módulo y fase (7), que calculan, en cada intervalo 7 el módulo como la raíz cuadrada de la suma de las últimas N correlaciones, almacenadas en memoria, al cuadrado y calcula la fase como el arcotangente del cociente entre las últimas N correlaciones de la componente en cuadratura y la componente en fase. Means for storage (6), which store the results of the last N cyclic correlations, of each component in phase and quadrature, in a memory. Electronic process means for calculating the module and phase (7), which calculate, in each interval 7 the module as the square root of the sum of the last N correlations, stored in memory, squared and calculates the phase as the arc tangent of the quotient between the last N correlations of the quadrature component and the phase component.
Medios de proceso electrónico para el cálculo de distancia, velocidad y dirección (8), que calculan los datos de distancia, velocidad y dirección en cada intervalo T, empleando un número determinado de datos de módulo y fase calculados previamente. Electronic process means for calculating distance, speed and direction (8), which calculate the distance, speed and direction data in each interval T, using a certain number of previously calculated module and phase data.
2a.- APARATO PARA LA DETECCIÓN DE POSICIÓN, VELOCIDAD Y DIRECCIÓN DE OBJETOS, estáticos o en movimiento que utiliza ondas electromagnéticas de acuerdo con la 1 a reivindicación, ya sea radiofrecuencia o luz y caracterizado porque los medios a los que se refiere la 1 a reivindicación comprenden: : 2 .- APPARATUS FOR DETECTING POSITION, SPEED AND DIRECTION OF OBJECTS, static or moving using electromagnetic waves according to 1 claim, either radiofrequency or light and wherein the means that relates the one The claims include:
al menos un transmisor que genera pulsos codificados;  at least one transmitter that generates encoded pulses;
al menos un emisor adaptado al medio que modula y transmite dichos pulsos;  at least one emitter adapted to the medium that modulates and transmits said pulses;
- al menos un receptor adaptado al medio que recibe y demodula los pulsos recibidos;  - at least one receiver adapted to the medium that receives and demodulates the pulses received;
los medios para procesar y extraer las componentes en fase y cuadratura de los pulsos recibidos;  the means to process and extract the components in phase and quadrature of the pulses received;
- los medios para correlar las componentes en fase y cuadratura en banda base con los códigos transmitidos en el orden definido en transmisión y cíclicamente; - the means to correlate the components in phase and quadrature in baseband with the codes transmitted in the order defined in transmission and cyclically;
los medios para calcular y almacenar los valores del módulo y fase Θ como:
Figure imgf000018_0002
Figure imgf000018_0001
the means to calculate and store the values of the module and phase Θ as:
Figure imgf000018_0002
Figure imgf000018_0001
.- los medios para obtener los valores de posición, velocidad y dirección partiendo de los valores de módulo y fase almacenados durante un número dado de intervalos anteriores.  .- the means to obtain the values of position, speed and direction from the values of module and phase stored during a given number of previous intervals.
.- Los medios para representar y visualizar los datos de posición, velocidad y dirección al usuario.  .- The means to represent and visualize the position, speed and address data to the user.
3a.- MÉTODO PARA LA DETECCIÓN DE DISTANCIA, VELOCIDAD Y DIRECCIÓN DE OBJETOS estáticos o en movimiento, mediante la emisión de ondas electromagnéticas y caracterizado porque: el proceso de transmisión de los elementos es continuo y cíclico, es decir, cuando termina la transmisión del elemento, se vuelve a transmitir el inicio del elemento a continuación; 3 .- METHOD FOR DETECTING DISTANCE, speed and direction of static or moving objects, by emitting electromagnetic characterized waves that: the transmission process of the elements is continuous and cyclical, that is, when transmission completes of the element, the beginning of the element is then transmitted again;
las N secuencias que componen cada elemento se transmiten moduladas una tras otra separadas un tiempo definido T, cuya duración depende de la naturaleza de la aplicación;  the N sequences that make up each element are transmitted modulated one after another separated by a defined time T, whose duration depends on the nature of the application;
la duración de la transmisión completa de las N secuencias que componen cada elemento es NT,  the duration of the complete transmission of the N sequences that make up each element is NT,
una vez transmitida la última secuencia perteneciente al elemento, el método obtiene el resultado de distancia, velocidad y dirección a cada intervalo 7" correspondiente al envío de cada nueva secuencia cíclica y continuamente. 4a.- MÉTODO PARA LA DETECCIÓN DE DISTANCIA, VELOCIDAD Y DIRECCIÓN DE OBJETOS estáticos o en movimiento, mediante la emisión de ondas electromagnéticas de acuerdo con las reivindicación 3a y caracterizado porque las N secuencias de cada elemento son transmitidas codificadas en fase y trabajando los amplificadores de transmisión en saturación sin que se degrade ninguna de sus características de sensibilidad al clutter, jamming, resolución en distancia, velocidad y dirección. Once the last sequence belonging to the element is transmitted, the method obtains the result of distance, speed and direction at each interval 7 " corresponding to the sending of each new cyclic sequence and continuously. 4 .- METHOD FOR DETECTING DISTANCE, speed and direction of static or moving objects, by emitting electromagnetic waves according to claim 3 and wherein the N sequences each element are transmitted encoded in phase and working saturation transmission amplifiers without degrading any of its characteristics of sensitivity to clutter, jamming, distance resolution, speed and direction.
5a.- MÉTODO PARA LA DETECCIÓN DE DISTANCIA, VELOCIDAD Y DIRECCIÓN DE OBJETOS estáticos o en movimiento, mediante la emisión de ondas electromagnéticas de acuerdo con la reivindicaciones 3a y 4a y caracterizado porque las N secuencias de cada elemento son recibidas codificadas en fase y trabajando los amplificadores de recepción en saturación manteniendo una limitada y controlada degradación de sus características de sensibilidad al clutter, jamming, resolución en distancia, velocidad y dirección, suficiente para ser empleado en aplicaciones de detección. 5 .- METHOD FOR DETECTING DISTANCE, speed and direction of static or moving objects, by emitting electromagnetic waves according to claims 3 and 4 and wherein the N sequences each element are received coded phase and working the amplifiers of reception in saturation maintaining a limited and controlled degradation of its characteristics of sensitivity to clutter, jamming, resolution in distance, speed and direction, sufficient to be used in detection applications.
6a.- APARATO PARA LA DETECCIÓN DE POSICIÓN, VELOCIDAD Y DIRECCIÓN, que utiliza ondas electromagnéticas de acuerdo con la reivindicación 2a para detectar objetos o personas detrás de obstáculos y caracterizado porque comprende: 6 a .- DEVICE FOR DETECTION OF POSITION, SPEED AND DIRECTION, which uses electromagnetic waves according to claim 2 a to detect objects or people behind obstacles and characterized in that it comprises:
.- una base con una pantalla táctil dispuesta para ser sujetada con las manos para apuntar hacia el objetivo;  .- a base with a touch screen arranged to be held with the hands to point towards the target;
.- una base conectada de modo inalámbrico o mediante cables a un array o conjunto de elementos transductores o antenas transmisoras;  .- a base connected wirelessly or by cables to an array or set of transducer elements or transmitting antennas;
.- un conjunto de elementos transductores organizados espacialmente que combina un número variable de transmisores y de receptores;  .- a set of spatially organized transducer elements that combines a variable number of transmitters and receivers;
.- un procesador de las señales de transmisión y recepción interpretado como posiciones, velocidades y direcciones para representar en la pantalla una imagen 2D/3D de los objetos o personas tras el obstáculo; .- a processor of the transmission and reception signals interpreted as positions, speeds and directions to represent on the screen a 2D / 3D image of the objects or people behind the obstacle;
.- un proceso de generación de la imagen que tiene en cuenta la posición de la base respecto a los objetos detectados para la representación de la información. 7a.- APARATO PARA LA DETECCIÓN DE POSICIÓN, VELOCIDAD Y DIRECCIÓN, que emplea ultrasonidos codificadas, y la detección y decodificación de las señales recibidas o ecos, para obtener una mayor sensibilidad y resolución que transmite señales codificadas y moduladas mediante un transductor adaptado al medio y detecta dicha información de las señales recibidos por el mismo u otro transductor adaptado de acuerdo con la reivindicaciones 1 a, 2a y 6a caracterizado porque para analizar cambios fisiológicos en los tejidos biológicos comprende: .- an image generation process that takes into account the position of the base with respect to the objects detected for the representation of the information. 7 .- apparatus for position detection, speed and direction, which employs coded ultrasound, and detection and decoding of the received echo signals or, for higher sensitivity and resolution that transmits encoded and modulated signals by a transducer adapted to means and detects said information of the signals received by the same or other transducer adapted according to claims 1 a , 2 a and 6 a characterized in that to analyze physiological changes in biological tissues comprises:
.- una base a la que está fijado un array o conjunto de elementos transductores enfrentados de manera que rodean el cuerpo o miembro a analizar haciendo o no contacto directo;  .- a base to which an array or set of transducer elements facing each other is fixed so that they surround the body or member to be analyzed by making direct contact or not;
.- una base es flexible, para permitir adaptarse a distintos tamaños del miembro o cuerpo, de modo que los elementos no están unidos entre sí ni a la base de una manera rígida;  .- a base is flexible, to allow adapting to different sizes of the member or body, so that the elements are not attached to each other or to the base in a rigid manner;
.- un conjunto de elementos transductores, configurados para realizar un barrido completo de transmisión/recepción alrededor del miembro; .- a set of transducer elements, configured to perform a complete transmission / reception scan around the member;
.- un conjunto de elementos transductores configurados para recibir la señal del transductor o transductores enfrentados que atraviesan los tejidos circundantes; .- a set of transducer elements configured to receive the signal from the transducer or facing transducers that cross the surrounding tissues;
.- un conjunto de elementos transductores que además están configurados para recibir sus propias señales transmitidas o ecos reflejados por los tejidos circundantes; de forma que el conjunto de elementos está conectado por cable o de manera inalámbrica a un dispositivo con pantalla que procesa los datos detectados y los representa; .- a set of transducer elements that are also configured to receive their own transmitted signals or echoes reflected by the surrounding tissues; so that the set of elements is connected by cable or wirelessly to a device with a screen that processes the detected data and represents it;
.- un dispositivo conectado con pantalla que permite representar imágenes empleando los datos relacionados con la posición, velocidad y el movimiento de los tejidos analizados.  .- a device connected to the screen that allows to represent images using the data related to the position, speed and movement of the tissues analyzed.
8a.- APARATO PARA LA DETECCIÓN DE POSICIÓN, VELOCIDAD Y DIRECCIÓN DE OBJETOS, que emplea ondas electromagnéticas de acuerdo con las reivindicaciones 1 a, 2a 6a y 7a y caracterizado de forma que para analizar cambios fisiológicos en los tejidos biológicos, comprende: 8 .- APPARATUS FOR DETECTING POSITION OF OBJECTS SPEED AND DIRECTION, which uses electromagnetic waves according to claim 1, 2 to 6 and 7 and characterized to analyze so that physiological changes in biological tissues, understands:
.- una base a la que está fijado un array o conjunto de elementos transductores enfrentados de manera que rodean el cuerpo o miembro a analizar haciendo o no contacto directo; de forma que rodea el miembro o cuerpo completa o parcialmente según la configuración; .- a base to which an array or set of transducer elements facing each other is fixed so that they surround the body or member to be analyzed by making or no direct contact; so that it surrounds the member or body completely or partially depending on the configuration;
.-el conjunto de elementos transductores están configurados para realizar un barrido completo de transmisión/recepción alrededor del miembro; y además están configurados para recibir la señal del transductor o transductores enfrentados;  .-the set of transducer elements are configured to perform a complete transmission / reception scan around the member; and they are also configured to receive the signal from the transducer or transducers facing;
.- el conjunto de elementos transductores está conectado por cable o de manera inalámbrica a un dispositivo con pantalla que procesa los datos detectados y los representa;  .- The set of transducer elements is connected by cable or wirelessly to a device with a screen that processes the detected data and represents it;
.- un dispositivo conectado con pantalla permite representar imágenes empleando los datos relacionados con la posición, velocidad y el movimiento de los tejidos analizados. .- a device connected to the screen allows to represent images using the data related to the position, speed and movement of the tissues analyzed.
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