WO2015145993A1 - 無線装置、距離推定システム、位置推定システム、距離推定方法、位置推定方法、距離推定プログラム記録媒体、位置推定プログラム記録媒体 - Google Patents
無線装置、距離推定システム、位置推定システム、距離推定方法、位置推定方法、距離推定プログラム記録媒体、位置推定プログラム記録媒体 Download PDFInfo
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- WO2015145993A1 WO2015145993A1 PCT/JP2015/001065 JP2015001065W WO2015145993A1 WO 2015145993 A1 WO2015145993 A1 WO 2015145993A1 JP 2015001065 W JP2015001065 W JP 2015001065W WO 2015145993 A1 WO2015145993 A1 WO 2015145993A1
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- WIPO (PCT)
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- pulse signal
- timing pulse
- wireless device
- delay time
- signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
- G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
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- 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
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
Definitions
- the present invention relates to a wireless device, a distance estimation system, a position estimation system, a distance estimation method, a position estimation method, a distance estimation program recording medium, and a position estimation program recording medium.
- Patent Document 1 discloses a method using radio wave intensity. Since the radio wave intensity is inversely proportional to the square of the distance, the distance can be estimated if the radio wave intensity of the transmission source is known. If this method is used, if there are three or more wireless devices, it is possible to estimate the relative positional relationship.
- GPS Global Positioning System
- A-GPS Assisted-GPS
- OTDOA Observed Time Difference Of Arrival
- Patent Document 1 has a problem that the positional accuracy is low. This is because the radio field intensity is greatly affected by the surrounding environment.
- the method of measuring the absolute position including Patent Document 2 has a problem that it takes time for processing. Although A-GPS is shorter than GPS, it takes several tens of seconds for initial positioning and several seconds for updating. Furthermore, these systems are based on the assumption that the time is synchronized between base stations, and a mechanism for time synchronization and an accurate clock are required. In a normal wireless device, a delay time unique to the wireless device exists in the transmission circuit and the reception circuit. For this reason, it has been difficult to accurately measure the true propagation time when radio waves propagate between apparatuses. And the error of the measured propagation time has caused the error in position estimation.
- the effect of the present invention is that the relative positional relationship between a plurality of wireless devices can be obtained accurately and quickly.
- FIG. 18 is a block diagram showing the first embodiment of the present invention.
- the radio apparatus u includes an RF (Radio Frequency) signal transmission unit 101, an RF signal reception unit 102, a loopback path 103, an antenna 104, and a control unit 105.
- the control unit 105 includes a timing pulse signal transmission unit 106, a timing pulse signal reception unit 107, a delay time reception unit 108, and a distance estimation unit 109.
- the RF signal transmission unit 101 transmits the signal input from the control unit 105 to the antenna 104 and the loopback path 103 as an RF signal.
- the RF signal receiving means 102 receives the RF signal input from the antenna 104 and the loopback path 103 and outputs it to the control unit 105.
- the loopback path 103 loops back the RF signal transmitted from the RF signal transmitting unit 101 and inputs it to the RF signal receiving unit 102.
- Timing pulse signal transmission means 106 generates a timing pulse signal and transmits it to the RF signal transmission means 101.
- Timing pulse signal receiving means 107 receives the timing pulse signal transmitted from the RF signal receiving means 102.
- timing pulse signals received by the timing pulse signal receiving means 107 There are two types of timing pulse signals received by the timing pulse signal receiving means 107. One is a first timing pulse signal transmitted by itself and looped back. The other is a second timing pulse signal transmitted from a second wireless device located at a location different from itself. The second timing pulse signal is transmitted by the second radio apparatus when the first timing pulse signal is received.
- Delay time receiving means 109 receives as information the delay time from when the second radio apparatus receives the first timing pulse signal until it transmits the second timing pulse signal.
- the wireless device u can accurately and quickly estimate the distance to the second wireless device. This is because the delay time required for transmission / reception occurring inside the wireless device can be offset and the time for propagation of radio waves from the wireless device u to the second wireless device can be accurately obtained.
- FIG. 1 is a block diagram showing a second embodiment of the present invention.
- the radio apparatus u of the present embodiment includes a timing pulse signal transmission unit 1, a reception unit 2, a loopback path 3 and a control unit 4.
- the control unit 4 includes a response timing pulse signal transmission unit 5, a delay time measurement unit 6, a delay time transmission unit 7, and a distance estimation unit 8.
- Timing pulse signal transmission means 1 transmits the first timing pulse signal with itself as the first wireless device.
- the loopback path 3 loops back the first timing pulse signal to the receiving means 2.
- the receiving means 2 receives an external signal and a first timing pulse signal input from the loopback path 3.
- the control means 4 controls each part of the wireless device u and has a function of estimating the distance from the second wireless device located at a location different from itself using the signal received by the receiving means 2.
- the response timing pulse signal transmission unit 5 transmits a response timing pulse signal when the reception unit 2 receives the timing pulse signal transmitted to itself.
- the delay time measuring means 6 measures the delay time from when the timing pulse signal addressed to itself is received until the response timing pulse signal is transmitted.
- the delay time transmitting means 7 transmits the delay time measured by the delay time measuring means 6 to the second wireless device to be estimated.
- FIG. 2 is a block diagram showing a third embodiment of the present invention.
- the radio apparatus u includes identification information adding means 9 that adds identification information to the timing pulse signal.
- the identification information is information for identifying the first timing pulse signal and the response timing pulse signal.
- the format of the identification information is arbitrary, for example, when communication is performed by a spread spectrum method, a method of encoding both with different spread codes can be used.
- the identification information providing unit 9 is provided in the timing pulse signal transmission unit 1, but it may be provided in the control unit 4 or the response timing pulse signal transmission unit 5.
- FIG. 3 is a block diagram showing a fourth embodiment of the present invention.
- the present embodiment is a distance estimation system using two wireless devices u of the first embodiment.
- the wireless device 0u 0 and the wireless device 1u 1 are located at a distance. According to this configuration, the distance can be accurately estimated by transmitting and receiving timing pulse signals to each other.
- the timing pulse signal transmission unit is represented by u (TX)
- the timing pulse signal reception unit is represented by u (RX).
- the timing pulse signal transmission unit and the reception unit of the wireless device 1u 1 are denoted as u 1 (TX) and u 1 (RX), respectively.
- the wireless device 0u 0 transmits a timing pulse signal M0 from u 0 (TX).
- M0 is input to the RF signal transmission unit 101, and the RF signal transmission unit 101 outputs a timing pulse signal M0 as an RF signal dt 0 after M0 is input.
- M 0 is input to the RF signal receiving unit 102 by loop back, and u 0 (RX) receives M 0 after dr 0 from that time. That M0 reaches the u 0 (RX) from the transmission of the u 0 (TX) is M0 after dt 0 + dr 0.
- M0 also arrives at the wireless device 1u 1 in the time D 01 in which radio waves propagate between wireless devices after being transmitted by the RF signal transmitting means 101.
- the RF signal receiving unit 102 receives M0, and u 1 (RX) receives M0 after the delay time dr 1 . That is, M0 reaches u 1 (RX) of wireless device 1u 1 after delay time dt 0 + D 01 + dr 1 after being transmitted at u 0 (TX).
- the wireless device u 1 generates and transmits the second timing pulse signal M 1 using the reception of M 0 as a trigger.
- P 1 be a delay time from when u 1 (RX) receives M0 until u 1 (TX) sends M1.
- u 1 (RX) receives M 1 after delay time dt 1 + dr 1 after u 1 (TX) transmits M 1 by loopback.
- M1 also reaches the wireless device 0u 0 it takes the delay time D 01 after being transmitted by the RF signal transmitter 101 to propagate between wireless devices.
- the delay time dr 0 is required after the RF receiving means receives the signal, and u 0 (RX) receives M 1.
- the time from when M 0 is transmitted at u 0 (TX) until u 0 (RX) receives M 1 is dt 0 + a 01. + Dr 0 .
- the time from when M0 is transmitted at u 0 (TX) until u 0 (RX) receives M1 is also dt 0 + D 01 + a 11 + D. 01 + dr 0 . That is, the following relationship is established. Since dt0 and dr0 cancel each other on the left and right sides of the equation (1), the following equation is obtained.
- the time D 01 during which the radio wave propagates can be obtained as a value that does not depend on the delay time (dt, dr) generated inside the wireless device. Then, assuming that the speed of light (radio wave) is c and the distance between the wireless devices u 0 and u 1 is L 01 , L 01 is obtained from the following equation.
- a 01 In the above equation are measured in the wireless device 0u within 0, a 11 is measured by the wireless device 1u within 1. That is, since a 01 and a 11 are independently, it is not necessary time synchronization between the two wireless devices u 0 and u 1.
- time synchronization between wireless devices is not required, and the distance between two wireless devices is accurately determined without being affected by delay time within the wireless device. Can be estimated.
- FIG. 5 is a block diagram showing a radio apparatus u used in this embodiment.
- the radio apparatus u of the present embodiment has a position estimation unit 10.
- the distance between wireless devices can be accurately obtained by using the wireless device of the second embodiment. Therefore, if there are three or more wireless devices separated from each other, the relative positional relationship can be estimated by calculation from the distance between the wireless devices.
- the position estimation means 10 is a means for performing this estimation.
- FIG. 6 is a schematic diagram showing the principle of position estimation.
- Three wireless devices u 0 , u 1 , u 2 are located at separate locations. Assuming that the distance between u 0 and u 1 is L 01 , the distance between u 1 and u 2 is L 12 , and the distance between u 0 and u 2 is L 02 , the respective distances are the times D 01 and D 12 during which the radio waves propagate. , D 02 and the speed of light c.
- the position estimation is roughly divided into three stages, a delay time measurement stage, a data collection stage, and a data analysis stage, as shown in FIG.
- the delay time measurement stage timing pulse signals are sequentially transmitted from the wireless devices u, and the time difference between the received timing pulse signals, that is, the delay time is measured.
- the data collecting step collects time difference data measured one wireless device, for example, u 0.
- the propagation time of the radio wave between the wireless devices is calculated from the collected time difference data, the distance between the wireless devices is obtained from the propagation time, and the positional relationship is estimated.
- phase # 1 the timing pulse signal M0 is sent from u 0 to u 1, u 2.
- phase # 2 the timing pulse signal M0 is sent from u 1 to u 2, u 0.
- phase # 3 the timing pulse signal M0 is sent from the u 2 to u 0, u 1. Note that as u 0 initially sends a timing pulse signal M0, u 1 sends a timing pulse signal M1 as a trigger for reception of M0, u 2 transmits a timing pulse signal M2 for reception of M1 as a trigger Rules are set in advance.
- the wireless device on the receiving side needs to identify the transmission source of each timing pulse signal. For this reason, an identification means is added to the timing pulse signal, but the method is arbitrary. For example, when the spread spectrum method is used, the transmission source wireless device can be identified by using a different spreading code for each wireless device.
- FIG. 9 is a timing chart showing timing pulse signal transmission / reception operations of the three radio apparatuses u 0 , u 1 , u 2 .
- u 0 (TX) is a timing pulse signal transmission unit of radio apparatus u 0
- u 0 (RX) is a timing pulse signal reception unit
- u 1 is a timing pulse signal transmission unit of u 1. (TX),.
- the first timing pulse signal is denoted as M0
- the second timing pulse signal is denoted as M1
- the third timing pulse signal is denoted as M2.
- M0 is transmitted from the timing pulse signal transmission unit u 0 (TX) of the wireless device u 0 .
- M0 after a delay time dt 0 passing through the RF signal transmitter, is input to the RF signal receiving means of the wireless device u 0, reaches the u 0 (RX) after a delay time dr 0. Further, after the delay time D 01 + dr 1, it reaches the timing pulse signal receiving means u 1 (RX) of the wireless device u 1 , and reaches the timing pulse signal receiving means u 2 (RX) of the wireless device u 2 after the delay time D 02 + dr 2. .
- phase # 2 radio equipment u 1 As triggered by the timing pulse signals M0 reached the u 1 (RX), the timing pulse signal M1 is generated.
- P 1 be the delay time from when M0 reaches u 1 (RX) to when M1 is generated.
- M1 is sent from the RF signal transmitting unit of the radio apparatus u 1 after a delay time dt 1.
- M1 transmitted from the RF signal transmission unit of the wireless device u1 reaches u 1 (RX) after a delay time dr 1 due to loopback. Further, u 2 (RX) is reached after delay time D 12 + dr 2 , and u 0 (RX) is reached after delay time D 01 + dr 0 .
- the timing pulse signal M1 is a timing pulse signal M2 is produced as a trigger that it has reached the u 2 (RX).
- P 2 be a delay time from when u 2 (RX) receives M1 to when M 2 is generated.
- M2 is sent from the RF signal transmitting unit after the delay time dt 2.
- M2 reaches u 2 (RX) after a delay time dr 2 passing through the RF signal receiving means due to loopback. Further, u 1 (RX) is reached after delay time D 12 + dr 1 , and u 0 (RX) is reached after delay time D 02 + dr 0 . Thus, the delay time measurement is completed.
- each delay time measured is transmitted one wireless device u, for example u 0. And it moves to data analysis.
- the difference between the time when M0 arrives at u 1 (RX) and the time when M1 arrives is a 11
- the difference between the time when M1 arrives and the time when M2 arrives is a 12 .
- a 21 be the difference between the time when M0 has reached u 2 (RX) and the time when M1 has arrived
- a 22 be the difference between the time when M1 has arrived and the time when M2 has arrived.
- the distance between the respective wireless devices can be obtained. If the distance between u 0 and u 1 is L 01 , the distance between u 1 and u 2 is L 12 , and the distance between u 0 and u 2 is L 02 , then the distance between each wireless device is It is obtained by the following formula.
- This equation does not include the delay time (dr 0 , dr 1 , dr 2 ) of the receiving means 2 and the delay time (dt 0 , dt 1 , dt 2 ) of the loopback. For this reason, a time measurement error due to a delay in the wireless device does not occur. Therefore, it is possible to measure the distance between wireless devices with high accuracy. And as demonstrated in FIG. 6, relative positional relationship can be estimated from the distance of three radio
- a 01 and a 02 are measured only at the wireless device 0u 0, the wireless device 1u 1, it is measured independently of the time measuring means of the radio device 2u 2.
- a 11 and a 12 are measured only by the wireless device 1u 1
- a 21 and a 22 are measured only by the wireless device 2u 2. Therefore, in this embodiment, it is not necessary to synchronize the time between wireless devices.
- FIG. 10 is a diagram showing a topology when the fourth wireless device 3u3 is added to the topology formed by the three wireless devices.
- the wireless device 3u 3 transmits the timing pulse signal M3 triggered by the reception of the timing pulse signal M2 from the wireless device 2u 2 (phase # 4). Then, the measured delay time of the timing pulse signal M3 until received by each wireless device u, collected as the delay time information, for example the u 0.
- FIG. 11 is a diagram showing the topology when the fifth wireless device u 4 is further added.
- the wireless device u 4 transmits the timing pulse signal M 4 triggered by the reception of the timing pulse signal M 3 from the wireless device u 3 (phase # 5). Then the same procedure as above description, and u 4, the distance L 34 between the distance L 24, u 3 and the distance L 14, u 2 and the distance L 04, u 1 and u 0, it is obtained, respectively Can do. As a result, the relative positions of the five wireless devices can be estimated.
- the relative position between the wireless devices can be accurately determined by transmitting and receiving the timing pulse signal M by the relay method regardless of the number of wireless devices. It can be estimated quickly.
- FIG. 13 is a block diagram showing a specific configuration example of the delay measurement circuit 2c.
- a configuration using a timing pulse signal that is spectrum-spread using a spreading code is shown.
- the timing pulse signal converted into the baseband signal by the receiving means 2 is set as input data 12.
- Input data 12 (for example, I / Q data, In-Phase / Quadrature-Phase data) is input to the matched filter 13 as a vector value.
- the correlation coefficient generation circuit 14 gives the correlation coefficient for the timing pulse signal to the matched filter 13 and calculates the cross-correlation vector value.
- the cross-correlation vector value is converted into electric power by the power calculation circuit 15 to generate a power profile.
- This power profile is a waveform having a peak value.
- the time when this peak occurs is measured using the peak detection circuit 16.
- the arrival time of the timing pulse signal can be obtained from the output data 17 of the peak detection circuit 16.
- the power profile has a waveform as shown in FIG. 14, for example, and a peak indicating the maximum value in the figure is detected as a peak 18.
- FIG. 15 shows a specific configuration example of the matched filter 13.
- the matched filter 13 receives a baseband signal of a timing pulse signal as input data 12 (x0, x1, x2,).
- the input data 12 is latched by a plurality of flip-flops 19 (FF).
- the value latched by each flip-flop 19 and the correlation coefficient C (C0, C1, C2, C3) are multiplied by the complex multiplier 20, the sum is calculated by the adder 21, and the cross-correlation vector is output data.
- 17 (y0, y1, y2,...) Is output.
- FIG. 16 is a block diagram showing a configuration example of the receiving circuit 2b used in the receiving means 2.
- the example given here is a superheterodyne RF circuit.
- the input signal 22 is input to the band pass filter 23.
- a signal of a target frequency is selected by the band pass filter 23, amplified by the low noise amplifier 24, and passed through the band pass filter 23 again.
- the mixer 25 multiplies the high frequency of the local oscillator 26 and transmits only the necessary signal down-converted by the low-pass filter 27.
- the quadrature demodulator 28 separates the I component and the Q component.
- high-frequency components are cut from the respective signals by the low-pass filters 27 a and 27 b and amplified by the amplifier 29.
- the waveform is shaped by the low-pass filters 27c and 27d, converted into a digital signal by the AD converter 30 (Analog-to-Digital Converter), and the baseband output signal 31 composed of the I component and the Q component can be obtained.
- AD converter 30 Ana
- FIG. 17 is a block diagram illustrating a configuration example of the transmission circuit 1b.
- I component and Q component signals are respectively input to the AD converter 30.
- the digital signal is converted into an analog signal.
- the signal is shaped by a low-pass filter 27e, 27f into a predetermined band and then modulated by the quadrature modulator 33.
- the waveform is shaped into a predetermined band by the low-pass filter 27g.
- the frequency is converted by the mixer 25, passed through the band-pass filter 23 that passes only the up-converted transmission frequency, and amplified by the low noise amplifier 24.
- a signal having a transmission frequency is selected from the amplified signal by the band-pass filter 23 and is output as the output signal 34.
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Abstract
Description
図18は本発明第1の実施の形態を示すブロック図である。無線装置uは、RF(Radio Frequency)信号送信手段101と、RF信号受信手段102と、ループバックパス103と、アンテナ104と、制御手段105と、を有している。そして、制御手段105は、タイミングパルス信号送信手段106と、タイミングパルス信号受信手段107と、遅延時間受信手段108と、距離推定手段109と、を有している。
図1は本発明第2の実施の形態を示すブロック図である。本実施の形態の無線装置uは、タイミングパルス信号送信手段1と、受信手段2と、ループバックパス3と制御手段4と、を有している。そして制御手段4は、応答タイミングパルス信号送信手段5と、遅延時間測定手段6と、遅延時間送信手段7と、距離推定手段8と、を有している。
図2は本発明第3の実施の形態を示すブロック図である。本実施の形態の無線装置uは、タイミングパルス信号に識別情報を付与する識別情報付与手段9を有している。識別情報は、第1のタイミングパルス信号と応答タイミングパルス信号を識別するための情報である。識別情報の形式は任意であるが、例えば、通信をスペクトラム拡散方式で行った場合に、両者を異なる拡散符号で符号化する方法を用いることができる。なお、図2では識別情報付与手段9をタイミングパルス信号送信手段1に設けているが、制御手段4や応答タイミングパルス信号送信手段5に設けても良い。
図3は本発明第4の実施の形態を示すブロック図である。本実施の形態は、第1の実施の形態の無線装置uを2台用いた距離推定システムである。無線装置0u0と無線装置1u1が離れた場所に位置している。この構成によれば、タイミングパルス信号を互いに送受信することによって、距離を正確に推定することができる。動作の説明に用いるため、本実施の形態では、タイミングパルス信号送信手段をu(TX)、タイミングパルス信号受信手段をu(RX)で表すこととする。このため、図3では、無線装置0u0のタイミングパルス信号送信手段、受信手段を、それぞれu0(TX)、u0(RX)と記している。また、無線装置1u1のタイミングパルス信号送信手段、受信手段を、それぞれu1(TX)、u1(RX)と記している。
(1)式の左辺、右辺でdt0およびdr0は相殺されるので、次式を得る。
図5は本実施の形態で用いる無線装置uを示すブロック図である。本実施の形態の無線装置uは位置推定手段10を有している。第4の実施の形態で説明したように、第2の実施の形態の無線装置を用いれば、無線装置間の距離を正確に求めることができる。したがって、互いに離間した無線装置が3つ以上あれば、それぞれの無線装置間の距離から、演算によって相対的な位置関係を推定することが可能となる。位置推定手段10はこの推定を行う手段である。
図12は無線装置uの具体的な構成の例を示すブロック図である。タイミングパルス信号送信手段1は、送信回路1b、タイミングパルス信号生成回路1cを有している。受信手段2は、受信回路2b、遅延時間測定回路2cを有している。またタイミングパルス信号生成手段1と受信手段2は制御手段4によって制御される。制御手段4はプロセッサ11を有し、プロセッサ11は距離推定手段8、位置推定手段10と接続し各種の演算や制御を行う。
本実施の形態では、各部の機能を実現するための具体的な構成について例を示す。
以上説明したように、本実施の形態によれば、第5、第6の実施の形態と同様に無線装置同士の相対位置を正確かつ迅速に推定する無線装置を得ることができる。
2 受信手段
3 ループバックパス
4 制御手段
5 応答タイミングパルス信号送信手段
6 遅延時間測定手段
7 遅延時間送信手段
8 距離推定手段
9 識別情報付与手段
10 位置推定手段
11 プロセッサ
12 入力データ
13 マッチドフィルタ
14 相関係数生成回路
15 電力演算回路
16 ピーク検出回路
17 出力データ
18 ピーク
19 フリップフロップ
20 複素乗算器
21 加算器
22 入力信号
23 バンドパスフィルタ
24 低ノイズアンプ
25 ミキサー
26 局部発振器
27 ローパスフィルタ
28 直交復調器
29 アンプ
30 ADコンバータ
31 ベースバンド出力信号
32 ベースバンド入力信号
33 直交変調器
34 出力信号
101 RF信号送信手段
102 RF信号受信手段
103 ループバックパス
104 アンテナ
105 制御手段
106 タイミングパルス信号送信手段
107 タイミングパルス信号受信手段
108 遅延時間受信手段
109 距離推定手段
c 光の速度
D 遅延時間
L 距離
M タイミングパルス信号
u 無線装置
Claims (10)
- RF信号を送信するRF信号送信手段と、RF信号を受信するRF信号受信手段と、前記RF信号を送受信するアンテナと、前記RF信号送信手段が送信したRF信号を前記RF信号受信手段にループバックするループバックパスと、前記RF信号送信手段と前記RF信号送信手段ととの間で信号を授受する制御手段と、を有し、前記制御手段は、前記RF信号送信手段にタイミングパルス信号を送信するタイミングパルス信号送信手段と、前記RF信号受信手段からタイミングパルス信号を受信するタイミングパルス信号受信手段と、自身を第1の無線装置として送信した第1のタイミングパルス信号の受信をトリガとして第2のタイミングパルス信号を送信する第2の無線装置から前記第2の無線装置が前記第1のタイミングパルス信号を受信してから前記第2のタイミングパルス信号を送信するまでの遅延時間を受信する遅延時間受信手段と、前記第1のタイミングパルス信号と前記第2のタイミングパルス信号と前記遅延時間とに基づいて自身と前記第2の無線装置との距離を推定する距離推定手段と、を有することを特徴とする無線装置。
- 前記第2のタイミングパルス信号に前記第2のタイミングパルス信号と第1のタイミングパルス信号とを識別する識別情報を付与する識別情報付与手段を有する、ことを特徴とする請求項1に記載の無線装置。
- 前記第1および第2の無線装置とは異なる第3の無線装置が送信した第3のタイミングパルス信号の受信時刻と前記第3の無線装置が送信した遅延時間情報と前記距離推定手段の距離推定結果とに基づいて前記第1の無線装置と前記第2の無線装置と前記第3の無線装置との相対的な位置関係を推定する位置推定手段を有する、ことを特徴とする請求項2に記載の無線装置。
- 請求項1または請求項2に記載の無線装置を複数有し、前記複数の無線装置が相互にタイミングパルス信号を送受信する、ことを特徴とする距離推定システム。
- 請求項3に記載の無線装置を少なくとも3つ有し、前記少なくとも3つの無線装置が相互にタイミングパルス信号を送受信する、ことを特徴とする位置推定システム。
- 複数の無線装置で構成される無線システムに用いる無線装置間の距離推定方法であって、第1の無線装置が第1のタイミングパルス信号を送信し、前記第1の無線装置がループバックによって前記第1のタイミングパルス信号を受信し、前記第1の無線装置とは異なる第2の無線装置が前記第1のタイミングパルス信号を受信し、前記第2の無線装置が前記第1のタイミングパルス信号の受信をトリガとして第2のタイミングパルス信号を送信し、前記第2の無線装置が前記第1のタイミングパルス信号を受信してから前記応答タイミングパルス信号を送信するまでの遅延時間を測定し、前記遅延時間を送信し、前記第1の無線装置が前記第2のタイミングパルス信号と前記遅延時間とを受信し、前記第1の無線装置が前記第1のタイミングパルス信号送受信時刻と前記第2のタイミングパルス信号受信時刻と前記遅延時間とに基づいて前記第1の無線装置と前記第2の無線装置との距離を推定する、ことを特徴とする距離推定方法。
- 前記第2のタイミングパルス信号に前記第1のタイミングパルス信号と前記第2のタイミングパルス信号を識別する識別情報を付与する、ことを特徴とする請求項6に記載の距離推定方法。
- 少なくとも3つの無線装置で構成される無線システムに用いる無線装置の相対位置推定であって、第1の無線装置が第1のタイミングパルス信号を送信し、前記第1の無線装置がループバックによって前記第1のタイミングパルス信号を受信し、前記第1の無線装置とは異なる第2の無線装置が前記第1のタイミングパルス信号を受信し、前記第2の無線装置が前記第1のタイミングパルス信号の受信をトリガとして第2のタイミングパルス信号を送信し、前記第2の無線装置が前記第1のタイミングパルス信号を受信してから前記第2のタイミングパルス信号を送信するまでの第1の遅延時間を測定し、前記第2の無線装置が前記第1の遅延時間を送信し、前記第1の無線装置および前記第2の無線装置とは異なる第3の無線装置が前記第2のタイミングパルス信号を受信し、前記第3の無線装置が前記第2のタイミングパルス信号の受信をトリガとして第3のタイミングパルス信号を送信し、前記第3の無線装置が前記第2のタイミングパルス信号を受信してから前記第3のタイミングパルス信号を送信するまでの第2の遅延時間を測定し、前記第3の無線装置が前記第2の遅延時間を送信し、前記第1の無線装置が前記第2のタイミングパルス信号と前記第1の遅延時間と前記第3のタイミングパルス信号と前記第2の遅延時間とを受信し、前記第1の無線装置が前記第1のタイミングパルス信号送受信時刻と前記第2のタイミングパルス信号受信時刻と前記第1の遅延時間と前記第3のタイミングパルス信号受信時刻と前記第2の遅延時間とに基づいて前記第1の無線装置と前記第2の無線装置と前記第3の無線装置との相対的な位置関係を推定する、ことを特徴とする相対位置推定方法。
- 複数の無線装置で構成される無線システムに用いる無線装置間の距離推定プログラムであって、第1の無線装置が第1のタイミングパルス信号を送信するステップと、前記第1の無線装置がループバックによって前記第1のタイミングパルス信号を受信するステップと、前記第1の無線装置とは異なる第2の無線装置が前記第1のタイミングパルス信号を受信するステップと、前記第2の無線装置が前記第1のタイミングパルス信号の受信をトリガとして第2のタイミングパルス信号を送信するステップと、前記第2の無線装置が前記第1のタイミングパルス信号を受信してから前記第2のタイミングパルス信号を送信するまでの遅延時間を測定するステップと、前記遅延時間を送信するステップと、前記第1の無線装置が前記第2のタイミングパルス信号と前記遅延時間とを受信するステップと、前記第1の無線装置が前記第1のタイミングパルス信号送受信時刻と前記第2のタイミングパルス信号受信時刻と前記遅延時間とに基づいて前記第1の無線装置と前記第2の無線装置との距離を推定するステップと、を有する距離推定プログラムを記録した、ことを特徴とする距離推定プログラム記録媒体。
- 少なくとも3つの無線装置で構成される無線システムに用いる無線装置の相対位置推定プログラムであって、第1の無線装置が第1のタイミングパルス信号を送信するステップと、前記第1の無線装置がループバックによって前記第1のタイミングパルス信号を受信するステップと、前記第1の無線装置とは異なる第2の無線装置が前記第1のタイミングパルス信号を受信するステップと、前記第2の無線装置が前記第1のタイミングパルス信号の受信をトリガとして第2のタイミングパルス信号を送信するステップと、前記第2の無線装置が前記第1のタイミングパルス信号を受信してから前記第2のタイミングパルス信号を送信するまでの第1の遅延時間を測定するステップと、前記第2の無線装置が前記第1の遅延時間を送信するステップと、前記第1の無線装置および前記第2の無線装置とは異なる第3の無線装置が前記第2のタイミングパルス信号を受信するステップと、前記第3の無線装置が前記第2のタイミングパルス信号の受信をトリガとして第3のタイミングパルス信号を送信するステップと、前記第3の無線装置が前記第2のタイミングパルス信号を受信してから前記第3のタイミングパルス信号を送信するまでの第2の遅延時間を測定するステップと、前記第3の無線装置が前記第2の遅延時間を送信するステップと、前記第1の無線装置が前記第2のタイミングパルス信号と前記第1の遅延時間と前記第3のタイミングパルス信号と前記第2の遅延時間とを受信するステップと、前記第1の無線装置が前記第1のタイミングパルス信号送受信時刻と前記第2のタイミングパルス信号受信時刻と前記第1の遅延時間と前記第3のタイミングパルス信号受信時刻と前記第2の遅延時間とに基づいて前記第1の無線装置と前記第2の無線装置と前記第3の無線装置との相対的な位置関係を推定するステップと、を有する相対位置推定プログラムを記録した、ことを特徴とする相対位置推定プログラム記録媒体。
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JP2002202364A (ja) * | 2000-12-28 | 2002-07-19 | Clarion Co Ltd | 測距方法および測距装置 |
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