WO2018216170A1 - Displacement measuring device - Google Patents

Displacement measuring device Download PDF

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Publication number
WO2018216170A1
WO2018216170A1 PCT/JP2017/019561 JP2017019561W WO2018216170A1 WO 2018216170 A1 WO2018216170 A1 WO 2018216170A1 JP 2017019561 W JP2017019561 W JP 2017019561W WO 2018216170 A1 WO2018216170 A1 WO 2018216170A1
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Prior art keywords
positioning
value
unit
antenna
positioning value
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PCT/JP2017/019561
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French (fr)
Japanese (ja)
Inventor
翼 寺田
正資 大島
網嶋　武
信弘 鈴木
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2019514830A priority Critical patent/JP6556412B2/en
Priority to PCT/JP2017/019561 priority patent/WO2018216170A1/en
Publication of WO2018216170A1 publication Critical patent/WO2018216170A1/en

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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
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements

Definitions

  • the present invention relates to a displacement measuring device, and more particularly to a displacement measuring device for measuring displacement or vibration of a slope or structure that may cause landslide.
  • a radio wave transmitter is installed at the measurement point, and the radio waves are received by a plurality of reception antennas installed at the fixed point.
  • a device that measures the displacement of the position of the radio wave transmitter based on the time change of the phase difference between the two and the like (for example, see Patent Document 1).
  • the conventional displacement measuring device has a problem that an error occurs in the measured displacement when there is a reflection source around the radio wave transmitter or each receiving antenna.
  • the reflection source include vegetation such as vegetation and the like, structures such as the ground, buildings, and poles.
  • a method of giving directivity to the radio wave transmitter or the receiving antenna can be considered, but when measuring a wide range of slopes using multiple radio wave transmitters, it is difficult to control the directivity. In addition, there is a problem that the apparatus scale becomes large.
  • the present invention has been made to solve such a problem, and an object thereof is to obtain a displacement measuring apparatus capable of reducing an error of a measurement value in a multipath environment.
  • the present invention provides a radio wave transmitter that is installed at a measurement point and transmits radio waves from one or more transmission antennas, and a plurality of radio waves that are installed at a fixed point and receive the radio waves from the radio wave transmitter and output received signals.
  • the displacement measuring apparatus includes a positioning result correction unit that performs a correction process for correcting the positioning value of the transmission antenna and outputs the corrected positioning value as a positioning result.
  • the displacement measuring apparatus obtains a positioning value of each transmitting antenna based on reception signals of a plurality of receiving antennas, and reduces the positioning value error caused by an obstacle serving as a radio wave reflection source. Since the correction processing to correct the positioning value of the signal is performed and the corrected positioning value is output as the positioning result, the error of the measurement value in the multipath environment where the obstacle that becomes the reflection source of the radio wave exists is reduced. be able to.
  • a displacement measuring apparatus In this displacement measuring device, a radio wave source is attached to the measurement target, and the position of the radio wave source is measured by receiving the radio wave from the radio wave source with the receiving antenna, so that the measured value changes over time. Based on this, the displacement of the measurement object is detected.
  • measuring the position of the radio wave transmission source is referred to as “positioning”
  • the measurement value obtained by the measurement is referred to as “positioning value”.
  • correction processing for reducing the error is performed on the positioning value obtained by positioning, and the corrected positioning value is output as a positioning result.
  • obstacles that serve as a reflection source of radio waves include vegetation such as vegetation, structures such as the ground, buildings, and poles.
  • FIG. 1 is a block diagram showing a configuration of a displacement measuring apparatus according to Embodiment 1 of the present invention.
  • a plurality of measurement points are set for a measurement target, and a radio wave transmitter 1 is installed at each of the measurement points.
  • Examples of measurement objects include slopes and structures.
  • the radio wave transmitter 1 includes two or more transmission antennas, one of which is a reference transmission antenna 2 and the other is a non-reference transmission antenna 3. In FIG. 1, only one non-reference transmission antenna 3 is shown for simplification of the drawing, but two or more non-reference transmission antennas 3 may be provided. Radio waves transmitted from the transmission antennas 2 and 3 of the radio wave transmitter 1 are received by the radio wave receiver 30.
  • the radio wave receiver 30 includes a plurality of reception antennas 4 installed at fixed points, a transmission cable 5 that transmits a reception signal of each reception antenna 4, a low noise amplifier 6 (LNA) that amplifies the reception signal, and a reception A frequency converter 7 (D / C) that performs frequency conversion on a signal, an A / D converter 8 that converts an analog received signal into a digital signal, and a phase difference that calculates a phase difference between the digital signals A calculating unit 9; a transmitting antenna discriminating unit 10 that discriminates each phase difference for each transmitting antenna 2 and 3; a positioning arithmetic unit 11 that performs positioning of each transmitting antenna 2 and 3 from the discriminated phase difference; and correction of positioning results And a positioning result correction unit 12 that performs the above.
  • LNA low noise amplifier 6
  • the transmission cable 5, the low noise amplifier 6, the frequency converter 7, the A / D converter 8, and the transmitting antenna discriminating unit 10 are provided for each receiving antenna 4. . That is, in the example of FIG. 1, since four receiving antennas 4 are provided, the transmission cable 5, the low noise amplifier 6, the frequency converter 7, the A / D converter 8, and the transmitting antenna discriminating unit 10 are also provided. Four each are provided.
  • the positioning calculation unit 11 is provided for each of the transmission antennas 2 and 3 of the radio wave transmitter 1. In the example of FIG. 1, since the radio wave transmitter 1 is provided with two transmission antennas, two positioning calculation units 11 are also provided.
  • the number of the receiving antennas 4 and the transmitting antennas 2 and 3 is not limited to the example of FIG. 1, and may be any number of 1 or more.
  • the low noise amplifier 6, the frequency converter 7, the A / D converter 8, and the transmission antenna discriminating unit 10 are not necessarily provided, but may be provided as necessary.
  • the transmission antenna discriminating unit 10 is not necessary when the number of transmission antennas provided in the radio wave transmitter 1 is one.
  • phase difference calculation unit 9 and the positioning calculation unit 11 constitute a positioning unit that calculates the positioning values of the transmission antennas 2 and 3 based on the reception signal of the reception antenna 4.
  • FIG. 2 shows a hardware configuration diagram of the displacement measuring apparatus according to the first embodiment.
  • the hardware configuring the phase difference calculation unit 9, the transmission antenna discrimination unit 10, the positioning calculation unit 11, and the positioning result correction unit 12 among the components of the displacement measuring device is illustrated.
  • Other components 1 to 8 may be configured by dedicated processing circuits.
  • the data output from the A / D converter 8 is input to the data input interface 18 after A / D conversion. Thereafter, each process from the phase difference calculation unit 9 to the positioning result correction unit 12 is performed on the data. Applied.
  • Each process from the phase difference calculation unit 9 to the positioning result correction unit 12 is realized by the CPU 14 executing a program stored in the memory 15.
  • the positioning result output from the positioning result correction unit 12 is accumulated in the auxiliary storage device 16 and displayed on the display device 17 as necessary.
  • the plurality of radio wave transmitters 1 installed at the measurement points transmit radio waves from the transmission antennas 2 and 3 at the time of measurement.
  • each radio wave transmitter 1 is expected to be displaced from the initial installation position due to landslide on the slope or displacement / vibration of the structure.
  • the radio wave receiver 30 receives the radio waves transmitted from those radio wave transmitters 1 by the plurality of receiving antennas 4.
  • a reception signal received by the reception antenna 4 passes through the transmission cable 5 and is input to the low noise amplifier 6.
  • the received signal is amplified by the low noise amplifier 6 and converted to an intermediate frequency by the frequency converter 7. Further, the received signal is converted into a digital signal by the A / D converter 8.
  • phase difference calculator 9 calculates the phase difference between the receiving antennas 4.
  • the phase difference calculation unit 9 performs processing using, for example, a conventional method described in Patent Document 1 or the like. That is, the phase difference calculation unit 9 is configured to obtain, for at least three different combinations related to two antennas among the transmission antennas of the plurality of radio wave transmitters 1, a phase difference of received signals between the two transmission antennas related to each combination. Is calculated.
  • the combinations of the two receiving antennas are (a, b), (a, c), (a, d), (b, c). ), (B, d), and (c, d), at least three sets are generated, and the phase difference between the digital signals is calculated for each combination.
  • the phase difference calculated by the phase difference calculation unit 9 is discriminated for each of the transmission antennas 2 and 3 by the transmission antenna discrimination unit 10.
  • signals transmitted from the transmission antennas 2 and 3 signals that can be discriminated for each of the transmission antennas 2 and 3, such as time division, frequency division, and code division, are used. Therefore, the transmission antenna discriminating unit 10 transmits the phase difference output from the phase difference calculating unit 9 by discriminating the received signal according to reception time, frequency, or code according to the type of the received signal.
  • the antennas 2 and 3 can be discriminated.
  • the phase difference corresponding to the transmission antennas 2 and 3 is input to the two positioning calculation units 11 respectively. That is, a phase difference corresponding to the transmission antenna 2 is input to one of the two positioning calculation units 11, and a phase difference corresponding to the transmission antenna 3 is input to the other positioning calculation unit 11. Entered.
  • Each positioning calculation unit 11 performs positioning of each of the transmission antennas 2 and 3 based on the phase difference.
  • the positioning calculation unit 11 performs processing using, for example, a conventional method described in Patent Document 1 or the like. That is, the positioning calculation unit 11 is derived from the phase differences for at least three different combinations of the two transmission antennas for each of the transmission antennas 2 and 3, using the phase difference discriminated by the transmission antenna discrimination unit 10.
  • the intersections of at least three equal phase difference surfaces are obtained, the estimated values of the positions of the transmitting antennas 2 and 3 that have transmitted the radio waves are calculated, and output as positioning values.
  • the positioning result correction unit 12 corrects the positioning values of the transmitting antennas 2 and 3 and outputs the corrected positioning values as positioning results.
  • the positioning results output from the positioning result correction unit 12 in time series, the displacement of the position of the radio wave transmitter 1 can be measured, so that the presence or absence of the displacement of the measurement target can be detected.
  • the positioning result correction unit 12 simulates the displacement of the radio wave transmitter 1 by switching the transmission antennas 2 and 3 in the radio wave transmitter 1, and uses the positioning value obtained thereby, A correction coefficient for correcting an error of a positioning value generated in a multipath environment is calculated. Then, the positioning result correction unit 12 corrects the positioning value by multiplying the positioning value obtained by the positioning calculation unit 11 by the correction coefficient.
  • FIG. 3 shows an outline of the operation principle of the positioning result correction unit 12.
  • the radio wave transmitter 19 is the radio wave transmitter 1 shown in FIG.
  • the radio wave transmitter 19 has been displaced to the position of the radio wave transmitter 22.
  • the radio wave transmitter 19 has two transmission antennas 20 and 21.
  • the transmission antenna 20 corresponds to the reference transmission antenna 2 shown in FIG. 1
  • the transmission antenna 21 corresponds to the non-reference transmission antenna 3 shown in FIG. Due to the displacement of the radio wave transmitter 19, the reference transmission antenna 20 is displaced to the position of the reference transmission antenna 23, and the transmission antenna 21 is displaced to the position of the transmission antenna 24.
  • the difference between the positioning values of the transmission antennas 23 and 24 matches the difference between the actual positions of the transmission antennas 23 and 24.
  • the difference between the positioning values does not match the difference between the actual positions. Accordingly, by comparing these differences, it is possible to obtain a correction coefficient for making the positioning value difference coincide with the actual placement position difference. By multiplying the positioning coefficient by the correction coefficient thus determined, the true value of the positioning value can be determined.
  • the positioning result correction unit 12 first determines the positioning based on the difference between the positioning value of the reference transmitting antenna 23 and the positioning value of the transmitting antenna 24 and the difference between the actual positions of these transmitting antennas 23 and 24.
  • a correction coefficient for correcting a value error is calculated (step (1)). Since the information on the actual positions of the transmission antennas 23 and 24 is obtained as a design value or an actual measurement value, the information is stored in the positioning result correction unit 12 in advance.
  • the positioning value of the reference transmission antenna 23 can be corrected by multiplying the positioning coefficient of the reference transmission antenna 23 by the correction coefficient calculated in step (1) (step (2)).
  • the positioning position vector (positioning value) pm , l hat of the l-th transmitting antenna at time n obtained by the positioning calculation unit 11 is expressed by the following equation (2).
  • the phase difference calculation unit 9 may not obtain a correct phase difference. At that time, an error occurs in the positioning position vector pm, l hat.
  • l 0th transmission antenna be a reference transmission antenna, and consider the relative position of each transmission antenna.
  • l 1, 2,..., the actual relative position vector dm , l between the (L ⁇ 1) -th transmitting antenna and the reference transmitting antenna is expressed by the following equation (3).
  • a direction cosine matrix A m can be estimated by the following equation (7).
  • the positioning value obtained by the positioning calculation unit 11 is corrected by multiplying the positioning value obtained by the positioning calculation unit 11 by A m ⁇ 1 as a correction coefficient. Can do.
  • the following equation (10) is obtained.
  • the difference between the positioning values of the reference transmitting antenna at time n and time n ⁇ 1 is multiplied by A m ⁇ 1 to correct the positioning value difference, and the corrected positioning value is obtained.
  • the difference values by adding the positioning value p m tilde reference transmission antenna after correction (n-1) at time n-1, the positioning value of the reference transmitting antenna after correction at time n p m tilde (n )
  • the positioning value of the reference transmission antenna can be corrected.
  • L 2
  • L 3
  • FIG. 4 shows a processing flow of positioning calculation processing and correction processing of the mth radio wave transmitter 1.
  • Tx m indicates the m-th radio wave transmitter 1
  • step ST001 using the radio wave received from the reference transmitting antenna Tx m, 0, for example, by conventional technique described in Patent Document 1 or the like, the reference transmission antenna Tx m, positioning position vector p m, 0 0 Ask for a hat.
  • step ST002 it is determined whether the update requirements direction cosine matrix A m. The criteria for determining whether or not there is an update include battery capacity or traffic congestion. If it is determined in step ST002 that the update is unnecessary, the process proceeds to step ST0006 as it is. On the other hand, if it is determined in step ST002 that updating is necessary, the process proceeds to step ST003.
  • step ST005 using Equation (7), updates the direction cosine matrix A m.
  • Step ST006 the positioning value p m, 0 hat (n) is corrected using the equation (10), and the corrected positioning value p m tilde (n) is obtained.
  • FIG. 5 is a computer simulation result showing the effect of the displacement measuring apparatus according to the first embodiment.
  • FIG. 5 shows the result of one-dimensional displacement measurement.
  • the direction cosine matrix A m is represented by a scalar.
  • the main calculation conditions are shown in the table of FIG. 6, and the positional relationship between the transmitting antenna and the receiving antenna is shown in FIG. In FIG. 7, it is assumed that the transmitting antenna is Txi and the receiving antenna is Rxj. However, i and j are integers of 0 or more.
  • a situation where a composite wave of reflected waves arrives was assumed.
  • the positioning value corrected by the positioning result correction unit 12 is indicated by *
  • the positioning value of the conventional method in which positioning is performed only with the reference transmission antenna is indicated by ⁇
  • the actual movement of the radio wave transmitter (true Value) is indicated by a broken line.
  • the positioning value of the conventional method is close to the true value in the measurement time range of 0 to 0.5 and 1 to 1.5, but the measurement time of 0.5 to 1 In this range, a large positioning error occurs between the positioning value of the conventional method and the true value.
  • the positioning value and the true value of the positioning result correction unit 12 in the first embodiment are almost identical and no positioning error has occurred. As can be seen from these results, in the displacement measuring apparatus according to the first embodiment, it is understood that the positioning error generated in the conventional method can be reduced by performing the correction in the positioning result correcting unit 12.
  • the displacement measuring device needs to include a drive unit for moving the transmission antenna. Note that the drive unit may move only the transmission antenna, but may move the transmission antenna by moving the radio wave transmitter body.
  • the positioning calculation unit 11 obtains a positioning value before the transmission antenna is moved by the driving unit and a positioning value after the transmission antenna is moved by the driving unit.
  • the positioning result correction unit 12 receives the positioning value before the movement of the transmission antenna and the positioning value after the movement from the positioning calculation unit 11.
  • the positioning result correction unit 12 determines the positioning before the transmission antenna is moved based on the difference between the positioning value before the movement of the transmission antenna and the positioning value after the movement and the actual difference indicating the movement distance of the transmission antenna by the driving unit.
  • a matrix for converting the difference between the value and the positioning value after movement into an actual difference is calculated in advance. Then, the positioning result correction unit 12 can correct the positioning value of the transmission antenna by multiplying the positioning value of the transmission antenna obtained by the positioning calculation unit 11 by the matrix.
  • D m hat (n) may be used averaged value at a certain time interval.
  • D m bar (n) D m bar (n)
  • Expression (11) extracts the positioning values at the time intervals for performing positioning for T times from time (n ⁇ T ⁇ 1) to time n, and averages the positioning values.
  • Expression (11) extracts the positioning values at the time intervals for performing positioning for T times from time (n ⁇ T ⁇ 1) to time n, and averages the positioning values.
  • harmonic averaging, geometric average, or the like may be used as the averaging process.
  • the displacement measuring device is installed at the measurement point, the radio wave transmitter 1 that transmits radio waves from the one or more transmission antennas 2 and 3, and the radio wave transmitter 1 that is installed at the fixed point.
  • a plurality of reception antennas 4 that receive radio waves from the transmitter 1 and output reception signals, and positioning units 9 and 11 that obtain positioning values of the transmission antennas 2 and 3 based on the reception signals of the reception antennas 4.
  • correction processing for correcting the positioning values of the transmission antennas 2 and 3 in order to reduce errors in the positioning values caused by obstacles that are radio wave reflection sources, and output the corrected positioning values as positioning results.
  • FIG. 1 A displacement measuring apparatus according to Embodiment 2 of the present invention will be described. Since the configuration of the displacement measuring apparatus according to the second embodiment is the same as that in FIG. 1, reference is made here to FIG. 1 and description thereof is omitted.
  • the positioning result correction unit 12 the correction was carried out processing using the direction cosine matrix A m
  • the positioning result correction unit 12 as the correction processing, radio wave transmitter 1
  • the average value of the positioning values of the respective transmitting antennas is obtained, and the average value is output as a corrected positioning result. Since other configurations and operations are the same as those in the first embodiment, the description thereof is omitted here.
  • the real position vector and the positioning position vector of the l-th transmission antenna are represented by p m, l (n), p m as shown in the equations (1) and (2), respectively. , l hat (n).
  • the corrected positioning value p m tilde (n) of the reference transmission antenna in the second embodiment is expressed by the following equation (12).
  • Equation (12) averaging is performed after fitting the positioning value of each transmission antenna to the reference transmission antenna position.
  • a harmonic average, a geometric average, or the like may be used as the averaging process.
  • FIG. 8 shows a processing flow of positioning calculation processing and correction processing of the m-th radio wave transmitter 1 in the second embodiment.
  • Tx m represents the m-th radio wave transmitter 1
  • step ST101 similarly to step ST001 in FIG. 4, using the radio wave received from the reference transmission antenna Tx m, 0 , the reference transmission antenna Tx m, A zero positioning position vector pm , 0 hat is obtained.
  • the positioning value can be corrected, and the same effect as in the first embodiment can be obtained.
  • the first embodiment depending on the characteristics of the direction cosine matrix A m obtained in equation (7), there is a possibility that an error of the correction result of formula (10) is increased, in the second embodiment, the positioning Since the values are averaged, there is an advantage that an increase in error can be suppressed.
  • FIG. 3 A displacement measuring apparatus according to Embodiment 3 of the present invention will be described. Since the configuration of the displacement measuring apparatus according to the third embodiment is the same as that in FIG. 1, reference is made here to FIG. 1 and description thereof is omitted.
  • a reliable positioning value is selected from the positioning values of each transmitting antenna in the radio wave transmitter 1, and is output as a corrected positioning value.
  • the positioning value is selected by outputting a positioning value corresponding to a signal from a transmission antenna having the highest average SNR (Signal to Noise Ratio).
  • the SNR ⁇ l, r of the signal arriving at the r-th receiving antenna from the l-th transmitting antenna is expressed by the following equation (13).
  • l max is expressed by the following equation (14).
  • the positioning value can also be corrected using the method of the third embodiment.
  • FIG. 9 shows a processing flow of positioning calculation processing and correction processing of the m-th radio wave transmitter 1 in the third embodiment.
  • Tx m indicates the m-th radio wave transmitter 1
  • step ST201 similarly to step ST001 in FIG. 4, using the radio wave received from the reference transmission antenna Tx m, 0 , the reference transmission antenna Tx m, A zero positioning position vector pm , 0 hat is obtained.
  • step ST204 the transmission antenna number l max is calculated using equation (14).
  • step ST205 using equation (15), calculates the positioning value p m tilde corrected (n).
  • the reliable positioning value is selected using the SNR.
  • the present invention is not limited to this case.
  • a reliable positioning value a positioning value corresponding to a transmission antenna having the smallest deviation from the previous positioning value may be selected. In this case, the same effect can be obtained.
  • the positioning value after the last correction, when p m tilde (n-1), l max is represented by the following formula (16).
  • the positioning value can be corrected, and the same effect as in the first embodiment can be obtained. Further, in the third embodiment, since a positioning value with a low SNR or a positioning value with a large deviation is not used, there is an advantage that it is not affected by those errors.

Abstract

This displacement measuring device is provided with: an electromagnetic wave transmitter 1, which is disposed at a measuring point, and which transmits electromagnetic waves from transmission antennas 2, 3; a plurality of reception antennas 4, which are disposed at fixed points, receive the electromagnetic waves transmitted from the electromagnetic wave transmitter 1, and output reception signals; a positioning calculation unit 11 that obtains positioning values of the transmission antennas 2, 3 on the basis of the reception signals outputted from the reception antennas 4; and a positioning result correction unit 12, which corrects the positioning values of the transmission antennas 2, 3 for the purpose of reducing an positioning value error due to an obstacle, i.e., a reflection source of the electromagnetic waves, and which outputs, as positioning results, positioning values obtained after the correction.

Description

変位計測装置Displacement measuring device
　この発明は、変位計測装置に関し、特に、地滑りの恐れのある斜面または構造物の変位または振動等を計測するための変位計測装置に関する。 The present invention relates to a displacement measuring device, and more particularly to a displacement measuring device for measuring displacement or vibration of a slope or structure that may cause landslide.
　斜面または構造物の変位等を計測する手段として、従来、測定点に電波発信機を設置して、その電波を固定点に設置した複数の受信アンテナで受信することで、測定点と各受信アンテナとの位相差の時間変化に基づいて、電波発信機の位置の変位を計測する装置がある（例えば、特許文献１参照）。 Conventionally, as a means to measure the displacement of slopes or structures, a radio wave transmitter is installed at the measurement point, and the radio waves are received by a plurality of reception antennas installed at the fixed point. There is a device that measures the displacement of the position of the radio wave transmitter based on the time change of the phase difference between the two and the like (for example, see Patent Document 1).
　この種の従来の変位計測装置においては、電波発信機および各受信アンテナの周囲に電波の反射源がない理想的な環境が想定されている。もし、電波発信機もしくは各受信アンテナの周囲に反射源が存在する場合（以下、マルチパス環境と呼ぶ）、受信アンテナに複数波が到来し、複数波の合成で位相が真値から回転することで計測変位に誤差が生じてしまう。 In this type of conventional displacement measuring device, an ideal environment is assumed in which there is no radio wave reflection source around the radio wave transmitter and each receiving antenna. If there is a reflection source around the radio wave transmitter or each receiving antenna (hereinafter referred to as multipath environment), multiple waves will arrive at the receiving antenna, and the phase will rotate from the true value by combining multiple waves. This causes an error in measurement displacement.
特開２００１－２７２４４８号公報JP 2001-272448 A
　上記のように、従来の変位計測装置では、電波発信機もしくは各受信アンテナの周囲に反射源が存在する場合に計測変位に誤差が生じてしまうという課題があった。反射源としては、例えば草木等の植生、地面、建物及びポール等の構造物などが考えられる。 As described above, the conventional displacement measuring device has a problem that an error occurs in the measured displacement when there is a reflection source around the radio wave transmitter or each receiving antenna. Examples of the reflection source include vegetation such as vegetation and the like, structures such as the ground, buildings, and poles.
　この課題の解決策として、植生であれば除去を行うことが考えられるが、年単位の長期的な変位計測を行う場合、除去費用が膨大になるという問題がある。 As a solution to this problem, it is conceivable to remove the vegetation, but there is a problem that the removal cost becomes enormous when long-term displacement measurement is performed on a yearly basis.
　その他の解決策として、電波発信機もしくは受信アンテナに指向性を持たせる方法が考えられるが、複数の電波発信機を用いて斜面を広範囲に計測する場合は、指向性の制御が困難という問題に加えて、装置規模が大きくなる等の問題がある。 As another solution, a method of giving directivity to the radio wave transmitter or the receiving antenna can be considered, but when measuring a wide range of slopes using multiple radio wave transmitters, it is difficult to control the directivity. In addition, there is a problem that the apparatus scale becomes large.
　この発明はかかる課題を解決するためになされたものであり、マルチパス環境における計測値の誤差を低減することが可能な変位計測装置を得ることを目的とする。 The present invention has been made to solve such a problem, and an object thereof is to obtain a displacement measuring apparatus capable of reducing an error of a measurement value in a multipath environment.
　この発明は、計測点に設置され、１以上の送信アンテナから電波を送信する電波発信機と、固定点に設置され、前記電波発信機からの前記電波を受信して、受信信号を出力する複数の受信アンテナと、前記複数の受信アンテナの前記受信信号に基づいて各前記送信アンテナの測位値を求める測位部と、前記電波の反射源となる障害物に起因する前記測位値の誤差を低減するために前記送信アンテナの前記測位値を補正する補正処理を行って、補正後の前記測位値を測位結果として出力する測位結果補正部とを備えた変位計測装置である。 The present invention provides a radio wave transmitter that is installed at a measurement point and transmits radio waves from one or more transmission antennas, and a plurality of radio waves that are installed at a fixed point and receive the radio waves from the radio wave transmitter and output received signals. Receiving antennas, a positioning unit that obtains a positioning value of each of the transmitting antennas based on the received signals of the plurality of receiving antennas, and an error in the positioning value caused by an obstacle that is a reflection source of the radio wave Therefore, the displacement measuring apparatus includes a positioning result correction unit that performs a correction process for correcting the positioning value of the transmission antenna and outputs the corrected positioning value as a positioning result.
　この発明に係る変位計測装置は、複数の受信アンテナの受信信号に基づいて各送信アンテナの測位値を求め、電波の反射源となる障害物に起因する測位値の誤差を低減するために送信アンテナの測位値を補正する補正処理を行って、補正後の測位値を測位結果として出力するようにしたので、電波の反射源となる障害物が存在するマルチパス環境における計測値の誤差を低減することができる。 The displacement measuring apparatus according to the present invention obtains a positioning value of each transmitting antenna based on reception signals of a plurality of receiving antennas, and reduces the positioning value error caused by an obstacle serving as a radio wave reflection source. Since the correction processing to correct the positioning value of the signal is performed and the corrected positioning value is output as the positioning result, the error of the measurement value in the multipath environment where the obstacle that becomes the reflection source of the radio wave exists is reduced. be able to.
この発明の実施の形態１に係る変位計測装置の構成を示すブロック図である。It is a block diagram which shows the structure of the displacement measuring device which concerns on Embodiment 1 of this invention. この発明の実施の形態１に係る変位計測装置のハードウェア構成を示すブロック図である。It is a block diagram which shows the hardware constitutions of the displacement measuring device which concerns on Embodiment 1 of this invention. この発明の実施の形態１に係る変位計測装置に設けられた測位結果補正部の概要を説明するための図である。It is a figure for demonstrating the outline | summary of the positioning result correction | amendment part provided in the displacement measuring device which concerns on Embodiment 1 of this invention. この発明の実施の形態１に係る変位計測装置の処理の流れを示すフローチャートである。It is a flowchart which shows the flow of a process of the displacement measuring device which concerns on Embodiment 1 of this invention. この発明の実施の形態１に係る変位計測装置によるシミュレーション結果を示す図である。It is a figure which shows the simulation result by the displacement measuring device which concerns on Embodiment 1 of this invention. この発明の実施の形態１に係る変位計測装置によるシミュレーション諸元を示す図である。It is a figure which shows the simulation item by the displacement measuring device which concerns on Embodiment 1 of this invention. この発明の実施の形態１に係る変位計測装置における素子配置を示す図である。It is a figure which shows element arrangement | positioning in the displacement measuring device which concerns on Embodiment 1 of this invention. この発明の実施の形態２に係る変位計測装置の処理の流れを示すフローチャートである。It is a flowchart which shows the flow of a process of the displacement measuring device which concerns on Embodiment 2 of this invention. この発明の実施の形態３に係る変位計測装置の処理の流れを示すフローチャートである。It is a flowchart which shows the flow of a process of the displacement measuring device which concerns on Embodiment 3 of this invention.
　以下、この発明の実施の形態に係る変位計測装置について、図面に基づいて説明する。当該変位計測装置においては、計測対象に対して電波発信源を取り付け、電波発信源からの電波を受信アンテナで受信することで電波発信源の位置を計測して、計測値の時間的な変化に基づいて計測対象の変位を検出する。以下では、電波発信源の位置を計測することを「測位」と呼び、計測により得られた計測値を「測位値」と呼ぶこととする。このとき、電波を送受信する送信アンテナまたは受信アンテナの周囲に、電波の反射源となる障害物が存在するマルチパス環境下においては、当該障害物に起因する測位値の誤差が発生する。そのため、下記の各実施の形態においては、測位により得られた測位値に対して、当該誤差を低減するための補正処理を行って、補正後の測位値を測位結果として出力する。なお、電波の反射源となる障害物の例としては、草木等の植生、地面、建物及びポール等の構造物などがある。以下、各実施の形態について、詳細に説明する。 Hereinafter, a displacement measuring apparatus according to an embodiment of the present invention will be described with reference to the drawings. In this displacement measuring device, a radio wave source is attached to the measurement target, and the position of the radio wave source is measured by receiving the radio wave from the radio wave source with the receiving antenna, so that the measured value changes over time. Based on this, the displacement of the measurement object is detected. Hereinafter, measuring the position of the radio wave transmission source is referred to as “positioning”, and the measurement value obtained by the measurement is referred to as “positioning value”. At this time, in a multipath environment in which an obstacle serving as a radio wave reflection source exists around a transmission antenna or a reception antenna that transmits and receives radio waves, a positioning value error caused by the obstacle occurs. Therefore, in each of the following embodiments, correction processing for reducing the error is performed on the positioning value obtained by positioning, and the corrected positioning value is output as a positioning result. Examples of obstacles that serve as a reflection source of radio waves include vegetation such as vegetation, structures such as the ground, buildings, and poles. Hereinafter, each embodiment will be described in detail.
　実施の形態１．
　図１は、この発明の実施の形態１に係る変位計測装置の構成を示すブロック図である。図１に示すように、計測対象に対して複数の計測点を設定し、それらの計測点に、それぞれ、電波発信機１を設置する。計測対象としては、例えば、斜面、構造物などが挙げられる。電波発信機１は、２本以上の送信アンテナを含み、そのうちの１本が基準送信アンテナ２であり、他が非基準送信アンテナ３である。図１においては、図の簡略化のために、非基準送信アンテナ３を１つだけ図示しているが、非基準送信アンテナ３は２つ以上であってもよい。電波発信機１の送信アンテナ２，３から送信される電波は、電波受信機３０で受信される。電波受信機３０は、固定点に設置された複数の受信アンテナ４と、各受信アンテナ４の受信信号を伝送する伝送用ケーブル５と、受信信号を増幅する低雑音増幅器６（ＬＮＡ）と、受信信号に対して周波数変換を行う周波数変換器７（Ｄ／Ｃ）と、アナログ信号である受信信号をデジタル信号に変換するＡ／Ｄ変換器８と、デジタル信号間の位相差を算出する位相差算出部９と、各位相差を送信アンテナ２，３ごとに弁別する送信アンテナ弁別部１０と、弁別された位相差から各送信アンテナ２，３の測位を行う測位演算部１１と、測位結果の補正を行う測位結果補正部１２とから構成される。 Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of a displacement measuring apparatus according to Embodiment 1 of the present invention. As shown in FIG. 1, a plurality of measurement points are set for a measurement target, and a radio wave transmitter 1 is installed at each of the measurement points. Examples of measurement objects include slopes and structures. The radio wave transmitter 1 includes two or more transmission antennas, one of which is a reference transmission antenna 2 and the other is a non-reference transmission antenna 3. In FIG. 1, only one non-reference transmission antenna 3 is shown for simplification of the drawing, but two or more non-reference transmission antennas 3 may be provided. Radio waves transmitted from the transmission antennas 2 and 3 of the radio wave transmitter 1 are received by the radio wave receiver 30. The radio wave receiver 30 includes a plurality of reception antennas 4 installed at fixed points, a transmission cable 5 that transmits a reception signal of each reception antenna 4, a low noise amplifier 6 (LNA) that amplifies the reception signal, and a reception A frequency converter 7 (D / C) that performs frequency conversion on a signal, an A / D converter 8 that converts an analog received signal into a digital signal, and a phase difference that calculates a phase difference between the digital signals A calculating unit 9; a transmitting antenna discriminating unit 10 that discriminates each phase difference for each transmitting antenna 2 and 3; a positioning arithmetic unit 11 that performs positioning of each transmitting antenna 2 and 3 from the discriminated phase difference; and correction of positioning results And a positioning result correction unit 12 that performs the above.
　なお、ここで、伝送用ケーブル５、低雑音増幅器６、周波数変換器７、Ａ／Ｄ変換器８、送信アンテナ弁別部１０は、それぞれ、各受信アンテナ４ごとに、１つずつ設けられている。すなわち、図１の例においては、４個の受信アンテナ４が設けられているため、伝送用ケーブル５、低雑音増幅器６、周波数変換器７、Ａ／Ｄ変換器８、送信アンテナ弁別部１０もそれぞれ４個ずつ設けられている。一方、測位演算部１１は、電波発信機１の各送信アンテナ２，３ごとに設けられている。図１の例では、電波発信機１には、２本の送信アンテナが設けられているため、測位演算部１１も２個設けられている。但し、受信アンテナ４および送信アンテナ２，３の個数は、図１の例に限定されるものではなく、それぞれ、１以上の任意の個数であってよい。 Here, the transmission cable 5, the low noise amplifier 6, the frequency converter 7, the A / D converter 8, and the transmitting antenna discriminating unit 10 are provided for each receiving antenna 4. . That is, in the example of FIG. 1, since four receiving antennas 4 are provided, the transmission cable 5, the low noise amplifier 6, the frequency converter 7, the A / D converter 8, and the transmitting antenna discriminating unit 10 are also provided. Four each are provided. On the other hand, the positioning calculation unit 11 is provided for each of the transmission antennas 2 and 3 of the radio wave transmitter 1. In the example of FIG. 1, since the radio wave transmitter 1 is provided with two transmission antennas, two positioning calculation units 11 are also provided. However, the number of the receiving antennas 4 and the transmitting antennas 2 and 3 is not limited to the example of FIG. 1, and may be any number of 1 or more.
　また、図１において、低雑音増幅器６、周波数変換器７、Ａ／Ｄ変換器８、送信アンテナ弁別部１０は、必ずしも、すべて設ける必要はなく、必要に応じて設けるようにしてもよい。特に、送信アンテナ弁別部１０は、電波発信機１に設けられている送信アンテナの個数が１個の場合には、不要である。 In FIG. 1, the low noise amplifier 6, the frequency converter 7, the A / D converter 8, and the transmission antenna discriminating unit 10 are not necessarily provided, but may be provided as necessary. In particular, the transmission antenna discriminating unit 10 is not necessary when the number of transmission antennas provided in the radio wave transmitter 1 is one.
　また、位相差算出部９と測位演算部１１とは、受信アンテナ４の受信信号に基づいて送信アンテナ２，３のそれぞれの測位値を求める測位部を構成している。 Also, the phase difference calculation unit 9 and the positioning calculation unit 11 constitute a positioning unit that calculates the positioning values of the transmission antennas 2 and 3 based on the reception signal of the reception antenna 4.
　図２に、実施の形態１に係る変位計測装置のハードウェア構成図を示す。但し、図２においては、変位計測装置の各構成要素のうち、位相差算出部９、送信アンテナ弁別部１０、測位演算部１１、および、測位結果補正部１２を構成するハードウェアについてのみ図示している。他の構成要素１～８については、専用の処理回路により構成すればよい。Ａ／Ｄ変換器８から出力されたデータは、Ａ／Ｄ変換後データ入力インターフェース１８に入力され、その後、当該データに対して、位相差算出部９から測位結果補正部１２までの各処理が施される。位相差算出部９から測位結果補正部１２までの各処理は、ＣＰＵ１４が、メモリ１５に格納されているプログラムを実行することにより実現される。測位結果補正部１２から出力される測位結果は、補助記憶装置１６に蓄積され、必要に応じて表示装置１７に表示される。 FIG. 2 shows a hardware configuration diagram of the displacement measuring apparatus according to the first embodiment. However, in FIG. 2, only the hardware configuring the phase difference calculation unit 9, the transmission antenna discrimination unit 10, the positioning calculation unit 11, and the positioning result correction unit 12 among the components of the displacement measuring device is illustrated. ing. Other components 1 to 8 may be configured by dedicated processing circuits. The data output from the A / D converter 8 is input to the data input interface 18 after A / D conversion. Thereafter, each process from the phase difference calculation unit 9 to the positioning result correction unit 12 is performed on the data. Applied. Each process from the phase difference calculation unit 9 to the positioning result correction unit 12 is realized by the CPU 14 executing a program stored in the memory 15. The positioning result output from the positioning result correction unit 12 is accumulated in the auxiliary storage device 16 and displayed on the display device 17 as necessary.
　次に、実施の形態１に係る変位計測装置の動作について説明する。計測点に設置された複数の電波発信機１は、計測時に、各送信アンテナ２，３から電波を送信する。ここで、各電波発信機１は、斜面の地滑りまたは構造物の変位・振動等で、当初の設置位置からの変位が予想される。電波受信機３０は、それらの電波発信機１から送信された電波を、複数の受信アンテナ４で受信する。受信アンテナ４で受信された受信信号は、伝送用ケーブル５を通過して、低雑音増幅器６に入力される。当該受信信号は、低雑音増幅器６で増幅され、周波数変換器７で中間周波数に変換される。さらに、当該受信信号は、Ａ／Ｄ変換器８で、デジタル信号に変換される。ここで、伝送用ケーブル５での電力減衰が大きい場合は、受信アンテナ４に低雑音増幅器を追加してもよい。Ａ／Ｄ変換器８から出力されたデジタル信号は、位相差算出部９に入力される。位相差算出部９は、受信アンテナ４間の位相差を計算する。ここで、位相差算出部９は、例えば、特許文献１等に記載の従来手法を用いて処理を行う。すなわち、位相差算出部９は、複数の電波発信機１の送信アンテナのなかの２つのアンテナに係る少なくとも３つの異なる組み合わせについて、それぞれの組み合わせに係る２つの送信アンテナ間での受信信号の位相差を算出する。すなわち、受信アンテナがａ，ｂ，ｃ，ｄの４つであったとすると、２つの受信アンテナの組み合わせとして、（ａ，ｂ）、（ａ，ｃ）、（ａ，ｄ）、（ｂ，ｃ）、（ｂ，ｄ）、（ｃ，ｄ）の６組のうちの少なくとも３組を生成し、それらの組み合わせごとに、デジタル信号間の位相差を算出する。位相差算出部９で算出された位相差は、送信アンテナ弁別部１０により、送信アンテナ２，３毎に弁別される。ここで、各送信アンテナ２，３から送信する信号としては、例えば、時分割、周波数分割、符号分割等、送信アンテナ２，３毎に弁別可能となるような信号が用いられる。従って、送信アンテナ弁別部１０は、受信信号の種別に応じて、受信時刻別、周波数別、または、符号別に、受信信号を弁別することで、位相差算出部９から出力された位相差を送信アンテナ２，３ごとに弁別することができる。 Next, the operation of the displacement measuring apparatus according to the first embodiment will be described. The plurality of radio wave transmitters 1 installed at the measurement points transmit radio waves from the transmission antennas 2 and 3 at the time of measurement. Here, each radio wave transmitter 1 is expected to be displaced from the initial installation position due to landslide on the slope or displacement / vibration of the structure. The radio wave receiver 30 receives the radio waves transmitted from those radio wave transmitters 1 by the plurality of receiving antennas 4. A reception signal received by the reception antenna 4 passes through the transmission cable 5 and is input to the low noise amplifier 6. The received signal is amplified by the low noise amplifier 6 and converted to an intermediate frequency by the frequency converter 7. Further, the received signal is converted into a digital signal by the A / D converter 8. Here, when the power attenuation in the transmission cable 5 is large, a low noise amplifier may be added to the receiving antenna 4. The digital signal output from the A / D converter 8 is input to the phase difference calculation unit 9. The phase difference calculator 9 calculates the phase difference between the receiving antennas 4. Here, the phase difference calculation unit 9 performs processing using, for example, a conventional method described in Patent Document 1 or the like. That is, the phase difference calculation unit 9 is configured to obtain, for at least three different combinations related to two antennas among the transmission antennas of the plurality of radio wave transmitters 1, a phase difference of received signals between the two transmission antennas related to each combination. Is calculated. That is, if there are four receiving antennas a, b, c, and d, the combinations of the two receiving antennas are (a, b), (a, c), (a, d), (b, c). ), (B, d), and (c, d), at least three sets are generated, and the phase difference between the digital signals is calculated for each combination. The phase difference calculated by the phase difference calculation unit 9 is discriminated for each of the transmission antennas 2 and 3 by the transmission antenna discrimination unit 10. Here, as signals transmitted from the transmission antennas 2 and 3, signals that can be discriminated for each of the transmission antennas 2 and 3, such as time division, frequency division, and code division, are used. Therefore, the transmission antenna discriminating unit 10 transmits the phase difference output from the phase difference calculating unit 9 by discriminating the received signal according to reception time, frequency, or code according to the type of the received signal. The antennas 2 and 3 can be discriminated.
　２つの測位演算部１１には、送信アンテナ２，３に対応する位相差がそれぞれ入力される。すなわち、２つの測位演算部１１のうちの一方の測位演算部１１には、送信アンテナ２に対応する位相差が入力され、他方の測位演算部１１には、送信アンテナ３に対応する位相差が入力される。各測位演算部１１は、位相差に基づいて、各送信アンテナ２，３の測位を行う。ここで、測位演算部１１は、例えば、特許文献１等に記載の従来手法を用いて処理を行う。すなわち、測位演算部１１は、送信アンテナ弁別部１０で弁別された位相差を用いて、送信アンテナ２，３ごとに、２つの送信アンテナに係る少なくとも３つの異なる組み合わせについての位相差からそれぞれ導かれる少なくとも３つの等位相差面の交点を求めて、当該電波を送信した送信アンテナ２，３の位置の推定値を算出し、測位値として出力する。測位結果補正部１２は、各送信アンテナ２，３の測位値を補正し、補正後の測位値を測位結果として出力する。そうして測位結果補正部１２から出力される測位結果を時系列で並べることによって、電波発信機１の位置の変位が計測できるので、計測対象の変位の有無が検出できる。 The phase difference corresponding to the transmission antennas 2 and 3 is input to the two positioning calculation units 11 respectively. That is, a phase difference corresponding to the transmission antenna 2 is input to one of the two positioning calculation units 11, and a phase difference corresponding to the transmission antenna 3 is input to the other positioning calculation unit 11. Entered. Each positioning calculation unit 11 performs positioning of each of the transmission antennas 2 and 3 based on the phase difference. Here, the positioning calculation unit 11 performs processing using, for example, a conventional method described in Patent Document 1 or the like. That is, the positioning calculation unit 11 is derived from the phase differences for at least three different combinations of the two transmission antennas for each of the transmission antennas 2 and 3, using the phase difference discriminated by the transmission antenna discrimination unit 10. The intersections of at least three equal phase difference surfaces are obtained, the estimated values of the positions of the transmitting antennas 2 and 3 that have transmitted the radio waves are calculated, and output as positioning values. The positioning result correction unit 12 corrects the positioning values of the transmitting antennas 2 and 3 and outputs the corrected positioning values as positioning results. Thus, by positioning the positioning results output from the positioning result correction unit 12 in time series, the displacement of the position of the radio wave transmitter 1 can be measured, so that the presence or absence of the displacement of the measurement target can be detected.
　以下、測位結果補正部１２の動作の詳細について述べる。実施の形態１においては、測位結果補正部１２は、電波発信機１の変位を、電波発信機１内の送信アンテナ２，３を切り替えることで模擬し、それによって得られる測位値を用いて、マルチパス環境において生じる測位値の誤差を補正するための補正係数を算出する。そうして、測位結果補正部１２は、測位演算部１１による測位値に対して、当該補正係数を乗算することで、当該測位値の補正を行う。 The details of the operation of the positioning result correction unit 12 will be described below. In the first embodiment, the positioning result correction unit 12 simulates the displacement of the radio wave transmitter 1 by switching the transmission antennas 2 and 3 in the radio wave transmitter 1, and uses the positioning value obtained thereby, A correction coefficient for correcting an error of a positioning value generated in a multipath environment is calculated. Then, the positioning result correction unit 12 corrects the positioning value by multiplying the positioning value obtained by the positioning calculation unit 11 by the correction coefficient.
　図３に、測位結果補正部１２の動作原理の概要を示す。図３において、電波発信機１９は、図１に示した電波発信機１である。図３においては、電波発信機１９が、電波発信機２２の位置まで変位したと仮定する。簡単のため、電波発信機１９は、２本の送信アンテナ２０，２１を持つと仮定している。ここでは、送信アンテナ２０は、図１に示す基準送信アンテナ２に相当し、送信アンテナ２１は、図１に示す非基準送信アンテナ３に相当する。電波発信機１９の変位により、基準送信アンテナ２０は基準送信アンテナ２３の位置に変位し、送信アンテナ２１は送信アンテナ２４の位置に変位する。 FIG. 3 shows an outline of the operation principle of the positioning result correction unit 12. In FIG. 3, the radio wave transmitter 19 is the radio wave transmitter 1 shown in FIG. In FIG. 3, it is assumed that the radio wave transmitter 19 has been displaced to the position of the radio wave transmitter 22. For simplicity, it is assumed that the radio wave transmitter 19 has two transmission antennas 20 and 21. Here, the transmission antenna 20 corresponds to the reference transmission antenna 2 shown in FIG. 1, and the transmission antenna 21 corresponds to the non-reference transmission antenna 3 shown in FIG. Due to the displacement of the radio wave transmitter 19, the reference transmission antenna 20 is displaced to the position of the reference transmission antenna 23, and the transmission antenna 21 is displaced to the position of the transmission antenna 24.
　このとき、送信アンテナ２３，２４の測位値に誤差が発生していなければ、送信アンテナ２３，２４の測位値の差分は、送信アンテナ２３，２４の実配置の位置の差分と一致する。しかしながら、誤差が発生している場合には、測位値の差分と実配置の位置の差分とは一致しない。従って、それらの差分を比較することで、測位値の差分を実配置の位置の差分に一致させるための補正係数を求めることができる。こうして求めた補正係数を、測位値に乗算することで、測位値の真値を求めることができる。 At this time, if there is no error in the positioning values of the transmission antennas 23 and 24, the difference between the positioning values of the transmission antennas 23 and 24 matches the difference between the actual positions of the transmission antennas 23 and 24. However, when an error occurs, the difference between the positioning values does not match the difference between the actual positions. Accordingly, by comparing these differences, it is possible to obtain a correction coefficient for making the positioning value difference coincide with the actual placement position difference. By multiplying the positioning coefficient by the correction coefficient thus determined, the true value of the positioning value can be determined.
　そのため、測位結果補正部１２では、まず、基準送信アンテナ２３の測位値と送信アンテナ２４の測位値との差分と、それらの送信アンテナ２３，２４の実配置の位置の差分とに基づいて、測位値の誤差を補正するための補正係数を算出する（ステップ（１））。送信アンテナ２３，２４の実配置の位置の情報は、設計値または実測値として得られるので、測位結果補正部１２に予め記憶されておく。次に、ステップ（１）で算出した補正係数を、基準送信アンテナ２３の測位値に乗算すれば、基準送信アンテナ２３の測位値を補正することができる（ステップ（２））。 Therefore, the positioning result correction unit 12 first determines the positioning based on the difference between the positioning value of the reference transmitting antenna 23 and the positioning value of the transmitting antenna 24 and the difference between the actual positions of these transmitting antennas 23 and 24. A correction coefficient for correcting a value error is calculated (step (1)). Since the information on the actual positions of the transmission antennas 23 and 24 is obtained as a design value or an actual measurement value, the information is stored in the positioning result correction unit 12 in advance. Next, the positioning value of the reference transmission antenna 23 can be corrected by multiplying the positioning coefficient of the reference transmission antenna 23 by the correction coefficient calculated in step (1) (step (2)).
　さらに詳細に説明する。いま、Ｌ本の送信アンテナを備える第ｍ番目（ｍ＝０，１，・・・，Ｍ－１）の電波発信機１を考える。Ｌ本の各送信アンテナの電波発信機１内の相対位置を既知とした時、時刻ｎ（ｎ＝０，１，・・・，Ｎ－１）におけるｌ番目の送信アンテナの実位置ベクトル（実配置）ｐm,lは、下式（１）で表される。 Further details will be described. Consider the m-th (m = 0, 1,..., M−1) radio wave transmitter 1 having L transmission antennas. When the relative positions of the L transmitting antennas in the radio wave transmitter 1 are known, the actual position vector (actual) of the l-th transmitting antenna at time n (n = 0, 1,..., N−1). Arrangement) pm , l is expressed by the following equation (1).
Figure JPOXMLDOC01-appb-M000001
Figure JPOXMLDOC01-appb-M000001
　また、測位演算部１１によって得られる時刻ｎにおけるｌ番目の送信アンテナの測位位置ベクトル（測位値）ｐm,lハットは、下式（２）で表される。 Further, the positioning position vector (positioning value) pm , l hat of the l-th transmitting antenna at time n obtained by the positioning calculation unit 11 is expressed by the following equation (2).
Figure JPOXMLDOC01-appb-M000002
Figure JPOXMLDOC01-appb-M000002
　ここで、電波発信機１もしくは各受信アンテナ４の周囲に電波の反射源となる障害物が存在すると、位相差算出部９において正しい位相差が求まらないことがある。その時、測位位置ベクトルｐm,lハットに誤差が生じる。 Here, if there is an obstacle serving as a radio wave reflection source around the radio wave transmitter 1 or each receiving antenna 4, the phase difference calculation unit 9 may not obtain a correct phase difference. At that time, an error occurs in the positioning position vector pm, l hat.
　以下、測位結果補正部１２における上記誤差の低減を行う方法を説明する。ｌ＝０番目の送信アンテナを基準送信アンテナとし、各送信アンテナの相対位置を考える。ｌ＝１，２，・・・，Ｌ－１番目の送信アンテナと基準送信アンテナとの実相対位置ベクトルｄm,lは、下式（３）で表される。 Hereinafter, a method for reducing the error in the positioning result correction unit 12 will be described. Let l = 0th transmission antenna be a reference transmission antenna, and consider the relative position of each transmission antenna. l = 1, 2,..., the actual relative position vector dm , l between the (L−1) -th transmitting antenna and the reference transmitting antenna is expressed by the following equation (3).
Figure JPOXMLDOC01-appb-M000003
 　ここで、実相対位置ベクトルｄm,lは、時変動しないため、（ｎ）を省略している。また、測位相対位置ベクトルｄm,lハットについても同様に考えると、下式（４）が得られる。
Figure JPOXMLDOC01-appb-M000003
 Here, since the actual relative position vector dm , l does not change with time, (n) is omitted. Further, considering the phase measurement pair position vector dm , l hat in the same manner, the following equation (4) is obtained.
Figure JPOXMLDOC01-appb-M000004
Figure JPOXMLDOC01-appb-M000004
　この時、実相対位置ベクトルｄm,lと測位相対位置ベクトルｄm,lハットとが線形変換で対応付けられると仮定する。実相対位置ベクトルｄm,lを、測位相対位置ベクトルｄm,lハットに射影する行列（以下、方向余弦行列と呼ぶ）をＡmとすると、下式（５）のような関係が得られる。 At this time, it is assumed that the actual relative position vector dm , l and the phase measurement pair position vector dm , l hat are associated by linear transformation. When a matrix (hereinafter referred to as a direction cosine matrix) for projecting the actual relative position vector dm , l to the measured phase pair position vector dm , l hat is A m , the following relationship (5) is obtained. .
Figure JPOXMLDOC01-appb-M000005
Figure JPOXMLDOC01-appb-M000005
　式（５）の各ベクトルｄm,lハット（ｎ），ｄm,lを並べて考えると、下式（６）が得られる。 When the vectors d m, l hat (n), d m, l in equation (5) are considered side by side, the following equation (6) is obtained.
Figure JPOXMLDOC01-appb-M000006
Figure JPOXMLDOC01-appb-M000006
　ここで、ＤmＤm Tがフルランクの時、方向余弦行列Ａmは、次式（７）のように推定できる。 Here, D m when D m T is full rank, a direction cosine matrix A m can be estimated by the following equation (7).
Figure JPOXMLDOC01-appb-M000007
Figure JPOXMLDOC01-appb-M000007
　よって、Ａmが可逆の時、式（５）の関係から、下式（８）に示すように、測位演算部１１によって得られた測位相対位置ベクトルｄm,lハットを用いて、実相対位置ベクトルｄm,lを求めることができる。 Therefore, when the A m is reversible, the relationship of equation (5), as shown in the following equation (8), the positioning obtained by the positioning calculation unit 11 the relative position vector d m, with l hat, actual relative A position vector dm , l can be obtained.
Figure JPOXMLDOC01-appb-M000008
Figure JPOXMLDOC01-appb-M000008
　すなわち、式（８）で示されるように、測位演算部１１によって得られる測位値に、補正係数としてのＡm -1を乗算することで、測位演算部１１によって得られる測位値を補正することができる。 That is, as shown by the equation (8), the positioning value obtained by the positioning calculation unit 11 is corrected by multiplying the positioning value obtained by the positioning calculation unit 11 by A m −1 as a correction coefficient. Can do.
　ここで、測位相対位置ベクトルｄm,lハットを、基準送信アンテナの時刻ｎにおける測位値と時刻ｎ－１における測位値との相対位置に置き換えても、前記の仮定から同様の議論が成り立つ。つまり、下式（９）が成り立つ。 Here, even if the positioning phase pair position vector dm , l hat is replaced with the relative position between the positioning value at the time n and the positioning value at the time n−1 of the reference transmission antenna, the same argument holds from the above assumption. That is, the following formula (9) is established.
Figure JPOXMLDOC01-appb-M000009
Figure JPOXMLDOC01-appb-M000009
　以上より、補正後の基準送信アンテナの測位値をｐmチルダ（ｎ）とすると、下式（１０）が得られる。下式（１０）では、基準送信アンテナの時刻ｎと時刻ｎ－１とにおける測位値の差分に対してＡm -1を乗算することで、当該測位値の差分を補正し、補正後の測位値の差分を、時刻ｎ－１における補正後の基準送信アンテナの測位値ｐmチルダ（ｎ－１）に加算することで、時刻ｎにおける補正後の基準送信アンテナの測位値ｐmチルダ（ｎ）を求めている。 As described above, when the positioning value of the reference transmitting antenna after correction and p m tilde (n), the following equation (10) is obtained. In the following equation (10), the difference between the positioning values of the reference transmitting antenna at time n and time n−1 is multiplied by A m −1 to correct the positioning value difference, and the corrected positioning value is obtained. the difference values, by adding the positioning value p m tilde reference transmission antenna after correction (n-1) at time n-1, the positioning value of the reference transmitting antenna after correction at time n p m tilde (n )
Figure JPOXMLDOC01-appb-M000010
Figure JPOXMLDOC01-appb-M000010
　このように、実施の形態１による補正処理を用いることで、基準送信アンテナの測位値を補正することができ、送信アンテナの本数ＬがＬ＝２の時は最大１次元の補正、Ｌ＝３の時は最大２次元の補正、Ｌ≧４の時は最大３次元の補正が可能となる。 Thus, by using the correction processing according to the first embodiment, the positioning value of the reference transmission antenna can be corrected. When the number of transmission antennas L is L = 2, the maximum one-dimensional correction is performed, and L = 3. In the case of, a maximum two-dimensional correction is possible, and in the case of L ≧ 4, a maximum three-dimensional correction is possible.
　図４は、第ｍ番目の電波発信機１の測位演算処理および補正処理の処理フローを表している。図４において、Ｔｘmは、第ｍ番目の電波発信機１を示し、Ｔｘm,lは、電波発信機Ｔｘmのｌ番目（ｌ＝０，１，・・・，Ｌ－１）の送信アンテナを示す。また、図４の破線で囲んだ各ステップＳＴ００３～ＳＴ００４は、基準送信アンテナＴｘm,0以外の各送信アンテナＴｘm,l（ｌ＝１，２，・・・，Ｌ－１）における測位演算処理を表しており、ステップ数はＬ－１である。 FIG. 4 shows a processing flow of positioning calculation processing and correction processing of the mth radio wave transmitter 1. In FIG. 4, Tx m indicates the m-th radio wave transmitter 1, and Tx m, l indicates the l-th (1 = 0, 1,..., L−1) transmission of the radio wave transmitter Tx m. Indicates an antenna. Further, each of steps ST003 to ST004 surrounded by a broken line in FIG. 4 is a positioning calculation in each transmission antenna Tx m, l (l = 1, 2,..., L−1) other than the reference transmission antenna Tx m, 0. This represents processing, and the number of steps is L-1.
　図４において、ステップＳＴ００１では、基準送信アンテナＴｘm,0から受信した電波を用いて、例えば特許文献１等に記載の従来手法により、基準送信アンテナＴｘm,0の測位位置ベクトルｐm,0ハットを求める。ステップＳＴ００２では、方向余弦行列Ａmの更新の必要性の有無を判断する。更新の有無の判断基準としては、バッテリ容量またはトラフィックの混雑具合などがある。ステップＳＴ００２で、更新が不要と判断された場合には、そのまま、ステップＳＴ０００６に進む。一方、ステップＳＴ００２で、更新が必要と判断された場合には、ステップＳＴ００３に進む。ステップＳＴ００３からステップＳＴ００４までの各ステップでは、基準送信アンテナ以外の各送信アンテナＴｘm,l（ｌ＝１，２，・・・，Ｌ－１）の電波を用いて、上記従来手法により、各送信アンテナＴｘm,l（ｌ＝１，２，・・・，Ｌ－１）の測位位置ベクトルｐm,lハットを求める。ステップＳＴ００５では、式（７）を用いて、方向余弦行列Ａmの更新を行う。ステップＳＴ００６では、式（１０）を用いて、測位値ｐm,0ハット（ｎ）の補正を行って、補正後の測位値ｐmチルダ（ｎ）を求める。 4, in step ST001, using the radio wave received from the reference transmitting antenna Tx m, 0, for example, by conventional technique described in Patent Document 1 or the like, the reference transmission antenna Tx m, positioning position vector p m, 0 0 Ask for a hat. In step ST002, it is determined whether the update requirements direction cosine matrix A m. The criteria for determining whether or not there is an update include battery capacity or traffic congestion. If it is determined in step ST002 that the update is unnecessary, the process proceeds to step ST0006 as it is. On the other hand, if it is determined in step ST002 that updating is necessary, the process proceeds to step ST003. In each step from step ST003 to step ST004, each radio wave of each transmission antenna Tx m, l (l = 1, 2,..., L−1) other than the reference transmission antenna is used to A positioning position vector p m, l hat of the transmission antenna Tx m, l (l = 1, 2,..., L−1) is obtained. At step ST005, using Equation (7), updates the direction cosine matrix A m. In Step ST006, the positioning value p m, 0 hat (n) is corrected using the equation (10), and the corrected positioning value p m tilde (n) is obtained.
　次に、実施の形態１の効果を示す。図５は、実施の形態１に係わる変位計測装置の効果を示す計算機シミュレーション結果である。図５においては、１次元の変位計測を実施した結果を示す。ここで、１次元の変位計測を実施する場合は、方向余弦行列Ａmはスカラーで表される。主な計算条件を図６の表に示し、送信アンテナと受信アンテナとの位置関係を図７に示す。図７において、送信アンテナをＴｘｉ、受信アンテナをＲｘｊとする。ただし、ｉ，ｊは、０以上の整数である。シミュレーションでは、ｉ＝０，１とし、ｊ＝０，１，・・・，６として、送信アンテナを２個もつ電波発信機１のそれぞれから電波を発信し、７つの受信アンテナには直接波と反射波の合成波が到来する状況を仮定した。図５においては、測位結果補正部１２で補正を行った測位値を＊で示し、基準送信アンテナのみで測位を行った従来方式の測位値を△で示し、電波発信機の実際の動き（真値）を破線で示した。図５に示されるように、従来方式の測位値は、測定時刻０～０．５および１～１．５の範囲では、真値に近い値となっているが、測定時刻０．５～１の範囲では、従来方式の測位値と真値との間に大幅な測位誤差が発生している。一方、実施の形態１における測位結果補正部１２の測位値と真値とは常にほぼ一致しており、測位誤差は発生していない。これらの結果から分かるように、実施の形態１に係る変位計測装置においては、測位結果補正部１２における補正を行うことで、従来方式で生じる測位誤差を低減できていることがわかる。 Next, the effect of Embodiment 1 is shown. FIG. 5 is a computer simulation result showing the effect of the displacement measuring apparatus according to the first embodiment. FIG. 5 shows the result of one-dimensional displacement measurement. Here, when carrying out a one-dimensional displacement measurement, the direction cosine matrix A m is represented by a scalar. The main calculation conditions are shown in the table of FIG. 6, and the positional relationship between the transmitting antenna and the receiving antenna is shown in FIG. In FIG. 7, it is assumed that the transmitting antenna is Txi and the receiving antenna is Rxj. However, i and j are integers of 0 or more. In the simulation, i = 0, 1 and j = 0, 1,..., 6 are transmitted from each of the radio wave transmitters 1 having two transmitting antennas, and direct waves are transmitted to the seven receiving antennas. A situation where a composite wave of reflected waves arrives was assumed. In FIG. 5, the positioning value corrected by the positioning result correction unit 12 is indicated by *, the positioning value of the conventional method in which positioning is performed only with the reference transmission antenna is indicated by Δ, and the actual movement of the radio wave transmitter (true Value) is indicated by a broken line. As shown in FIG. 5, the positioning value of the conventional method is close to the true value in the measurement time range of 0 to 0.5 and 1 to 1.5, but the measurement time of 0.5 to 1 In this range, a large positioning error occurs between the positioning value of the conventional method and the true value. On the other hand, the positioning value and the true value of the positioning result correction unit 12 in the first embodiment are almost identical and no positioning error has occurred. As can be seen from these results, in the displacement measuring apparatus according to the first embodiment, it is understood that the positioning error generated in the conventional method can be reduced by performing the correction in the positioning result correcting unit 12.
　なお、上記の説明では、式（７）に示すように、２以上の送信アンテナを使用して方向余弦行列Ａmの推定を行ったが、その場合に限らず、送信アンテナ自身を移動させ、移動前と移動後の各位置での測位を行っても同様の目的を達成することができる。その場合には、送信アンテナの位置を変位させて方向余弦行列Ａmの推定を行うため、電波発信機１に２以上の送信アンテナを設ける必要はなく、送信アンテナの個数は１つでもよい。但し、予め指定された移動距離だけ模擬的に送信アンテナを移動させるために、送信アンテナを移動させるための駆動部を、変位計測装置が備える必要がある。なお、駆動部は、送信アンテナだけを移動させてもよいが、電波発信機本体を移動させることで送信アンテナを移動させるようにしてもよい。測位演算部１１は、駆動部による送信アンテナの移動前の測位値と、駆動部による送信アンテナの移動後の測位値とを求める。測位結果補正部１２は、測位演算部１１から送信アンテナの移動前の測位値と移動後の測位値とが入力される。測位結果補正部１２は、送信アンテナの移動前の測位値と移動後の測位値との差分と、駆動部による送信アンテナの移動距離を示す実差分とに基づいて、送信アンテナの移動前の測位値と移動後の測位値との差分を、実差分に変換する行列を予め算出しておく。そうして、測位結果補正部１２は、測位演算部１１によって求められる送信アンテナの測位値に対して、当該行列を乗算することで、送信アンテナの測位値を補正することができる。 In the above description, as shown in Equation (7), but was estimated direction cosine matrix A m by using two or more transmission antennas is not limited to the case, to move the transmitting antenna itself, The same purpose can be achieved even if positioning is performed at each position before and after the movement. In this case, since the estimation of displacing the position of the transmitting antenna direction cosine matrix A m, it is not necessary to the radio transmitter 1 provided 2 or more transmit antennas, the number of transmit antennas may be one. However, in order to move the transmission antenna in a simulated manner by a movement distance designated in advance, the displacement measuring device needs to include a drive unit for moving the transmission antenna. Note that the drive unit may move only the transmission antenna, but may move the transmission antenna by moving the radio wave transmitter body. The positioning calculation unit 11 obtains a positioning value before the transmission antenna is moved by the driving unit and a positioning value after the transmission antenna is moved by the driving unit. The positioning result correction unit 12 receives the positioning value before the movement of the transmission antenna and the positioning value after the movement from the positioning calculation unit 11. The positioning result correction unit 12 determines the positioning before the transmission antenna is moved based on the difference between the positioning value before the movement of the transmission antenna and the positioning value after the movement and the actual difference indicating the movement distance of the transmission antenna by the driving unit. A matrix for converting the difference between the value and the positioning value after movement into an actual difference is calculated in advance. Then, the positioning result correction unit 12 can correct the positioning value of the transmission antenna by multiplying the positioning value of the transmission antenna obtained by the positioning calculation unit 11 by the matrix.
　また、方向余弦行列Ａmの推定精度を向上するために、Ｄmハット（ｎ）は、ある時間間隔で平均化した値を用いてもよい。平均後のＤmハット（ｎ）を、Ｄmバー（ｎ）とすると、下式（１１）で表される。 Further, in order to improve the estimation accuracy of the direction cosine matrix A m, D m hat (n) may be used averaged value at a certain time interval. When the average D m hat (n) is D m bar (n), it is expressed by the following equation (11).
Figure JPOXMLDOC01-appb-M000011
Figure JPOXMLDOC01-appb-M000011
　ただし、Ｔは自然数である。式（１１）は、時刻（ｎ－Ｔ－１）から時刻ｎまでのＴ回分の測位を行う時間間隔で、測位値を抽出して、それらの測位値を平均化している。このように、ある時間間隔で平均化した測位値を用いて方向余弦行列Ａmを求めることで、方向余弦行列Ａmの推定精度をより向上させることができる。なお、ここで、平均化処理として、調和平均、相乗平均等を用いても良い。 However, T is a natural number. Expression (11) extracts the positioning values at the time intervals for performing positioning for T times from time (n−T−1) to time n, and averages the positioning values. Thus, by obtaining the direction cosine matrix A m by using a positioning value averaged over a certain time interval, it is possible to further improve the estimation accuracy of the direction cosine matrix A m. Here, harmonic averaging, geometric average, or the like may be used as the averaging process.
　以上のように、実施の形態１によれば、変位計測装置が、計測点に設置され、１以上の送信アンテナ２，３から電波を送信する電波発信機１と、固定点に設置され、電波発信機１からの電波を受信して、受信信号を出力する複数の受信アンテナ４と、それらの受信アンテナ４の受信信号に基づいて各送信アンテナ２，３の測位値を求める測位部９，１１と、電波の反射源となる障害物に起因する測位値の誤差を低減するために送信アンテナ２，３の測位値を補正する補正処理を行って、補正後の測位値を測位結果として出力する測位結果補正部１２とを備えている。これにより、反射源となる障害物が存在するマルチパス環境においても、測位値の誤差を低減することができ、計測対象の計測点の測位を精度よく行うことができる。その結果、当該計測点の測位値の時間的な変化に基づいて、斜面または構造物などの計測対象に変位が発生しているか否かを確実に検証することができる。 As described above, according to the first embodiment, the displacement measuring device is installed at the measurement point, the radio wave transmitter 1 that transmits radio waves from the one or more transmission antennas 2 and 3, and the radio wave transmitter 1 that is installed at the fixed point. A plurality of reception antennas 4 that receive radio waves from the transmitter 1 and output reception signals, and positioning units 9 and 11 that obtain positioning values of the transmission antennas 2 and 3 based on the reception signals of the reception antennas 4. And correction processing for correcting the positioning values of the transmission antennas 2 and 3 in order to reduce errors in the positioning values caused by obstacles that are radio wave reflection sources, and output the corrected positioning values as positioning results. And a positioning result correction unit 12. Thereby, even in a multipath environment in which an obstacle serving as a reflection source exists, it is possible to reduce the error of the positioning value and to accurately measure the measurement point to be measured. As a result, it is possible to reliably verify whether or not a displacement has occurred in a measurement target such as a slope or a structure based on a temporal change in the positioning value at the measurement point.
　実施の形態２．
　この発明の実施の形態２に係る変位計測装置について説明する。実施の形態２に係る変位計測装置の構成は、図１と同じであるため、ここでは、図１を参照することとし、説明は省略する。 Embodiment 2. FIG.
A displacement measuring apparatus according to Embodiment 2 of the present invention will be described. Since the configuration of the displacement measuring apparatus according to the second embodiment is the same as that in FIG. 1, reference is made here to FIG. 1 and description thereof is omitted.
　以下、実施の形態２に係る変位計測装置の動作の詳細を説明する。実施の形態１では、測位結果補正部１２が、方向余弦行列Ａmを用いて補正処理を行っていたが、実施の形態２では、測位結果補正部１２が、補正処理として、電波発信機１における各送信アンテナの測位値の平均値を求め、当該平均値を補正後の測位結果として出力する。他の構成および動作については、実施の形態１と同じであるため、ここでは、その説明を省略する。 Details of the operation of the displacement measuring apparatus according to the second embodiment will be described below. In the first embodiment, the positioning result correction unit 12, the correction was carried out processing using the direction cosine matrix A m, In the second embodiment, the positioning result correction unit 12, as the correction processing, radio wave transmitter 1 The average value of the positioning values of the respective transmitting antennas is obtained, and the average value is output as a corrected positioning result. Since other configurations and operations are the same as those in the first embodiment, the description thereof is omitted here.
　実施の形態１で述べた通り、ｌ番目の送信アンテナの実位置ベクトルおよび測位位置ベクトルは、それぞれ、式（１），（２）に示されるように、ｐm,l（ｎ），ｐm,lハット（ｎ）で表される。このとき、実施の形態２における補正後の基準送信アンテナの測位値ｐmチルダ（ｎ）は、下式（１２）で表される。 As described in the first embodiment, the real position vector and the positioning position vector of the l-th transmission antenna are represented by p m, l (n), p m as shown in the equations (1) and (2), respectively. , l hat (n). At this time, the corrected positioning value p m tilde (n) of the reference transmission antenna in the second embodiment is expressed by the following equation (12).
Figure JPOXMLDOC01-appb-M000012
Figure JPOXMLDOC01-appb-M000012
　ここで、単純に、ｐm,lハット（ｎ）の平均値を求めると、各送信アンテナの実配置に応じた誤差が発生する。そのため、式（１２）においては、各送信アンテナの測位値を基準送信アンテナ位置にフィッティングした後に、平均化を行っている。ここで、平均化処理として、調和平均、相乗平均等を用いても良い。 Here, if the average value of pm , l hat (n) is simply obtained, an error corresponding to the actual arrangement of each transmitting antenna occurs. Therefore, in Equation (12), averaging is performed after fitting the positioning value of each transmission antenna to the reference transmission antenna position. Here, a harmonic average, a geometric average, or the like may be used as the averaging process.
　図８は、実施の形態２における、第ｍ番目の電波発信機１の測位演算処理および補正処理の処理フローを表している。図８において、Ｔｘmは、第ｍ番目の電波発信機１を示し、Ｔｘm,lは、電波発信機Ｔｘmのｌ番目（ｌ＝０，１，・・・，Ｌ－１）の送信アンテナを示す。また、図８の破線で囲んだ各ステップＳＴ１０２～ＳＴ１０３は、基準送信アンテナＴｘm,0以外の各送信アンテナＴｘm,l（ｌ＝１，２，・・・，Ｌ－１）における測位演算処理を表しており、ステップ数はＬ－１である。 FIG. 8 shows a processing flow of positioning calculation processing and correction processing of the m-th radio wave transmitter 1 in the second embodiment. In FIG. 8, Tx m represents the m-th radio wave transmitter 1, and Tx m, l represents the l-th (l = 0, 1,..., L−1) transmission of the radio wave transmitter Tx m. Indicates an antenna. Further, each of steps ST102 to ST103 surrounded by a broken line in FIG. 8 is a positioning calculation in each transmission antenna Tx m, l (l = 1, 2,..., L−1) other than the reference transmission antenna Tx m, 0. This represents processing, and the number of steps is L-1.
　図８において、ステップＳＴ１０１では、図４のステップＳＴ００１と同様に、基準送信アンテナＴｘm,0から受信した電波を用いて、例えば特許文献１等に記載の従来手法により、基準送信アンテナＴｘm,0の測位位置ベクトルｐm,0ハットを求める。ステップＳＴ１０２からＳＴ１０３までの各ステップでは、図４のステップＳＴ００３からＳＴ００４までの各ステップと同様に、基準送信アンテナ以外の各送信アンテナＴｘm,l（ｌ＝１，２，・・・，Ｌ－１）の電波を用いて、上記従来手法により、各送信アンテナＴｘm,l（ｌ＝１，２，・・・，Ｌ－１）の測位位置ベクトルｐm,lハットを求める。ステップＳＴ１０４では、式（１２）を用いて、各送信アンテナＴｘm,l（ｌ＝０，１，・・・，Ｌ－１）の測位位置ベクトルｐm,lハットの平均化を行って、平均化で求めた平均値を、補正後の測位値ｐmチルダ（ｎ）として出力する。 8, in step ST101, similarly to step ST001 in FIG. 4, using the radio wave received from the reference transmission antenna Tx m, 0 , the reference transmission antenna Tx m, A zero positioning position vector pm , 0 hat is obtained. In each step from step ST102 to ST103, similarly to each step from step ST003 to ST004 in FIG. 4, each transmission antenna Tx m, l (l = 1, 2,..., L−) other than the reference transmission antenna is used. Using the radio wave of 1), the positioning position vector p m, l hat of each transmission antenna Tx m, l (l = 1, 2,..., L−1) is obtained by the conventional method. In step ST104, the positioning position vector p m, l hat of each transmission antenna Tx m, l (l = 0, 1,..., L−1) is averaged using equation (12), the average value obtained by the averaging, and outputs the positioning value p m tilde corrected (n).
　以上のように、実施の形態２の方法を用いても、測位値の補正を行うことができ、実施の形態１と同様の効果が得られる。また、実施の形態１では、式（７）で求めた方向余弦行列Ａmの特性によっては、式（１０）の補正結果の誤差が増大する可能性があるが、実施の形態２では、測位値を平均化するため、誤差の増大が抑えられるという利点がある。 As described above, even if the method of the second embodiment is used, the positioning value can be corrected, and the same effect as in the first embodiment can be obtained. In the first embodiment, depending on the characteristics of the direction cosine matrix A m obtained in equation (7), there is a possibility that an error of the correction result of formula (10) is increased, in the second embodiment, the positioning Since the values are averaged, there is an advantage that an increase in error can be suppressed.
　実施の形態３．
　この発明の実施の形態３に係る変位計測装置について説明する。実施の形態３に係る変位計測装置の構成は、図１と同じであるため、ここでは、図１を参照することとし、説明は省略する。 Embodiment 3 FIG.
A displacement measuring apparatus according to Embodiment 3 of the present invention will be described. Since the configuration of the displacement measuring apparatus according to the third embodiment is the same as that in FIG. 1, reference is made here to FIG. 1 and description thereof is omitted.
　以下、実施の形態３に係る変位計測装置の動作の詳細を説明する。実施の形態３では、電波発信機１における各送信アンテナの測位値の中から、信頼できる測位値を選択し、補正後の測位値として出力する。測位値の選択は、最も平均ＳＮＲ（Ｓｉｇｎａｌ　ｔｏ　Ｎｏｉｓｅ　Ｒａｔｉｏ）が高い送信アンテナからの信号に対応する測位値を出力することで行う。ｌ番目の送信アンテナからｒ番目（ｒ＝０，１，・・・，Ｒ－１）の受信アンテナに到来する信号電力をＰl,rとし、ｒ番目の受信アンテナの雑音電力をＮrとすると、ｌ番目の送信アンテナからｒ番目の受信アンテナに到来する信号のＳＮＲ　ηl,rは、下式（１３）で表わされる。 Details of the operation of the displacement measuring apparatus according to the third embodiment will be described below. In the third embodiment, a reliable positioning value is selected from the positioning values of each transmitting antenna in the radio wave transmitter 1, and is output as a corrected positioning value. The positioning value is selected by outputting a positioning value corresponding to a signal from a transmission antenna having the highest average SNR (Signal to Noise Ratio). The signal power arriving at the r th (r = 0, 1,..., R−1) receiving antenna from the l th transmitting antenna is P l, r, and the noise power of the r th receiving antenna is N r . Then, the SNR η l, r of the signal arriving at the r-th receiving antenna from the l-th transmitting antenna is expressed by the following equation (13).
Figure JPOXMLDOC01-appb-M000013
Figure JPOXMLDOC01-appb-M000013
　また、最も平均ＳＮＲが高い送信アンテナ番号をｌmaxとすると、ｌmaxは、下式（１４）で表される。 Further, assuming that the transmission antenna number having the highest average SNR is l max , l max is expressed by the following equation (14).
Figure JPOXMLDOC01-appb-M000014
Figure JPOXMLDOC01-appb-M000014
　得られたｌｍａｘを用いて、補正後の測位値ｐｍチルダ（ｎ）は、下式（１５）で表わされる。 Using the obtained lmax, the corrected positioning value pm tilde (n) is expressed by the following equation (15).
Figure JPOXMLDOC01-appb-M000015
Figure JPOXMLDOC01-appb-M000015
　以上のように、実施の形態３の方法を用いても、測位値の補正を行うことができる。 As described above, the positioning value can also be corrected using the method of the third embodiment.
　図９は、実施の形態３における、第ｍ番目の電波発信機１の測位演算処理および補正処理の処理フローを表している。図９において、Ｔｘmは、第ｍ番目の電波発信機１を示し、Ｔｘm,lは、電波発信機Ｔｘmのｌ番目（ｌ＝０，１，・・・，Ｌ－１）の送信アンテナを示す。また、図９の破線で囲んだ各ステップＳＴ２０２～ＳＴ２０３は、基準送信アンテナＴｘm,0以外の各送信アンテナＴｘm,l（ｌ＝１，２，・・・，Ｌ－１）における測位演算処理を表しており、ステップ数はＬ－１である。 FIG. 9 shows a processing flow of positioning calculation processing and correction processing of the m-th radio wave transmitter 1 in the third embodiment. In FIG. 9, Tx m indicates the m-th radio wave transmitter 1, and Tx m, l indicates the l-th (1 = 0, 1,..., L−1) transmission of the radio wave transmitter Tx m. Indicates an antenna. Further, each of steps ST202 to ST203 surrounded by a broken line in FIG. 9 is a positioning calculation in each of the transmission antennas Tx m, l (l = 1, 2,..., L−1) other than the reference transmission antenna Tx m, 0. This represents processing, and the number of steps is L-1.
　図９において、ステップＳＴ２０１では、図４のステップＳＴ００１と同様に、基準送信アンテナＴｘm,0から受信した電波を用いて、例えば特許文献１等に記載の従来手法により、基準送信アンテナＴｘm,0の測位位置ベクトルｐm,0ハットを求める。ステップＳＴ２０２からＳＴ２０３までの各ステップでは、図４のステップＳＴ００３からＳＴ００４までの各ステップと同様に、基準送信アンテナ以外の各送信アンテナＴｘm,l（ｌ＝１，２，・・・，Ｌ－１）の電波を用いて、上記従来手法により、各送信アンテナＴｘm,l（ｌ＝１，２，・・・，Ｌ－１）の測位位置ベクトルｐm,lハットを求める。ステップＳＴ２０４では、式（１４）を用いて、送信アンテナ番号ｌmaxの算出を行う。ステップＳＴ２０５では、式（１５）を用いて、補正後の測位値ｐmチルダ（ｎ）を算出する。 9, in step ST201, similarly to step ST001 in FIG. 4, using the radio wave received from the reference transmission antenna Tx m, 0 , the reference transmission antenna Tx m, A zero positioning position vector pm , 0 hat is obtained. In each step from step ST202 to ST203, similarly to each step from step ST003 to ST004 in FIG. 4, each transmission antenna Tx m, l (l = 1, 2,..., L−) other than the reference transmission antenna is used. Using the radio wave of 1), the positioning position vector p m, l hat of each transmission antenna Tx m, l (l = 1, 2,..., L−1) is obtained by the conventional method. In step ST204, the transmission antenna number l max is calculated using equation (14). At step ST205, using equation (15), calculates the positioning value p m tilde corrected (n).
　なお、上記の説明では、ＳＮＲを用いて、信頼できる測位値の選択を行ったが、その場合に限定されない。例えば、信頼できる測位値として、前回の測位値からのずれが最も小さい送信アンテナに対応する測位値を選択してもよく、その場合においても、同様の効果を得ることができる。前回の補正後の測位値を、ｐmチルダ（ｎ－１）とすると、ｌmaxは、下式（１６）で表わされる。 In the above description, the reliable positioning value is selected using the SNR. However, the present invention is not limited to this case. For example, as a reliable positioning value, a positioning value corresponding to a transmission antenna having the smallest deviation from the previous positioning value may be selected. In this case, the same effect can be obtained. The positioning value after the last correction, when p m tilde (n-1), l max is represented by the following formula (16).
Figure JPOXMLDOC01-appb-M000016
Figure JPOXMLDOC01-appb-M000016
　ただし、||・||は、フロベニウスノルムを表す。 However, || ・ || represents the Frobenius norm.
　以上のように、実施の形態３の方法を用いても、測位値の補正を行うことができ、実施の形態１と同様の効果が得られる。また、実施の形態３では、ＳＮＲが低い測位値、または、ずれが大きい測位値を使用しないため、それらの誤差の影響を受けない利点がある。 As described above, even if the method of the third embodiment is used, the positioning value can be corrected, and the same effect as in the first embodiment can be obtained. Further, in the third embodiment, since a positioning value with a low SNR or a positioning value with a large deviation is not used, there is an advantage that it is not affected by those errors.
　１　電波発信機、２　基準送信アンテナ、３　非基準送信アンテナ、４　受信アンテナ、５　伝送用ケーブル、６　低雑音増幅器（ＬＮＡ）、７　周波数変換器（Ｄ／Ｃ）、８　Ａ／Ｄ変換器、９　位相差算出部、１０　送信アンテナ弁別部、１１　測位演算部、１２　測位結果補正部。 1 radio wave transmitter, 2 reference transmission antenna, 3 non-reference transmission antenna, 4 reception antenna, 5 transmission cable, 6 low noise amplifier (LNA), 7 frequency converter (D / C), 8 A / D converter, 9 phase difference calculation unit, 10 transmission antenna discrimination unit, 11 positioning calculation unit, 12 positioning result correction unit.

Claims (9)

  1. 　計測点に設置され、１以上の送信アンテナから電波を送信する電波発信機と、
    　固定点に設置され、前記電波発信機からの前記電波を受信して、受信信号を出力する複数の受信アンテナと、
    　前記複数の受信アンテナの前記受信信号に基づいて各前記送信アンテナの測位値を求める測位部と、
    　前記電波の反射源となる障害物に起因する前記測位値の誤差を低減するために前記送信アンテナの前記測位値を補正する補正処理を行って、補正後の前記測位値を測位結果として出力する測位結果補正部と
    　を備えた変位計測装置。     A radio wave transmitter installed at a measurement point and transmitting radio waves from one or more transmitting antennas;
    A plurality of receiving antennas installed at a fixed point, receiving the radio wave from the radio wave transmitter, and outputting a received signal;
    A positioning unit for determining a positioning value of each of the transmission antennas based on the reception signals of the plurality of reception antennas;
    A correction process for correcting the positioning value of the transmitting antenna is performed in order to reduce an error of the positioning value caused by an obstacle that is a reflection source of the radio wave, and the corrected positioning value is output as a positioning result. A displacement measurement device comprising a positioning result correction unit.
  2. 　前記電波発信機の前記送信アンテナは、１つの基準送信アンテナと、１以上の非基準送信アンテナとを含み、
    　前記測位部は、前記基準送信アンテナの測位値と各前記非基準送信アンテナの測位値とを求め、
    　前記測位結果補正部は、
    　前記測位部から前記基準送信アンテナの測位値と各前記非基準送信アンテナの測位値とが入力され、それらの測位値の差分に基づいて、前記測位部によって求められる前記送信アンテナの前記測位値を補正して、補正後の前記送信アンテナの前記測位値を前記測位結果として出力する、
    　請求項１に記載の変位計測装置。     The transmission antenna of the radio wave transmitter includes one reference transmission antenna and one or more non-reference transmission antennas,
    The positioning unit obtains a positioning value of the reference transmitting antenna and a positioning value of each non-reference transmitting antenna,
    The positioning result correction unit
    The positioning value of the reference transmitting antenna and the positioning value of each non-reference transmitting antenna are input from the positioning unit, and based on the difference between the positioning values, the positioning value of the transmitting antenna obtained by the positioning unit is calculated. Correct and output the positioning value of the transmitting antenna after correction as the positioning result,
    The displacement measuring apparatus according to claim 1.
  3. 　前記測位結果補正部は、
    　前記測位部から入力される前記基準送信アンテナの前記測位値と各前記非基準送信アンテナの前記測位値との差分と、前記基準送信アンテナと各前記非基準送信アンテナとの実配置の位置の差分とに基づいて、前記基準送信アンテナの前記測位値と各前記非基準送信アンテナの前記測位値との前記差分を、前記実配置の位置の差分に変換する行列を算出し、
    　前記測位部によって求められる前記送信アンテナの前記測位値に前記行列を乗算することで、前記送信アンテナの前記測位値を補正して、補正後の前記送信アンテナの前記測位値を前記測位結果として出力する、
    　請求項２に記載の変位計測装置。     The positioning result correction unit
    The difference between the positioning value of the reference transmission antenna input from the positioning unit and the positioning value of each of the non-reference transmission antennas, and the difference between actual positions of the reference transmission antenna and each of the non-reference transmission antennas And calculating a matrix for converting the difference between the positioning value of the reference transmission antenna and the positioning value of each of the non-reference transmission antennas into a difference between the positions of the actual arrangement,
    The positioning value of the transmitting antenna obtained by the positioning unit is multiplied by the matrix to correct the positioning value of the transmitting antenna, and the corrected positioning value of the transmitting antenna is output as the positioning result. To
    The displacement measuring device according to claim 2.
  4. 　予め指定された移動距離だけ前記送信アンテナを模擬的に移動させる駆動部をさらに備え、
    　前記測位部は、前記送信アンテナの移動前の測位値と、前記駆動部による前記送信アンテナの移動後の測位値とを求め、
    　前記測位結果補正部は、
    　前記測位部から前記送信アンテナの前記移動前の測位値と前記移動後の測位値とがそれぞれ入力され、それらの測位値の差分に基づいて前記測位部によって求められる前記送信アンテナの前記測位値を補正して、補正後の前記送信アンテナの前記測位値を前記測位結果として出力する、
    　請求項１に記載の変位計測装置。     A drive unit for simulating movement of the transmitting antenna by a predetermined movement distance;
    The positioning unit obtains a positioning value before movement of the transmission antenna and a positioning value after movement of the transmission antenna by the driving unit,
    The positioning result correction unit
    The positioning value before the movement of the transmission antenna and the positioning value after the movement of the transmission antenna are respectively input from the positioning unit, and the positioning value of the transmission antenna obtained by the positioning unit based on a difference between the positioning values is obtained. Correct and output the positioning value of the transmitting antenna after correction as the positioning result,
    The displacement measuring apparatus according to claim 1.
  5. 　前記測位結果補正部は、
    　前記測位部から入力される前記送信アンテナの前記移動前の測位値と前記移動後の測位値との差分と、前記駆動部による前記送信アンテナの前記移動距離を示す実差分とに基づいて、前記送信アンテナの前記移動前の測位値と前記移動後の測位値との前記差分を前記実差分に変換する行列を算出し、
    　前記測位部によって求められる前記送信アンテナの前記測位値に前記行列を乗算することで、前記送信アンテナの前記測位値を補正して、補正後の前記送信アンテナの前記測位値を前記測位結果として出力する、
    　請求項４に記載の変位計測装置。     The positioning result correction unit
    Based on the difference between the positioning value before the movement of the transmission antenna input from the positioning unit and the positioning value after the movement, and the actual difference indicating the moving distance of the transmission antenna by the driving unit, Calculating a matrix for converting the difference between the positioning value before the movement of the transmitting antenna and the positioning value after the movement into the actual difference;
    The positioning value of the transmitting antenna obtained by the positioning unit is multiplied by the matrix to correct the positioning value of the transmitting antenna, and the corrected positioning value of the transmitting antenna is output as the positioning result. To
    The displacement measuring device according to claim 4.
  6. 　前記測位結果補正部は、前記行列の算出に用いる前記測位値として、前記測位部によって求められた測位値のうち、予め設定された時間間隔で平均化された測位値を用いる、
    　請求項３または５に記載の変位計測装置。     The positioning result correction unit uses a positioning value averaged at a preset time interval among the positioning values obtained by the positioning unit as the positioning value used for calculating the matrix.
    The displacement measuring device according to claim 3 or 5.
  7. 　前記測位結果補正部は、前記測位部によって求められた各前記送信アンテナの前記測位値を平均化して、平均化した前記測位値を前記測位結果として出力する、
    　請求項１に記載の変位計測装置。     The positioning result correction unit averages the positioning values of the transmission antennas obtained by the positioning unit, and outputs the averaged positioning values as the positioning results.
    The displacement measuring apparatus according to claim 1.
  8. 　前記測位結果補正部は、前記測位部によって求められた各前記送信アンテナの前記測位値のうち、ＳＮＲが最も高い測位値を選択して、選択した前記測位値を前記測位結果として出力する、
    　請求項１に記載の変位計測装置。     The positioning result correction unit selects a positioning value having the highest SNR among the positioning values of the transmitting antennas obtained by the positioning unit, and outputs the selected positioning value as the positioning result.
    The displacement measuring apparatus according to claim 1.
  9. 　前記測位結果補正部は、前記測位部によって求められた各前記送信アンテナの前記測位値のうち、前回の測位値からのずれが最も小さい測位値を選択して、選択した前記測位値を前記測位結果として出力する、
    　請求項１に記載の変位計測装置。     The positioning result correction unit selects a positioning value with the smallest deviation from the previous positioning value from the positioning values of the transmitting antennas obtained by the positioning unit, and selects the selected positioning value as the positioning. Output as a result,
    The displacement measuring apparatus according to claim 1.
PCT/JP2017/019561 2017-05-25 2017-05-25 Displacement measuring device WO2018216170A1 (en)

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Citations (4)

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JPS52146193A (en) * 1976-05-28 1977-12-05 Furuno Electric Co System for correcting position in relative navigation
JPH08201502A (en) * 1995-01-27 1996-08-09 Fujitsu Ltd Dispersion error converging method
JP2006522920A (en) * 2003-03-31 2006-10-05 ロケイタ コーポレイション System and method for multipath reduction using clustered positioning signals
JP2012008117A (en) * 2010-05-21 2012-01-12 Mitsubishi Electric Corp Displacement measuring system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3602403B2 (en) * 2000-03-24 2004-12-15 三菱電機株式会社 Vibration displacement measuring device for structures

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52146193A (en) * 1976-05-28 1977-12-05 Furuno Electric Co System for correcting position in relative navigation
JPH08201502A (en) * 1995-01-27 1996-08-09 Fujitsu Ltd Dispersion error converging method
JP2006522920A (en) * 2003-03-31 2006-10-05 ロケイタ コーポレイション System and method for multipath reduction using clustered positioning signals
JP2012008117A (en) * 2010-05-21 2012-01-12 Mitsubishi Electric Corp Displacement measuring system

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