WO2020007064A1 - Procédé et système de mesure de distance, dispositif électronique et support d'informations lisible - Google Patents

Procédé et système de mesure de distance, dispositif électronique et support d'informations lisible Download PDF

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Publication number
WO2020007064A1
WO2020007064A1 PCT/CN2019/078085 CN2019078085W WO2020007064A1 WO 2020007064 A1 WO2020007064 A1 WO 2020007064A1 CN 2019078085 W CN2019078085 W CN 2019078085W WO 2020007064 A1 WO2020007064 A1 WO 2020007064A1
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WIPO (PCT)
Prior art keywords
ranging
carrier
under test
wavelength
phase
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PCT/CN2019/078085
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English (en)
Chinese (zh)
Inventor
邓中亮
朱棣
刘延旭
唐诗浩
胡恩文
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北京邮电大学
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Publication of WO2020007064A1 publication Critical patent/WO2020007064A1/fr

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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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Definitions

  • distance measurement is the basis for determining the position information and positioning navigation of the device under test.
  • distances from multiple reference stations (stars) to the device under test can be measured using time-synchronized or non-time-synchronized distance measurement technology, and then the position information of the device under test can be obtained by geometric calculation .
  • the accuracy of the position information is limited by the ranging accuracy and the geometric distribution of the reference stations (stars). Therefore, the universality and accuracy of the distance measurement technology is very important for radio positioning and navigation.
  • ranging can be performed using ranging code measurement techniques, such as GPS (Global Positioning System, Global Positioning System), Beidou, etc.
  • This technique uses each reference station (star) to send a pseudo-random code (measurement Distance code), the device under test receives pseudo-random codes (range code) transmitted from multiple stations (stars).
  • the transmission time between each reference station (star) needs to be strictly synchronized.
  • the receiving time of the pseudo-random code (ranging code) received by the device under test is different due to the distance from each reference station (star), and it can be measured to reach each reference station. (Star) distance difference.
  • the device under test sends a ranging request pulse to the reference station (star). After the reference station (star) receives the request pulse, it sends a response pulse after a fixed delay, and the device under test measures The time from when the ranging request pulse is sent to when the answer pulse is received, after correcting the aforementioned fixed delay, can be converted into the round-trip distance of the signal, and then the distance from the reference station (star) to the device under test is obtained. In this method, distance measurement is performed by pulse measurement, which is limited by the timing accuracy of both parties, and the accuracy of distance measurement is low.
  • the current ranging method requires time synchronization when the measurement accuracy is high; when the time synchronization is not required, the measurement accuracy is low, that is, it cannot satisfy both the need for time synchronization and high measurement accuracy.
  • the purpose of the embodiments of the present application is to provide a ranging method, a system, an electronic device, and a readable storage medium, which can improve the measurement accuracy without requiring time synchronization.
  • the specific technical solutions are as follows:
  • Send a first ranging carrier to a reference device so that after the reference device receives the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send the carrier phase to the device under test
  • the phase difference, and the wavelength of the first ranging carrier through the formula: Calculating a distance d between the device under test and the reference device;
  • d est is a rough distance
  • ⁇ is the wavelength of the first ranging carrier
  • floor is the round-down operation.
  • a rough distance between the device under test and the reference device is determined by a coarse ranging device, and the positioning accuracy of the coarse ranging device is less than a half wavelength of the first ranging carrier.
  • the method before the sending a first ranging carrier to a reference device, the method further includes:
  • An embodiment of the present application provides a ranging system, where the ranging system includes: a device under test and a reference device;
  • the device under test is configured to send a first ranging carrier to a reference device
  • the reference device is configured to, after receiving the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send to the device under test the same phase as the carrier.
  • a second ranging carrier, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier are equal;
  • d est is a rough distance
  • ⁇ is the wavelength of the first ranging carrier
  • floor is the round-down operation.
  • the coarse ranging device is a Tacon system.
  • the device under test is further configured to obtain a first ranging carrier after the generated signal is sequentially subjected to spread spectrum, modulation, and digital-to-analog conversion.
  • the memory is used to store a computer program
  • An embodiment of the present application provides a computer-readable storage medium.
  • a computer program is stored in the computer-readable storage medium.
  • the computer program is executed by a processor, the steps of any of the ranging methods described above are implemented.
  • the ranging method, system, electronic device, and readable storage medium provided in the embodiments of the present application.
  • the device under test sends a first ranging carrier to the reference device, so that the reference device performs the first measurement after receiving the first ranging carrier.
  • Carry out phase measurement from the carrier to obtain the carrier phase and send a second ranging carrier with the same carrier phase to the device under test.
  • the wavelength of the first ranging carrier is the same as the wavelength of the second ranging carrier.
  • a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier.
  • FIG. 2 is a structural diagram of a ranging system according to an embodiment of the present application.
  • FIG. 3 is a structural diagram of an electronic device according to an embodiment of the present application.
  • the reference device refers to a device whose position coordinates are known, and the position coordinates of the device under test are unknown.
  • the device under test can be located by measuring the distance between multiple reference devices and the device under test. It can be seen that the accuracy of the distance between the reference device and the device under test will directly affect the positioning accuracy of the device under test.
  • the embodiments of the present application provide a ranging method, a system, an electronic device, and a readable storage medium. While synchronizing, improve measurement accuracy.
  • FIG. 1 is a flowchart of a ranging method according to an embodiment of the present application, which is applied to a device under test and includes the following steps:
  • S101 Send a first ranging carrier to a reference device, so that after the reference device receives the first ranging carrier, perform phase measurement on the first ranging carrier to obtain a carrier phase, and send the same phase to the carrier to the device under test.
  • the second ranging carrier, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier are equal.
  • the reference device After the reference device receives the first ranging carrier, it can perform phase measurement on the first ranging carrier through an internal phase measuring device to obtain the carrier phase. Then, using the phase regeneration method, that is, a second ranging carrier with the same phase as the carrier is generated, and the wavelength of the second ranging carrier is equal to the wavelength of the first ranging carrier, and the second ranging carrier is sent to the device under test .
  • the method for generating the second ranging carrier is: spreading the generated signal into a 1KHz spread spectrum signal, and then modulating the BPSK to a 250KHz carrier, and obtaining a second ranging carrier through digital-to-analog conversion, so that the The phases of the two ranging carriers are synchronized with the received first ranging carrier.
  • the device under test may determine the phase of the received second ranging carrier and the first measurement sent in S101 through an internal phase comparison device. Phase difference from the phase of the carrier.
  • d est is a rough distance
  • ⁇ is the wavelength of the first ranging carrier
  • floor is the round-down operation.
  • the method for measuring the rough distance between the device under test and the reference device may also be bidirectional.
  • the device under test sends a signal to the reference device. After the signal is received by the reference device, the signal can be sent to the device.
  • the test device sends a signal, and the device under test determines the rough distance based on the time difference and time delay between the received signal and the transmitted signal.
  • the device under test sends a signal to the reference device and S101 sends the first ranging carrier to the reference device at the same time, and of course, it can also be performed separately.
  • the reference device will receive the mixed signal. Therefore, the reference device needs to strip the first ranging carrier from the mixed signal. For example, the reference device needs to strip the 250KHz carrier from the mixed signal.
  • the rough distance between the device under test and the reference device is determined by the rough ranging device, and the positioning accuracy of the rough ranging device is less than a half wavelength of the first ranging carrier, otherwise, there will be a whole cycle Ambiguity, whole-cycle ambiguity is the whole-cycle unknown corresponding to the first observed value of the phase difference between the carrier phase and the reference phase during the carrier phase measurement of the global positioning system technology.
  • the device under test and the reference device include a rough ranging device.
  • the rough ranging device may be a Tacon system.
  • the Tacon system includes a Tacon transceiver, a radio frequency antenna, and the like.
  • the frequency of the first ranging carrier is 250KHz, it can be concluded that the half wavelength of the first ranging carrier is 600 meters, which is greater than the ranging accuracy of the Tacon system (200-500 meters), so there is no ambiguity in the whole cycle. Then, according to the above formula, accurate ranging results can be obtained.
  • the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.
  • FIG. 2 is a structural diagram of a ranging system according to an embodiment of the present application, including: a device under test 201 and a reference device 202;
  • the device under test 201 is configured to send a first ranging carrier to the reference device 202;
  • the reference device 202 is configured to perform phase measurement on the first ranging carrier after receiving the first ranging carrier, obtain a carrier phase, and send a second ranging carrier having the same phase as the carrier to the device under test.
  • the wavelength of the ranging carrier is equal to the wavelength of the second ranging carrier;
  • the device under test 201 is further configured to determine a phase difference between the second ranging carrier and the first ranging carrier after receiving the second ranging carrier.
  • Distance, phase difference, and wavelength of the first ranging carrier by the formula: Calculate the distance d between the device under test and the reference device;
  • the device under test sends a first ranging carrier to the reference device, so that after the reference device receives the first ranging carrier, it performs phase measurement on the first ranging carrier to obtain the carrier phase. And send a second ranging carrier with the same phase as the carrier to the device under test, the wavelength of the first ranging carrier and the wavelength of the second ranging carrier being equal. After receiving the second ranging carrier, a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier.
  • the rough distance between the device under test and the reference device is determined by the rough ranging device, and the positioning accuracy of the rough ranging device is less than a half wavelength of the first ranging carrier.
  • the device under test is further configured to obtain the first ranging carrier after the generated signal is sequentially subjected to spread spectrum, modulation, and digital-to-analog conversion.
  • the processor 301 is configured to implement the steps of any of the foregoing ranging methods when executing a program stored in the memory 303.
  • the communication bus 304 mentioned in the above electronic device may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus.
  • the communication bus 304 can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only a thick line is used in FIG. 3, but it does not mean that there is only one bus or one type of bus.
  • the above-mentioned processor 301 may be a general-purpose processor, including: a CPU (Central Processing Unit), a NP (Network Processor), etc .; or a DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.
  • a CPU Central Processing Unit
  • NP Network Processor
  • DSP Digital Signal Processing
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • the device under test when the processor executes a program stored in the memory, the device under test sends a first ranging carrier to the reference device, so that the reference device detects the first ranging carrier after receiving the first ranging carrier. Carry out phase measurement from the carrier to obtain the carrier phase, and send a second ranging carrier with the same carrier phase to the device under test.
  • the wavelength of the first ranging carrier is the same as the wavelength of the second ranging carrier.
  • a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier.
  • the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.
  • the device under test sends a first ranging carrier to the reference device, so that the reference device performs the first measurement after receiving the first ranging carrier.
  • Carry out phase measurement from the carrier to obtain the carrier phase and send a second ranging carrier with the same carrier phase to the device under test.
  • the wavelength of the first ranging carrier is the same as the wavelength of the second ranging carrier.
  • a phase difference between the second ranging carrier and the first ranging carrier is determined. Calculate the distance between the device under test and the reference device based on the pre-calculated rough distance, phase difference between the device under test and the reference device, and the wavelength of the first ranging carrier.
  • the measurement in the embodiment of the present application by using the carrier phase can make the carrier phase have higher measurement accuracy, thereby improving the ranging accuracy, and sending the measurement between the device under test and the reference device. There is no need for time synchronization when it is away from the carrier, and it has good universality.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un procédé et un système de mesure de distance, un dispositif électronique et un support d'informations lisible se rapportant au domaine technique de la mesure de distance sans fil. Le procédé comprend : l'envoi par un dispositif mesuré d'une première porteuse de mesure de distance à un dispositif de référence, de telle sorte que le dispositif de référence effectue une mesure de phase sur la première porteuse de mesure de distance après la réception de la première porteuse de mesure de distance de façon à obtenir une phase de porteuse, et l'envoi au dispositif mesuré d'une seconde porteuse de mesure de distance présentant la même phase de porteuse, la longueur d'onde de la première porteuse de mesure de distance étant égale à la longueur d'onde de la seconde porteuse de mesure de distance (S101) ; après la réception de la seconde porteuse de mesure de distance, la détermination par le dispositif mesuré de la différence de phase entre la seconde porteuse de mesure de distance et la première porteuse de mesure de distance (S102) ; et le calcul de la distance entre le dispositif mesuré et le dispositif de référence en fonction de la distance grossière pré-calculée entre le dispositif mesuré et le dispositif de référence, de la différence de phase et de la longueur d'onde de la première porteuse de mesure de distance (S103). Selon la solution de l'invention, la réalisation d'une mesure au moyen de phases de porteuse de porteuses de mesure de distance permet d'améliorer la précision de mesure de distance, ne nécessite pas de synchronisation temporelle et permet d'obtenir une bonne universalité.
PCT/CN2019/078085 2018-07-06 2019-03-14 Procédé et système de mesure de distance, dispositif électronique et support d'informations lisible WO2020007064A1 (fr)

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CN109782262A (zh) * 2019-01-30 2019-05-21 Oppo广东移动通信有限公司 相位测距方法、装置、分体式电子设备及可读存储介质
CN110661737A (zh) * 2019-11-01 2020-01-07 深圳市度彼电子有限公司 距离测试设备及系统
CN113514820B (zh) * 2021-03-29 2023-11-14 深圳航天科技创新研究院 时间同步及测距方法、装置、电子设备及存储介质
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