WO2023106237A1 - Dispositif de calcul de position spatiale - Google Patents

Dispositif de calcul de position spatiale Download PDF

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Publication number
WO2023106237A1
WO2023106237A1 PCT/JP2022/044581 JP2022044581W WO2023106237A1 WO 2023106237 A1 WO2023106237 A1 WO 2023106237A1 JP 2022044581 W JP2022044581 W JP 2022044581W WO 2023106237 A1 WO2023106237 A1 WO 2023106237A1
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Prior art keywords
points
spatial position
reception
calculation device
position calculation
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PCT/JP2022/044581
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English (en)
Japanese (ja)
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徹 石井
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徹 石井
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Publication of WO2023106237A1 publication Critical patent/WO2023106237A1/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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • 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
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/26—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/30—Determining absolute distances from a plurality of spaced points of known location

Definitions

  • the present invention is a spatial position calculation device using waves such as sound waves and ultrasonic waves.
  • a technology that measures the timing at which waves such as sound waves or ultrasonic waves sent from the transmitter reach the receiver, and calculates the position of the receiver relative to the transmitter, or the position of the transmitter relative to the receiver. is disclosed in Patent Document 1.
  • the transmitting unit and the receiving unit are arranged spatially close to each other. Radar technology that uses radio waves as waves and sonar technology that uses sound waves or ultrasonic waves are widely known.
  • Patent Document 1 there has been reported a technique for performing highly accurate three-dimensional positioning by using an ultrasonic signal modulated by a spread spectrum code.
  • the output waveform of the correlation calculation between the received signal and the transmitted signal performed on the receiver side theoretically shows a sharp peak only at the timing when the transmitted wave reaches the receiver. , and has the feature of enabling highly accurate positioning.
  • the received wave (hereinafter referred to as direct wave) propagating in a straight line distance from the transmitter to the receiver in the output waveform of the correlation calculation
  • direct wave the received wave propagating in a straight line distance from the transmitter to the receiver in the output waveform of the correlation calculation
  • Patent Document 2 pseudo-random sequence data with the smallest secondary peak appearing before the maximum peak on the correlation calculation waveform is selected as a signal to be used for measurement. Techniques are disclosed for mitigating the effects of interference in
  • Patent Document 3 a different M-sequence code is transmitted for each transmission cycle, and by detecting the first peak on the correlation calculation waveform within the measurement cycle, the direct wave is selectively discriminated and measured. Techniques are disclosed.
  • Non-Patent Document 1 discloses a technique of improving positioning accuracy by suppressing components other than a desired signal.
  • Patent Document 2 suppresses signals other than the desired transmission signal, it cannot prevent interference due to reflected waves of the desired transmission signal itself.
  • Patent Document 3 can eliminate the influence of the reflected wave, it cannot deal with the problem that the maximum position of the peak on the correlation waveform shifts due to interference and the measurement error increases.
  • Non-Patent Document 1 since the calculation for removing components other than the desired signal is repeatedly performed for one measurement, there is a problem that the calculation load is large and the processing time and power consumption increase.
  • the spatial position calculation apparatus of the present invention includes: a transmission unit that transmits a modulated audio signal obtained by modulating an original audio signal; a receiving unit that receives data at a plurality of points in space; and based on a cross-correlation calculation result between a reference signal generated from the modulated speech signal and a received signal at each of the plurality of points, either the transmitting unit or the receiving unit.
  • a calculating unit that calculates spatial position coordinates or a distance from the transmitting unit to the receiving unit, and is obtained by cross-correlation calculation between the received signals at any two of the plurality of receiving points and the reference signal.
  • each correlation waveform peaks that satisfy conditions for forming a triangle having three sides corresponding to the calculated distances from the transmitter to the two points and the distance between the two points. It is characterized by eliminating spurious peaks occurring at erroneous distances by extracting only combinations.
  • the reception section when the reception section performs cross-correlation calculation for specifying the arrival timing of the modulated audio signal from the transmission section to the reception section, the reception signal at a single point is reflected wave Even if the measurement error increases due to the maximum peak of the correlation waveform occurring at a position different from the original correct distance due to interference with the transmission waves of other transmission sources, the position of the transmitter and the reception position of the two points From the position of the transmitter in the correlation waveform to the reception position of the two points, in order to extract a combination that satisfies the constraint that triangles serving as vertices are formed in space from the peak group in the correlation waveform Even if the peak corresponding to the straight line distance does not necessarily show the maximum value, the straight line distance can be calculated. This makes it possible to calculate the position of the object to be measured in space with high accuracy.
  • FIG. 1 is a system functional block diagram of one embodiment according to the present invention
  • FIG. 4 is a timing chart showing the temporal relationship between modulated audio signals Y1, Y2, Y3 and received signal X41.
  • 4 is a timing chart showing the temporal relationship between modulated audio signal Y1 and received signals X41, X42, and X43.
  • 2 is a diagram showing an example of an internal configuration of a transmitter 1
  • FIG. 5 is a timing chart of internal signals in FIG. 4
  • FIG. 4 is a diagram showing an internal configuration example of a receiver 4.
  • FIG. 4 is an explanatory diagram of cross-correlation calculation performed by a correlation calculation unit 45;
  • FIG. 4 is an explanatory diagram of cross-correlation calculation performed by a correlation calculation unit 45;
  • FIG. 4 is an explanatory diagram of cross-correlation calculation performed by a correlation calculation unit 45;
  • FIG. 10 is an enlarged view of the vicinity of the maximum peak of the correlation calculation result when the maximum peak position is stable at one point;
  • FIG. 10 is an enlarged view of the vicinity of the maximum peak of the correlation calculation result when the maximum peak position varies between two adjacent peaks;
  • 10 is a graph of cross-correlation calculation results when there is a reflected wave with a higher intensity than the direct wave.
  • FIG. 4 is a diagram showing the positional relationship in space between a transmitter k and reception microphones M1, M2, and M3.
  • FIG. 4 is a diagram showing a triangle with three vertices of a transmitting unit k and receiving microphones M1 and M2.
  • FIG. 1 A system functional block diagram of one embodiment according to the present invention is shown in FIG. 1
  • the overall system consists of transmitters that are installed at different positions in space and that transmit binary phase-modulated audio signals Y1, Y2, and Y3 into space at predetermined time intervals using spread spectrum codes that use different pseudorandom number sequences.
  • a receiving unit 4 that outputs a reception timing signal Y4 indicating the timing at which the Y1, Y2, and Y3 each propagate through space and reach the receiving unit 4, and the receiving unit 4 based on the Y4
  • the position calculator 5 does not necessarily have to be separate from the receiver 4 and may be included in the same housing as the receiver 4 .
  • FIG. 2 shows the times of Y1, Y2, and Y3, Z11, Z21, and Z31, which are the signals propagated through space and reach the microphone M1 of the receiver 4, and X41, which is the received signal at the microphone M1. It is a timing chart showing the relationship.
  • the signals Y1, Y2, and Y3 are signals that are binary phase-modulated by mutually different code sequences and periodically transmitted at predetermined time intervals T from the transmitters 1, 2, and 3, respectively.
  • Y1 , Y2, and Y3 transmitted at times ty1, ty2 , and ty3 , respectively, are transmitted for propagation times ⁇ t 11 , ⁇ t 21 , and ⁇ t 31 proportional to the respective distances from transmitters 1, 2, and 3 to microphone M1.
  • a received signal X41 in which the delayed signals Z11, Z21, and Z31 are superimposed is received by the microphone M1.
  • T may be selected in any manner as long as the position calculation unit 5 can know the output timing of the modulated audio signals from the transmission units 1, 2, and 3.
  • a method in which the value of the transmission interval T is superimposed on the modulated audio signal and transmitted to the position calculation unit 5 can be adopted.
  • t y1 , t y2 , and t y3 may be selected in any way as long as the position calculation unit 5 can know them.
  • y2 , t y2 -t y3, t y3 -t y1 are set to different predetermined fixed values, respectively, and the output timing of each transmitter is shifted, or the values of t y1 , t y2 , t y3 are changed randomly each time, It is possible to adopt a method such as superimposing the modulated audio signals Y1, Y2, and Y3 on the above-mentioned modulated audio signals Y1, Y2, and Y3 and transmitting them to the position calculating section 5, or the like.
  • t 11 , t 21 , and t 31 in FIG. is measured by the receiving unit 4, and the propagation delay times ⁇ t 11 , ⁇ t 21 , ⁇ t 31 obtained by taking the difference between groups of (t y1 , t y2 , t y3 ) and (t 11 , t 21 , t 31 ) is multiplied by the speed of sound to obtain the distances between each of the transmitters 1, 2, and 3 and the microphone M1, and the position coordinates of the microphone M1 with respect to the transmitters 1, 2, and 3 are calculated based on the principle of trilateration. can be done.
  • FIG. 3 is a timing chart showing the time relationship of X41, X42, and X43, which are signals received by microphones M1, M2, and M3, respectively.
  • the reception microphones M1, M2, and M3 are arranged at close positions inside the reception unit 4, and the distances between them and the transmission unit 1 are different. , ⁇ t 12 , ⁇ t 13 as signals Z11, Z12, Z13, respectively, arriving at M1, M2, M3.
  • FIG. 4 shows a first embodiment of the internal configuration of the transmitter 1
  • FIG. 5 shows a timing chart of internal signals in FIG.
  • the transmission unit 1 is composed of an original speech signal generation unit 12, a pseudorandom number generation unit 13, a modulation unit 14, and a control timer 15.
  • FIG. 12 shows a first embodiment of the internal configuration of the transmitter 1
  • FIG. 5 shows a timing chart of internal signals in FIG.
  • the transmission unit 1 is composed of an original speech signal generation unit 12, a pseudorandom number generation unit 13, a modulation unit 14, and a control timer 15.
  • the original audio signal generator 12 is composed of, for example, a crystal oscillator or a built-in oscillator of a microcontroller, and generates an original audio signal Y12 of a constant frequency.
  • the control timer 15 outputs an operation control signal Y15 having a cycle of T to the pseudorandom number generator 13 and the modulator .
  • the pseudorandom number generator 13 generates a binary pseudorandom number Y13 of "1" or "0” according to a generally known pseudorandom number sequence such as the M sequence, Gold code, or Kasami code.
  • the modulation unit 14 receives the original audio signal Y12 and the pseudo-random number Y13. When the value of Y13 is "0", the phase is the same as that of the original audio signal Y12. A modulated audio signal Y1, which has undergone binary phase modulation so as to have a phase, is sent out into the air.
  • Both the pseudo-random number generator 13 and the modulator 14 are controlled by Y15 so that they operate while the control signal Y15 is Hi and stop while the control signal Y15 is Lo.
  • the pseudorandom number generator 13 is reset at the timing when Y15 next changes from Lo to Hi, and outputs the predetermined pseudorandom number Y13 again from the beginning.
  • the internally generated pseudo-random numbers are different from Y13.
  • FIG. 6 shows an example of the internal configuration of the receiving section 4. As shown in FIG.
  • the receiving unit 4 includes reception microphones M1, M2, M3, reception buffer memories 41, 42, 43, a reference signal generation unit 44, a correlation calculation unit 45, a relative velocity prediction unit 46, a magnification change unit 47, a reception signal selection unit 48, consists of
  • Received signals X41, X42, and X43 from the receiving microphones M1, M2, and M3 are temporarily held in respective receiving buffer memories 41, 42, and 43, respectively.
  • the reception selector 48 selects and reads out the respective reception record signals Y41, Y42, Y43 from the reception buffer memories 41, 42, 43 and outputs the selected reception record signal Y48 to the correlation calculator 45.
  • Y41, Y42, and Y43 are signals obtained by reading sections necessary for the correlation calculation in the correlation calculator 45 from the previously held X41, X42, and X43, respectively.
  • the interval required for this correlation calculation is the shortest-distance propagation time t min and the longest-distance propagation time t max that can be taken due to the positional relationship between the receiving unit 4 and the transmitting unit 2. It can be determined as the interval from t min to t max .
  • the reference signal generation unit 44 has the same function as the modulation unit 14 in FIG. , and is output to the magnification changing unit 47.
  • a relative velocity prediction unit 46 predicts relative velocities between the transmitters 1, 2, 3 and the receiver 4, and compensates for expansion and contraction in the received signal due to the Doppler effect due to the estimated relative velocities.
  • a magnification is set in the magnification changer 47 .
  • Magnification changing section 47 expands or contracts reference signal Y44 in the time direction according to the magnification specified by relative velocity prediction section 46, and outputs the result to correlation calculation section 45 as corrected reference signal Y47.
  • the correlation calculation unit 45 performs cross-correlation calculation between the selected reception recording signal Y48 and the correction reference signal Y47, whereby the reception unit 4 calculates the reception timing of the modulated audio signal from each transmission unit.
  • FIG. 7 is an explanatory diagram of the cross-correlation calculation performed by the correlation calculator 45. As shown in FIG. Here, an example of calculating the reception timing when Y41 is selected as Y48 in FIG. 6 is shown.
  • Y48 having the same waveform as the selected Y41 and the corrected reference signal Y47 obtained by changing the magnification of Y44, which is a replica of the modulated audio signal Y2, are input.
  • FIG. 7 shows an example in which the relative velocity between the transmitter 2 and the receiver 4 is zero and the predicted relative velocity described above is also zero, and Y47 has the same waveform as the reference signal Y44.
  • Correlation calculation unit 45 sequentially shifts Y47 from t min to t max with respect to Y48, performs cross-correlation calculation, obtains timing t21 at which the correlation reaches the maximum peak, and Z21 transmits this time point to reception unit 4. Calculated as the received timing.
  • FIG. 8 is a graph showing the result of the above cross-correlation calculation with the shift amount on the horizontal axis and the correlation value on the vertical axis.
  • the receiving unit 4 performs cross-correlation calculations similar to those shown in FIG . , t 31 are similarly calculated.
  • FIG. 9 and 10 respectively show the correlation calculation section for the received recording signal Y41 and the modulated audio signal Y2 when the receiving microphone M1 is installed at two points with different positional coordinates in space and separated from each other by a distance of several centimeters.
  • 45 is an enlarged view of the vicinity of the maximum peak of the waveform of the cross-correlation calculation at 45.
  • the graphs indicated by solid lines are the initial waveforms of the cross-correlation calculations performed multiple times by the correlation calculation unit 45, and the points on the graphs are the maximum peak points obtained in each of these multiple waveforms. is superimposed.
  • FIG. 9 shows an example in which the correlation waveform always shows the maximum peak at one point without the influence of interference, and the maximum peak is always shown at time t21 in any of the multiple waveforms.
  • FIG. 10 shows an example in which the sharpness of the maximum peak is dulled, and although the position of the receiving microphone M1 is stationary, the maximum peak position is between two adjacent peaks of t 21 and t 21 ′ due to the measurement times. There is a problem that it cannot be determined which one corresponds to the propagation distance of the direct wave.
  • FIG. 11 shows correlation calculation waveforms for the reception recording signal Y41 and the modulated audio signal Y2 in the correlation calculation section 45.
  • the reflected wave having a higher intensity than the direct wave is received by M1. Therefore, the difference from FIG. 8 is that the maximum peak is observed not at the arrival time t21 of the direct wave but at the arrival time t21 '' of the reflected wave.
  • the distance calculated based on the maximum peak position is the propagation distance of the reflected wave.
  • FIG. 12 is an explanatory diagram of the positional relationship in space between the transmitting unit k and a plurality of receiving microphones, where q k is the position of the transmitting unit k, p 1 , p 2 and p 3 are the receiving microphones M1, M2 and M2, respectively. It shows the position of the M3's microphone.
  • d 12 , d 23 and d 31 are the distances between p 1 and p 2 , between p 2 and p 3 and between p 3 and p 1 respectively, and r k1 , r k2 and r k3 are The distances between q k -p 1 , q k -p 2 , and q k -p 3 are shown.
  • v s be the speed of sound propagating in the air.
  • t ki and t kj are pi and This is the time at which the peak due to the direct wave from q k is observed at p j .
  • N peaks with the largest values are extracted in order from the maximum peak, and N 2 possible values for (t ki , t kj ) are extracted.
  • the combination that does not satisfy [Equation 2] can be excluded as an error.
  • the multiple peaks appearing in the cross-correlation waveform are separated by at least one wavelength of the ultrasonic wave, so the time of the peak due to the direct waves at the receiving microphones Mi and Mj is Denoting t ki_T and t kj_T respectively, and t ki_F and t kj_F representing times of false peaks not due to direct waves, the combination (t ki_T , t kj_T ) due to direct waves satisfies [Equation 2].
  • Setting d ij to less than half the wavelength of the ultrasonic wave can be achieved, for example, by mounting a small surface mount type microphone adjacently on the printed circuit board.
  • the times (t k1 , t k2 , t k3 ) at which the direct wave of the modulated audio signal from the transmitter k reaches the receiving microphones M1, M2, and M3 are obtained.
  • the arrival time tki at the receiving microphone i predetermined as the reference position is output as the arrival timing Y4 of the receiving unit 4 .
  • p2 is the reference position of the receiving unit 4, and p1 and p3 are respectively on the x-axis and the y-axis, which are two orthogonal axes with p2 as the origin. shall be placed.
  • Transmitting section 2 Transmitting section 3 Transmitting section 4 Receiving section 5 Position calculating section 12 Original audio signal generating section 13 Pseudo random number generating section 14 Modulating section 15 Control timer 41 Receiving buffer memory 42 Receiving buffer memory 43 Receiving buffer memory 44 Reference signal generating section 45 Correlation calculation unit 46 Relative velocity prediction unit 47 Magnification change unit 48 Received signal selection unit M1 Receiving microphone M2 Receiving microphone M3 Receiving microphone

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Le problème décrit par la présente invention est de fournir un dispositif de calcul de position spatiale qui calcule avec précision des positions dans un espace mesuré, même en présence d'effets d'interférence ou de bruit provenant d'ondes réfléchies ou d'autres sources de transmission. La solution selon l'invention concerne un dispositif de calcul de la position spatiale qui comprend : des unités de transmission (1, 2, 3) qui transmettent des signaux audio modulés ; et une unité de réception (4) qui reçoit les signaux audio modulés à une pluralité de points de réception (microphones de réception M1, M2, M3) à l'intérieur d'un espace, le dispositif calculant les coordonnées de la position spatiale de n'importe laquelle des unités de transmission et de l'unité de réception ou les distances entre les unités de transmission et l'unité de réception sur la base des résultats d'un calcul de corrélation entre les signaux de réception à la pluralité de points de réception et un signal de référence généré à partir du signal audio modulé, seules les combinaisons de pics satisfaisant à la condition de formation d'un triangle dont les trois côtés correspondent aux distances calculées entre l'unité de transmission et lesdits deux points et la distance entre lesdits deux points, parmi plusieurs groupes de pics présentant des formes d'onde de corrélation respectives obtenues par le calcul de corrélation entre le signal de référence et les signaux de réception de deux points quelconques parmi la pluralité de points de réception, étant extraites.
PCT/JP2022/044581 2021-12-06 2022-12-02 Dispositif de calcul de position spatiale WO2023106237A1 (fr)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002062348A (ja) * 2000-08-24 2002-02-28 Sony Corp 信号処理装置及び信号処理方法
JP2005351786A (ja) * 2004-06-11 2005-12-22 Oki Electric Ind Co Ltd パルス音の到来時間差推定方法及びその装置
JP2006317161A (ja) * 2005-05-10 2006-11-24 Matsushita Electric Ind Co Ltd 追尾システム
WO2009084490A1 (fr) * 2007-12-28 2009-07-09 Nec Corporation Système de détermination de position, dispositif de transmission, dispositif de réception, et procédé de détermination de position
CN112098929A (zh) * 2020-01-20 2020-12-18 苏州触达信息技术有限公司 智能设备间的相对角度确定方法、装置、系统和智能设备
WO2021039606A1 (fr) * 2019-08-29 2021-03-04 石井　徹 Dispositif de calcul de position spatiale
WO2021130818A1 (fr) * 2019-12-23 2021-07-01 三菱電機株式会社 Dispositif de détection, procédé de détection et programme de détection

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002062348A (ja) * 2000-08-24 2002-02-28 Sony Corp 信号処理装置及び信号処理方法
JP2005351786A (ja) * 2004-06-11 2005-12-22 Oki Electric Ind Co Ltd パルス音の到来時間差推定方法及びその装置
JP2006317161A (ja) * 2005-05-10 2006-11-24 Matsushita Electric Ind Co Ltd 追尾システム
WO2009084490A1 (fr) * 2007-12-28 2009-07-09 Nec Corporation Système de détermination de position, dispositif de transmission, dispositif de réception, et procédé de détermination de position
WO2021039606A1 (fr) * 2019-08-29 2021-03-04 石井　徹 Dispositif de calcul de position spatiale
WO2021130818A1 (fr) * 2019-12-23 2021-07-01 三菱電機株式会社 Dispositif de détection, procédé de détection et programme de détection
CN112098929A (zh) * 2020-01-20 2020-12-18 苏州触达信息技术有限公司 智能设备间的相对角度确定方法、装置、系统和智能设备

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