WO2023125041A1

WO2023125041A1 - Area positioning method, distance measurement apparatus, and electronic device

Info

Publication number: WO2023125041A1
Application number: PCT/CN2022/139286
Authority: WO
Inventors: 何志军
Original assignee: 景玄科技（上海）有限公司
Priority date: 2021-12-31
Filing date: 2022-12-15
Publication date: 2023-07-06
Also published as: CN116413713A

Abstract

An area positioning method, which comprises: a ranging signal being sent to a measured target; the measured target calculating and generating a feedback signal according to the ranging signal; the ranging signal and the feedback signal being compared to obtain a phase difference between the ranging signal and the feedback signal; and calculating the distance between a distance measurement apparatus and the measured target according to the phase difference in combination with the speed of light. Also provided are an electronic device (100) and a distance measurement apparatus (200) capable of implementing said method, enabling equipment such as a communication base station to be able to communicate with multiple users while performing distance measurement, or allowing communication between users while performing distance measurement.

Description

Area positioning method, distance measuring device and electronic equipment

technical field

The invention belongs to the technical field of radio communication, and specifically relates to an area positioning method, a distance measuring device and electronic equipment.

Background technique

In wireless positioning technology, distance measurement is the basis for determining the position information of the device under test and positioning and navigation. The radio positioning system can measure the distance from multiple reference stations to the device under test through time-synchronized or non-time-synchronized distance measurement technology, and then obtain the position information of the device under test through geometric calculation. The accuracy of position information is limited by the distance measurement accuracy and the geometric distribution of reference stations. Therefore, the versatility and accuracy of distance measurement technology is crucial to radio positioning and navigation.

In the prior art, such as the Chinese Patent Publication No. CN1184748C discloses a radio communication and ranging system, the patent adds one or a few low-frequency sinusoidal signals as positioning signals on the basis of the original communication system, and through measuring The phase change of the positioning signal is compared to obtain the phase difference to obtain the ranging result.

In the process of realizing the embodiment of the present application, the inventor found that the above-mentioned technology has at least the following defects: limited by chips, electronic components and cost, the distance measurement accuracy of the existing technology is relatively low at long distances, and at a certain Under hardware conditions, the ranging accuracy and ranging range cannot be balanced. For large-range ranging, the accuracy must be lower. If the ranging accuracy is improved from the hardware, it is necessary to use chips and electronic components with higher accuracy. This is easy. cause an increase in cost.

Contents of the invention

In view of this, the purpose of this application is to propose a regional positioning method, which solves the problems of low ranging accuracy and inability to take into account both measurement accuracy and measurement range in the prior art, and realizes millimeter-level measurement in a large range precision.

The area positioning method disclosed in this application includes the following steps:

Send a ranging signal to the measured target;

The measured target calculates and generates a feedback signal according to the ranging signal;

Compare the ranging signal with the feedback signal, obtain the phase difference between the ranging signal and the feedback signal, and obtain the measurement distance by calculating the phase difference;

Calculate the distance between the ranging device and the measured target according to the phase difference and combined with the speed of light;

Wherein, the ranging signal also includes a first positioning spectrum and a second positioning spectrum, and the first positioning spectrum is provided with a first difference frequency;

setting a first measurement range according to the first difference frequency;

Using the first positioning spectrum within the first measurement range to measure the distance of the measured target for the first time;

Obtain the first distance value through the first ranging;

Using the second positioning spectrum to measure the distance of the measured target for the second time;

The first distance value is determined as the second distance value through the second ranging.

Further, the first positioning spectrum includes at least two signals of different frequencies, the second positioning spectrum includes at least one signal, and the frequency of the signal in the second positioning spectrum is higher than the frequency of any signal in the first positioning spectrum.

Further, the second positioning frequency spectrum is provided with a second difference frequency, and the second difference frequency is used to measure the distance of the measured target for the first time in the first measurement range, and the first distance value is obtained through the first distance measurement, and the second difference frequency is used The positioning frequency spectrum measures the distance of the measured target for the second time, and determines the first distance value as the second distance value through the second distance measurement.

Further, the second difference frequency is greater than the first difference frequency.

Further, the method also includes: using the first difference frequency to measure the measured target within the first measurement range.

Based on the above purpose, the present application also provides a distance measuring device, including: a generating module for outputting positioning signals and carrier frequency signals; a modulating module connected to the generating module for modulating and synthesizing the positioning signals and carrier frequency signals It is a ranging signal; the transceiver module is connected with the modulation module, and is used for sending the ranging signal to the measured target, and receiving the feedback signal sent by the measured target; the calculation module, at least partly connected with the generating module, can receive the Generate the positioning signal output by the module; at least part of the calculation module is also connected to the transceiver module for demodulating the feedback signal and comparing it with the positioning signal to obtain the phase difference between the feedback signal and the positioning signal; wherein, the positioning signal is set At least two sets of positioning spectrums and their initial phase information, the calculation module compares the initial phase information with the phase information in the feedback signal, and the frequency of at least one set of positioning spectrums is less than or equal to the first frequency.

Further, the positioning signal includes the first positioning spectrum, the second positioning spectrum, and the first difference frequency generated by the first positioning spectrum; the first difference frequency is used to determine the first measurement range, so that the first positioning spectrum is within the first measurement range Measurement.

Further, the frequency of the first positioning spectrum is less than or equal to the first frequency, the frequency of the second positioning spectrum is greater than or equal to the second frequency, and the first frequency is less than the second frequency.

Further, a circulator is also included, the circulator is at least partly connected to the modulation module, the circulator is at least partly connected to the transceiver module, and the ranging signal is transmitted to the transceiver module through the circulator. The circulator is at least partially connected to the computing module, and the feedback signal received by the transceiver module is transmitted to the computing module through the circulator.

Based on the above purpose, the present application also provides an electronic device, including: a memory for storing computer programs. When the processor is used to execute the program stored in the memory, it can realize the steps of any one of the above-mentioned area positioning methods.

Compared with the prior art, the benefits of this application are: the regional positioning method proposed by this application has low cost, wide application range, can be widely adapted to different hardware conditions in radio positioning systems, and can achieve millimeter-level measurement while taking into account a large range precision.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the present application. The schematic embodiments and descriptions of the present application are used to explain the present invention and do not constitute improper limitations to the present invention. In the attached picture:

Fig. 1 is the realization flow diagram of area localization method;

2 is a schematic structural diagram of an electronic device;

Fig. 3 is a structural schematic diagram of a distance measuring device;

Fig. 4 is the working schematic diagram of frequency generator;

Fig. 5 is the spectrum structure of ranging signal;

Figure 6 is a schematic structural diagram of the computing module

Fig. 7 is a working schematic diagram of the ranging device;

Fig. 8 is a schematic diagram of implementing the spatial positioning of the device under test.

Detailed ways

The embodiment of the present application solves the problems of the prior art, such as low ranging accuracy and inability to take into account both measurement accuracy and measurement range, by providing an area positioning method, a distance measuring device, and electronic equipment, and realizes millimeter-level distance measurement under a large range. measurement accuracy.

The technical solution in the embodiment of the present application is to solve the problems existing in the above-mentioned prior art, and the general idea is as follows:

By modulating at least two sets of positioning spectrums on the carrier frequency signal sent to the measured target, and making one set of positioning spectrums in the low frequency range and the other set of positioning spectrums in the high frequency range, the difference frequency generated by the low frequency positioning spectrum is used to determine The maximum range, using the low-frequency positioning spectrum to measure the distance of the measured target, and get the first measurement result. Further use the high-frequency positioning spectrum to measure the distance of the measured target and obtain the second measurement result. By combining the first measurement result and the second measurement result, millimeter-level measurement accuracy can be obtained within the maximum range.

Generally, high frequency refers to radio waves with a frequency band greater than or equal to 3MHz, and low frequency refers to the lowest frequency range applied in a certain technical field. In the radio band, frequencies within the range of greater than or equal to 30KHZ and less than or equal to 300KHZ are low frequencies.

The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings, but these embodiments do not limit the application, and those skilled in the art can make structural, method, or functional changes based on these embodiments All are included in the scope of protection of this application.

As shown in Figure 1, the embodiment of the present application provides an area positioning method, and the specific steps are as follows:

Send a ranging signal to the measured target;

setting a first measurement range according to the first difference frequency;

Obtain the first distance value through the first ranging;

It should be noted that the first positioning spectrum includes at least two signals of different frequencies, the second positioning spectrum includes at least one signal, and the frequency of the signal in the second positioning spectrum is higher than the frequency of any signal in the first positioning spectrum. Due to the limited measurement accuracy of the first positioning frequency spectrum, the first distance value obtained by the first distance measurement is in a dynamic range (the dynamic range may be ±1 meter), and the first distance value is further improved by the second distance measurement. It is determined as the second distance value, and the second distance value is also within a dynamic range (the dynamic range may be ±1mm). It can be understood that the dynamic range accuracy of the second distance value is greater than that of the first distance value. The dynamic range of , that is, the second distance value is more accurate than the first distance value, and without affecting the measurement range, the method improved by this embodiment can achieve millimeter-level measurement accuracy.

As another implementation, the second positioning frequency spectrum is provided with a second difference frequency, and the second difference frequency is used to measure the distance of the measured target for the first time within the first measurement range, and the first distance value is obtained through the first distance measurement , use the second positioning frequency spectrum to measure the target for the second time, and determine the first distance value as the second distance value through the second distance measurement. By setting the second difference frequency in the second positioning frequency spectrum, using the second difference frequency to perform the first ranging of the measured target, so that the ranging can not be limited to the setting of the first group of positioning spectrum, by selecting the second The further measurement of the second difference frequency makes the measurement more flexible. In the case of limited phase measurement accuracy, the measurement accuracy can be greatly improved and more redundancy can be reserved.

It should be noted that the signal frequencies set in the first positioning spectrum are all at low frequencies, and the signal frequencies set in the second positioning spectrum are all at high frequencies. It is easy to understand that the second difference frequency set in the second positioning spectrum is greater than the first Locate the first beat frequency set in the spectrum.

As shown in FIG. 2 , the present application also provides an electronic device 100, the electronic device 100 includes a memory 11 and a processor 12, the memory 11 is used to store computer programs, and when the processor 12 is used to execute the programs stored in the memory, it can Steps for realizing the above-mentioned region positioning method. The memory 11 may be a RAM (Random Access Memory, random access memory), or a non-volatile memory (non-volatile memory), such as at least one disk memory. Processor 12 can be general-purpose processor, comprises: CPU (Central Processing Unit, central processing unit), NP (Network Processor, network processor) etc.; Can also be DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit, application specific integrated circuit), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

The objects of distance measurement or positioning in the original technology are mostly communication devices such as walkie-talkies or phone-based telephones. With the development of the times, these communication devices have changed into smart phones or mobile terminals. For regional positioning methods or distance measurement devices In general, the use and application scenarios have undergone great changes, and the existing technologies cannot meet the use requirements of the scenarios.

As shown in Figure 3, according to the purpose of this application, the embodiment of this application also provides a distance measuring device 200, including: a signal generation module 21, a modulation module 22, a transceiver module 23, a calculation module 24 and a circulator 25, the signal generation module Module 21 is used to output positioning signal and carrier frequency signal. The modulation module 22 is connected with the signal generating module 21, and the modulation module 22 is used for modulating the positioning signal and the carrier frequency signal and synthesizing them into a ranging signal. The transceiver module 23 is connected with the modulating module 22, and the transceiver module 23 is used for sending the ranging signal to the measured target and receiving the feedback signal sent by the measured target. At least part of the calculation module 24 is connected with the signal generation module 21, capable of receiving the positioning signal output by the signal generation module 21, and at least part of the calculation module 24 is also connected with the transceiver module 23 for demodulating the feedback signal and comparing it with the positioning signal. The signals are compared to obtain the phase difference between the feedback signal and the positioning signal. The circulator 25 is at least partly connected to the modulation module 22 , and the circulator 25 is at least partly connected to the transceiver module 23 , and the ranging signal is transmitted to the transceiver module 23 through the circulator 25 . The circulator 25 is at least partially connected to the calculation module 24 , and the feedback signal received by the transceiver module 23 can be transmitted to the calculation module 24 through the circulator 25 . Wherein, there are at least two sets of positioning spectrums and their initial phase information in the positioning signal, and the calculation module 24 compares the initial phase information with the phase information in the feedback signal, and at least one set of positioning spectrums has a frequency less than or equal to the first frequency. The first frequency is the dividing line of the low frequency signal, generally, the first frequency may be 300KHZ.

As shown in Figure 3, as an implementation, the signal generating module 21 includes a carrier frequency signal generator 211 and a positioning signal generator 212, and the carrier frequency signal generator 211 is used to output a carrier frequency signal with a frequency of _ω01 , the carrier frequency The frequency signal generator 211 is connected to the modulation module 22, and the carrier frequency signal output by the carrier frequency signal generator 211 is input to the modulation module 22 for modulation. The positioning signal generator 212 is used to output the positioning signal. One end of the positioning signal generator 212 is connected to the modulation module 22, and the other end of the positioning signal generator 212 is connected to the calculation module 24. The positioning signal can be transmitted to the modulation module 22 and the carrier frequency signal. Modulated and synthesized into a ranging signal. The positioning signal can also be transmitted to the computing module 24 and stored in the computing module 24 . As another implementation, as shown in Figure 4, the signal generation module 21 is a frequency generator 213, and one end of the frequency generator 213 is connected with the modulation module 22, and the frequency generator 213 can output a carrier frequency signal whose frequency _{is ω} , and six positioning signals with frequencies ω ₁₁ , ω ₁₂ , ω ₁₂ -ω ₁₁ , ω ₂₁ , ω ₂₂ and ω ₂₂ -ω ₂₁ , and the frequency generator 213 transmits the carrier frequency signal and the positioning signal to the modulation module 22. The modulation module 22 can modulate the positioning signal ω ₁₁ , ω ₁₂ , ω ₂₁ , ω ₂₂ and the carrier frequency signal ω ₀₁ respectively, and synthesize the modulated signals into a ranging signal for output. In addition, _the other end of the frequency generator ₂₁₃ is connected to the computing _module ₂₄ _{, and the frequency generator 213} _is capable of four positioning The signal is transmitted to the computing module 24 .

Modulation module 22 includes several modulators, for the amplitude modulation system, the modulator can be a multiplier, for the frequency modulation system, the modulator can be a frequency modulator, for the coding system, the modulator can be an encoder, in the embodiment of the application The modulator adopts the amplitude modulation system, and the mathematical expression of the ranging signal output after modulation by the modulator is cos(ω ₀₁ ±Ω)t, where Ω is the positioning signal. Specifically, referring to FIG. 4 , the modulation module 22 includes a first modulator 221, a second modulator 222, a third modulator 223, a fourth modulator 224, and a power combiner 225, and one end of the first modulator 221 is connected to a frequency generating The other end of the first modulator 221 is connected to the power combiner 225, one end of the second modulator 222 is connected to the frequency generator 213, the other end of the second modulator 222 is connected to the power combiner 225, and the third modulator 222 is connected to the power combiner 225. One end of the modulator 223 is connected to the frequency generator 213, the other end of the third modulator 223 is connected to the power combiner 225, one end of the fourth modulator 224 is connected to the frequency generator 213, and the other end of the fourth modulator 224 is connected to the frequency generator 213. A power combiner 225 is connected. The carrier frequency signal ω ₀₁ that frequency generator 213 outputs is added on the first modulator 221, the second modulator 222, the 3rd modulator 223 and the 4th modulator 224 simultaneously, and positioning signal ω ₁₁ is added to the first modulator 221 The carrier frequency signal _ω01 is modulated, and the signal modulated by the first modulator 221 is transmitted to the power combiner 225, and the positioning signal _ω12 is added to the second modulator 222 to modulate the carrier frequency signal _ω01 , and after the second modulation The signal modulated by the device 222 is transmitted to the power combiner 225, and the positioning signal ω ₂₁ is added to the third modulator 223 to modulate the carrier frequency signal ω ₀₁ , and the signal modulated by the third modulator 223 is transmitted to the power combiner 225, The positioning signal _ω22 is added to the fourth modulator 224 to modulate the carrier frequency signal _ω01 , and the signal modulated by the fourth modulator 224 is transmitted to the power combiner 225, and the four groups of signals are combined in the power combiner 225 for distance measurement The frequency spectrum structure formed by the signal and the ranging signal is shown in Fig. 5 .

As an implementation, the transceiver module 23 can be an antenna, which is a component used to transmit or receive electromagnetic waves, and has the ability to transmit and receive radio waves. In practical applications, the size of the antenna or the interference resistance of obstacles Capabilities are different, and the carrier frequency signal in the ranging signal can be different according to actual needs. The circulator 25 is arranged in order to connect the modulation module 22, the transceiver module 23 and the calculation module 24, so that the signal transmission and reception of the distance measuring device 200 can share one antenna, and the structural design of the distance measuring device 200 can be simplified.

As shown in Figure 6, the calculation module 24 includes a low noise amplifier 241, a local oscillator 242, a mixer 243, an intermediate frequency amplifier 244, a demodulator 245, a bandpass filter unit 246, a digital processor 247 and a phase detector 248 . Low noise amplifier 241 is used as the preamplifier of calculation module 24, is used for signal preamplification, and one end of low noise amplifier 241 is connected with circulator 25, and the other end of low noise amplifier 241 is connected with mixer 243, and transceiver module 23 receives The received signal enters the low noise amplifier 241 through the circulator 25 , and is preamplified by the low noise amplifier 241 and then output to the mixer 243 . The local oscillator 242 includes a first oscillator, and the first oscillator is used to generate a first oscillation signal with a frequency of F ₁ (F ₁ =F ₀ +F ₀₀ , where F ₀ is the carrier frequency, and F ₀₀ is the IF intermediate frequency Frequency (Intermediate Frequency)), the first oscillator is connected to the mixer 243, the first oscillation signal and the signal output by the low noise amplifier 241 are added to the mixer 243 for mixing. The mixer 243 is connected with the intermediate frequency amplifier 244, and the signal output by the mixer 243 is the difference frequency component of the first oscillating signal, and the signal output by the mixer 243 is output to the demodulator 245 after being amplified by the intermediate frequency amplifier 244, and the demodulator The 245 is used to restore the baseband signal and transmit it to the bandpass filter unit 246. It should be noted that the demodulator 245 can be a detector for an amplitude modulated signal, or one of a frequency discriminator or a decoder. The band-pass filter unit 246 includes a first filter group and a second filter group, _the first filter group can filter out signals with _ω11 and _ω12 respectively, and the difference _frequency _ω12- ω ₁₁ , and the signals with ω ₁₁ and with ω ₁₂ -ω ₁₁ are input to the digital processor 247, and the phase measurement of the signals with ω ₁₁ and with ω ₁₂ -ω ₁₁ is performed by the digital processor 247. The second filter group can filter out the signal with ω ₂₁ and the signal with ω ₂₂ respectively, calculate its difference frequency ω ₂₂ -ω ₂₁ through ω ₂₁ and ω ₂₂ , and combine the signal with ω ₂₁ and the signal with ω 21 The signal of ω ₂₂ -ω ₂₁ is input to the digital processor 247, and the phase measurement of the signal with ω ₂₁ and the signal with ω ₂₂ -ω ₂₁ is performed by the digital processor 247. The digital processor 247 is connected to the phase detector 248 , and the digital processor 247 can transmit the above phase measurement results to the phase detector 248 . The phase detector 248 is also connected to the signal generating module 21, and the positioning signal ω ₁₁ , the positioning signal ω ₂₁ , the positioning signal ω ₁₂ -ω ₁₁ and the positioning signal ω ₂₂ -ω ₂₁ output by the signal generating module 21 are transmitted to the phase detector 248, The phase detector 248 compares the phase result output by the digital processor 247 with the initial phase of the positioning signal output by the signal generating module 21, and calculates the phase difference between the two by the phase detector 248, and obtains the distance measurement by phase difference conversion. result. The phase detection method of the phase detector 248 may be one of the time measurement method, the digital correlation coefficient phase detection method or the frequency domain Fourier phase detection method.

Specifically, as a working method of the distance measuring device 200, as shown in FIG. Among them, the ranging device 200 can be a communication base station, and the device under test 300 is a mobile terminal used by a user. Through this application, the communication and distance measurement of the communication base station to multiple users can be realized. The device under test 300 can also be a communication base station. Through this application Realize the distance measurement between the communication base station and the communication base station. The distance measuring device 200 may be a mobile terminal used by a user, and the device under test 300 may also be a mobile terminal used by a user, and the distance measurement between users is realized through this application.

The device under test 300 includes a signal generation module 31, a transceiver module 33, a modulation module 32, a calculation module 34 and a circulator 35, the structure and function of the transceiver module 33 and the transceiver module 23 are basically the same, the structure and function of the modulation module 32 and the modulation module 22 The functions are basically the same, the structure and function of the calculation module 34 and the calculation module 24 are basically the same, and the structure and function of the circulator 35 and the circulator 25 are basically the same, and will not be repeated here. The signal generating module 31 in the device under test 300 is a carrier frequency signal generator 311, which is used to output a carrier frequency signal with a frequency of _ω02 . The ranging signal cos( _ω01 ±Ω)t output by the ranging device 200 is received by the transceiver module 33. If the distance between the ranging device 200 and the device under test 300 is D, at this time, The mathematical expression of the ranging signal received by the device under test 300 is: cos(ω ₀₁ ±Ω)(t+Δt), where Δt=D/c, c is the speed of light. The ranging signal enters the calculating module 34 through the circulator 35, and the calculating module 34 calculates the ranging signal, and the mathematical expression of the calculated signal is: cos(Ωt+ΩΔt). It should be noted that the calculation module 34 is connected to the modulation module 32, and the signal generation module 31 is also connected to the modulation module 32, and the calculated signal (cos(Ωt+ΩΔt)) is added to the modulation module 32 together with the carrier frequency signal. Modulation module 32 outputs feedback signal to circulator 35 after modulation, and the mathematical expression of feedback signal is: cos(ω ₀ ± Ω) (t+Δt), and feedback signal is transmitted to transceiver module 33 through circulator 35, and transceiver module 33 sends to The ranging device 200 sends a feedback signal. The mathematical expression of the feedback signal received by the transceiver module 23 is: cos(ω _{0 2} ±Ω)(t+2Δt), the feedback signal is transmitted to the computing module 24 through the circulator 25, and the computing module 24 solves the feedback signal, solving The mathematical expression of the calculated signal is: cos(Ωt+2ΩΔt), by comparing the calculated signal with the positioning signal cosΩt output by the signal generating module 21, the phase difference Δф=2ΩΔt is measured by the phase detector 248, that is, The distance between the distance measuring device 200 and the device under test 300 is equal to

Wherein, F _Ω is the frequency of the distance measurement signal. It should be noted that the distance measurement accuracy is related to the wavelength of the distance measurement signal and the phase measurement accuracy. For a fixed phase measuring instrument, its phase measuring accuracy can only reach a certain constant value, therefore, the higher the frequency F _Ω of the ranging signal, the smaller its wavelength, the smaller the ranging range and the higher the ranging accuracy, and vice versa , the lower the F _Ω of the ranging signal, the larger its wavelength and the lower the ranging accuracy. As an implementation, when _FΩ =200KHz, the maximum range of D is 750 meters, and when the phase measurement accuracy of 0.5 degrees is selected as the phase measurement accuracy of the distance measuring device 200, the relative measurement accuracy is 1/720=1.4×10 ^-3 , for the range of 750 meters, the ranging accuracy can reach 1 meter.

As an implementation, the phase measurement accuracy of the ranging device 200 is selected to be 0.5 degrees, the positioning signal ω ₁₁ and the positioning signal ω ₁₂ are set as the first positioning frequency spectrum in the ranging signal, and the positioning signal ω ₂₁ is set as the first positioning spectrum in the ranging signal. The second positioning spectrum of . The frequency of the first positioning spectrum is less than or equal to the first frequency. In this implementation mode, the first frequency is 300KHz. When ω ₁₁ =200KHz and ω ₁₂ =202KHz, after mixing the two, take the difference frequency ω ₁₂ −ω ₁₁ =2KHz is the first difference frequency generated by the first positioning spectrum. Therefore, the measurement frequency possessed by the ranging signal includes F _Ω =200KHz and F _Ω =2KHz, and the first measurement range is obtained by the first difference frequency F _Ω =2KHz, and the first measurement range is centered on the distance measuring device 200 and has a radius of With a measurement range of 75 kilometers, the distance measuring device 200 can roughly measure the distance of the device under test 300 within the first measurement range through the first difference frequency _FΩ =2KHz, and the distance between the distance measuring device 200 and the measured device can be determined through the rough measurement. For the relative position of the device 300, further, the first precision measurement is performed on the device under test 300 using the measurement frequency F _Ω = 200KHz, and the first distance between the distance measuring device 200 and the device under test 300 can be determined through the first precision measurement , due to the limited measurement accuracy of the measurement frequency F _Ω =200KHz, the first precise measurement can determine the first distance within a dynamic range (the error of the dynamic range is within ±1 meter), by combining the rough measurement and the first precise measurement Combined with the measurement results of , the absolute measurement accuracy of the ranging device 200 in the first measurement range with a radius of 75 kilometers can reach 1 meter, and the relative measurement accuracy can reach 1.3×10 ^-5 .

The frequency of the second positioning spectrum is greater than or equal to the second frequency, and the second frequency is the dividing line of the high-frequency signal. It is easy to understand that the first frequency is smaller than the second frequency. In this implementation mode, the second frequency is 3 MHz. Based on the above-mentioned first positioning frequency spectrum, ω ₂₁ =50MHz is selected. Therefore, the measurement frequency that the ranging signal also has includes F _Ω =50MHz, and further uses the measurement frequency F _Ω =50MHz to perform micro-measurement on the device under test 300. Through the micro-measurement, it can The first distance is determined within a dynamic range (the error of the dynamic range is within ± 4mm), and by combining the measurement results of the rough measurement, the first fine measurement and the micro measurement, the distance measuring device 200 can be used in the entire radius Within the first measurement range of 75 kilometers, its absolute measurement accuracy can reach 4 mm, and its relative measurement accuracy can reach 5.3x10 ^-8 .

In addition, as another implementation, the positioning signal ω ₂₁ and the positioning signal ω ₂₂ are set in the second positioning frequency spectrum, and ω ₂₁ =100MHz and ω ₂₂ =100.1MHz are selected, and after the two are mixed, the difference frequency is taken ω ₂₂ −ω ₂₁ =100 KHz, which is the second difference frequency generated by the second positioning spectrum. The distance measuring device 200 utilizes the second difference frequency F _Ω =100KHz to carry out the second precision measurement on the device under test 300, and the second precision measurement can determine the first distance in a dynamic range (the error of the dynamic range is within ± 2 meters ), utilize the measurement frequency FΩ=100MHz to carry out micro-measurement to the device under test 300, the first distance can be further determined in a dynamic range (the error of this dynamic range is within ± 2 millimeters) by micro-measurement, by rough measurement, The combination of the measurement results of the second fine measurement and the micro measurement enables the distance measuring device 200 to achieve an absolute measurement accuracy of 2 mm within the first measurement range with a radius of 75 kilometers. In the case of limited phase measurement accuracy, this implementation method can reduce the demand for phase measurement measurement accuracy. By selecting the second difference frequency of the second positioning spectrum, the measurement is not limited to the setting of the first positioning spectrum. Larger redundancy can be set aside to improve measurement accuracy.

According to the above implementation, the embodiments of the present application combine the measurement results of the first positioning spectrum and the second positioning spectrum with the measurement range, so that the ranging device 200 can achieve absolute measurement accuracy in the measurement range with a radius of 75 kilometers It can reach 2 mm, and the relative measurement accuracy can reach 2.7x10 ^-8 . It should be noted that in this application, the measurement accuracy of the rough measurement is lower than that of the fine measurement, the measurement accuracy of the fine measurement is lower than that of the micro measurement, and the range of the micro measurement must be greater than or equal to the error of the fine measurement , the measuring range of the fine measurement must be greater than or equal to the error of the rough measurement, and this setting can effectively avoid uncertainty in the measurement process of the distance measuring device 200 .

As shown in FIG. 8, the embodiment of the present application also provides an implementation method capable of measuring the spatial positioning of the device under test 300. Select at least three distance measuring devices 200 with known coordinates, and use the area positioning method provided by the present application to pass Each distance measuring device 200 measures the distance between itself and the device under test 300, and by combining the measurement results of each distance measuring device 200, the spatial position of the device under test 300 can be obtained according to the combined measurement results , so that the location and height of the device under test 300 can be further determined. Specifically, according to the distances D ₁ , D ₂ and D ₃ between the distance measuring device 200 and the device under test 300 measured by the three known coordinates (X, Y, Z three-dimensional coordinates), according to the distances D ₁ , D ₂ and D ₃ set the formula to solve the X, Y, Z coordinate values of the device under test 300, and perform an error check according to the distance D ₄ measured by the fourth distance measuring device 200, so as to accurately obtain the three-dimensional of the device under test 300 coordinate value. In addition, the distance measuring device 200 can locate the one-dimensional spatial position of the device under test 300 by selecting at least one measuring device 200 with known coordinates to measure the device under test 300 according to different measurement scenarios (such as a tunnel and other measurement scenarios). ), to obtain the one-dimensional coordinates of the device under test 300. If at least two measuring devices 200 with known coordinates are selected to measure the device under test 300 on the same plane, the two-dimensional spatial position of the device under test 300 can be located and the two-dimensional coordinates of the device under test 300 can be obtained.

In the claims, the word "comprising" does not exclude other elements or steps; the word "a" or "an" does not exclude a plurality. In the claims, the use of ordinal numerals such as "first" and "second" to modify claim elements does not by itself imply that one claim element has priority, order, or the time at which actions are performed over another claim element order, but only for the purpose of distinguishing elements of one claim from elements of another claim. Although some specific technical features are recited in mutually different dependent claims, this does not mean that these specific technical features cannot be used in combination. Aspects of the invention may be used alone, in combination or in various arrangements not specifically discussed in the preceding embodiments, so that their application is not limited to the details and arrangements of components described above or shown in the drawings. For example, aspects described in one embodiment may be combined with aspects described in other embodiments in any manner. The steps, functions or features recited in multiple modules or units may be performed or satisfied by one module or one unit. The steps of the methods disclosed herein are not limited to being performed in any particular order, and other orders of performing some or all of the steps are possible. Any reference signs in the claims should not be construed as limiting the scope of the claims.

Although preferred embodiments of the present application have been disclosed for illustrative purposes, those of ordinary skill in the art will appreciate that various Improvements, additions, and substitutions are possible.

Claims

A method for regional positioning, characterized in that the steps are as follows:

Send a ranging signal to the measured target;

The measured target calculates and generates a feedback signal according to the ranging signal;

Comparing the ranging signal with the feedback signal, obtaining a phase difference between the ranging signal and the feedback signal, and obtaining a measurement distance by calculating the phase difference;

calculating the distance between the ranging device and the measured target according to the phase difference and in combination with the speed of light;

Wherein, the ranging signal further includes a first positioning spectrum and a second positioning spectrum, and the first positioning spectrum is provided with a first difference frequency;

setting a first measurement range according to the first difference frequency;

Using the first positioning frequency spectrum within the first measurement range to measure the measured target for the first time;

Obtaining a first distance value through the first ranging;

Using the second positioning frequency spectrum to measure the distance of the measured target for the second time;

The first distance value is determined as a second distance value through the second ranging.
The regional positioning method according to claim 1, characterized in that,

The first positioning frequency spectrum includes at least two signals of different frequencies;

The second positioning spectrum includes at least one signal;

A frequency of a signal in the second positioning spectrum is greater than a frequency of any signal in the first positioning spectrum.
The regional positioning method according to claim 1, characterized in that,

The second positioning frequency spectrum is provided with a second difference frequency;

Using the second difference frequency within the first measurement range to measure the distance of the measured target for the first time;

Obtaining the first distance value through the first ranging;

Using the second positioning frequency spectrum to measure the distance of the measured target for the second time;

The first distance value is determined as a second distance value through the second ranging.
The area positioning method according to claim 3, wherein the second difference frequency is greater than the first difference frequency.
The regional positioning method according to claim 1, further comprising:

Using the first difference frequency within the first measurement range to measure the measured target.
A distance measuring device, characterized in that it comprises:

A generating module, used to output positioning signals and carrier frequency signals;

A modulation module, connected to the generation module, for modulating the positioning signal and the carrier frequency signal and synthesizing them into a ranging signal;

a transceiver module, connected to the modulating module, for sending the ranging signal to the measured target, and receiving a feedback signal sent by the measured target;

A calculation module, which is at least partly connected to the generation module and capable of receiving the positioning signal output by the generation module; at least part of the calculation module is also connected to the transceiver module for demodulating the feedback signal and comparing it with the positioning signal to obtain the phase difference between the feedback signal and the positioning signal;

Wherein, at least two sets of positioning spectrum and their initial phase information are set in the positioning signal, and the calculation module compares the initial phase information with the phase information in the feedback signal, and there is at least one set of positioning spectrum The frequency of is less than or equal to the first frequency.
The distance measuring device according to claim 6, characterized in that,

The positioning signal includes a first positioning spectrum, a second positioning spectrum, and a first difference frequency generated by the first positioning spectrum;

The first beat frequency is used to determine a first measurement range, and the first positioning frequency spectrum is used for measurement within the first measurement range.
The distance measuring device according to claim 7, characterized in that,

The frequency of the first positioning spectrum is less than or equal to the first frequency;

The frequency of the second positioning spectrum is greater than or equal to a second frequency;

The first frequency is less than the second frequency.
The distance measuring device according to claim 6, further comprising a circulator, the circulator is at least partially connected to the modulation module, the circulator is at least partially connected to the transceiver module, and the measuring The distance signal is transmitted to the transceiver module through the circulator;

The circulator is at least partially connected to the calculation module, and the feedback signal received by the transceiver module is transmitted to the calculation module through the circulator.
An electronic device, characterized in that it comprises:

memory for storing computer programs;

When the processor is used to execute the program stored in the memory, it can realize the steps of the area positioning method in any one of claims 1-5.