CN109975752B - Phase type distance measuring method - Google Patents
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- CN109975752B CN109975752B CN201910229575.3A CN201910229575A CN109975752B CN 109975752 B CN109975752 B CN 109975752B CN 201910229575 A CN201910229575 A CN 201910229575A CN 109975752 B CN109975752 B CN 109975752B
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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
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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Abstract
The invention relates to the technical field of wireless distance measurement and positioning, and discloses a phase type distance measurement method. The distance between the local and the ranging target equipment can be measured based on the phase difference between the transmitted and received signals, and in the ranging process, because the ranging is carried out in an interactive response mode, the ranging target equipment can be appointed to receive and feed back the modulated signal, so that the ranging has the specificity or the directivity, and because the sine modulated signal is not influenced by interference and air quality in the transmitting and receiving process, the problems of multipath reflection, multipath fading and the like are not needed to be considered in the final signal processing, the requirements on the data processing capacity can be greatly reduced on the ranging device side, the final ranging result can be obtained only through analog modulation, demodulation, phase discrimination and simple operation processing, the hardware can be designed at low cost, and the method is particularly suitable for an RFID (radio frequency identification) positioning system of the Internet of things.
Description
Technical Field
The invention belongs to the technical field of wireless distance measurement and positioning, and particularly relates to a phase type distance measurement method suitable for an Internet of things RFID positioning system.
Background
The wireless ranging is a ranging method based on an electromagnetic wave application technology, and has wide application prospects in the fields of wireless positioning, wireless measurement, wireless detection and the like. After the wireless ranging is finished, the distance information can be further utilized to realize the positioning and tracking of the target or self-adaptively adjust communication parameters and the like. Compared with the technologies of infrared ranging, laser ranging and the like, the wireless ranging can be organically integrated with a wireless communication system to form a communication ranging integrated system. With the increasing popularity of wireless networks, wireless ranging technology will be used more and more.
Radio Frequency identification (rfid) technology, also called radio Frequency identification (rfid), is a communication technology, commonly called electronic tag, that can identify a specific target and read and write related data through radio signals. Currently, the RFID technology has been widely used in various fields, for example, goods sales, transportation, production, waste management, postal tracking, air baggage management, vehicle toll management, etc., and the conventional tape bar code has been slowly replaced by the RFID system in the identification field due to its small storage capacity, non-rewritable property, etc.
A typical RFID positioning system for the internet of things is composed of a positioning base station, a locator and a target positioning device (i.e. an electronic tag), wherein the locator is configured to use a wireless ranging technology to obtain a spatial distance from a local location to the target positioning device, and the positioning base station is configured to obtain an accurate location of the target positioning device according to a known location of the locator and the spatial distance to the target positioning device, such as a three-point positioning algorithm. The existing wireless ranging technology generally performs ranging based on wireless Signal reflection or RSSI (Received Signal Strength Indication), and the former lacks directivity or specificity (namely ranging is performed for a certain specific positioning target device), and needs to consider the problem of multipath reflection, so that the requirement on the data processing capability of the ranging side is high, which is not favorable for designing a locator and a positioning base station at low cost, and meanwhile, the hidden target positioning device cannot perform reflection ranging; although the latter can measure the distance of a hidden target positioning device, the influence of a propagation path on signal fading (for example, the influence on wireless signal fading in a foggy day is large, and the influence on wireless signal fading in a sunny day is small) and the problem of multipath fading need to be considered, so that the requirement on the data processing capacity of the distance measuring device side is high, the design of a positioner and a positioning base station at low cost is not facilitated, the specific application and popularization of the internet of things RFID positioning system are severely limited, and the method is particularly not suitable for the internet of things RFID positioning system which is arranged in places such as mountainous areas or ports and has a coverage range of 30M-3 KM, and therefore, a new distance measuring method or a new distance measuring device, a new positioning method or a new positioning system which has low requirement on data processing capacity and is beneficial to low-cost hardware design.
Disclosure of Invention
The invention aims to solve the problems of high data processing capacity requirement on the side of a distance measuring device, high hardware cost and the like in the existing RFID positioning system of the Internet of things.
The technical scheme adopted by the invention is as follows:
a phase type distance measuring method comprises the following steps:
s101, generating a ranging starting message, wherein the ranging starting message comprises address information of first ranging target equipment, and the address information of the first ranging target equipment is used for indicating ranging target equipment needing to immediately enter a ranging response mode;
s102, wirelessly sending the ranging starting message on a first channel;
s103, generating a sine modulation signal and a downlink carrier signal, wherein the frequency of the sine modulation signal is between 10K and 1MHz, and the frequency of the downlink carrier signal is between 300M and 3 GHz;
s104, performing analog modulation on the sine modulation signal and the downlink carrier signal to obtain a downlink modulated signal;
s105, wirelessly sending the downlink modulated signal on a downlink channel;
s106, an uplink channel is intercepted, and an uplink modulated signal from a distance measurement target device is wirelessly received, wherein the uplink modulated signal is a modulated signal obtained by performing analog modulation on a sinusoidal modulated signal demodulated from the downlink modulated signal and a generated uplink carrier signal at the side of the distance measurement target device, and the frequency of the uplink carrier signal is between 300M and 3 GHz;
s107, phase discrimination is carried out on the sine modulation signal demodulated from the uplink modulated signal and the locally generated sine modulation signal, and phase difference is obtained;
s108, calculating the distance from the local to the ranging target equipment according to the following formula:
wherein Δ φ is the phase difference, f0And the frequency of the sine modulation signal is delta t, the fixed processing delay time is delta t, and the speed of light is c.
Preferably, the ranging initiation message further includes a unique downlink channel identifier and/or a unique uplink channel identifier.
Preferably, when the address information of the first ranging target device indicates a plurality of ranging target devices, the ranging start message further includes unique uplink channel identifiers corresponding to the ranging target devices one to one.
Preferably, the ranging start message further includes ranging start duration information, where the ranging start duration information is used to instruct the ranging target device to maintain the maximum duration of the ranging response mode.
Preferably, before the step S106, the method further includes the following steps:
s601, after the ranging starting message is received by the ranging target device, if the address information of the first ranging target device is judged to be matched with the address of the local device, entering a ranging response mode: executing the subsequent steps S602-S604;
s602, monitoring a downlink channel, and demodulating a sinusoidal modulation signal from the downlink modulated signal when the downlink modulated signal is wirelessly received;
s603, performing analog modulation on the sine modulation signal demodulated from the downlink modulated signal and the locally generated uplink carrier signal to obtain an uplink modulated signal;
and S604, wirelessly transmitting the uplink modulated signal on an uplink channel.
Further preferably, before the step S601, the method further includes the following steps:
s600, after receiving a specified awakening message, the ranging target equipment starts to monitor a first channel, wherein the specified awakening message comprises address information of the specified awakening equipment matched with the address of the ranging target equipment.
Preferably, after the step S105, if the uplink modulated signal is not received within the effective response time, the wireless transmission of the downlink modulated signal is terminated.
Preferably, after the step S108, the method further includes the following steps:
s109, generating a ranging ending message, and wirelessly sending the ranging ending message on a second channel, wherein the ranging ending message comprises second ranging target equipment address information, and the second ranging target equipment address information is used for indicating ranging target equipment needing to immediately end a ranging response mode.
Preferably, if the ranging start message includes ranging target device group address information, the second ranging target device address information is ranging target device single address content or ranging target device group address content.
Preferably, the ranging end message further includes duration information of continuing to wait or duration information of immediately sleeping, where the duration information of continuing to wait is used to indicate a duration for the target device requiring ranging to continue to monitor the working channel, and the duration information of immediately sleeping is used to indicate a duration for the target device requiring ranging to immediately enter the sleeping mode.
The invention has the beneficial effects that:
(1) the invention provides a novel phase type distance measurement method, which can measure the distance from a local distance measurement target device based on the phase difference between a transmitting signal and a receiving signal, can specify the distance measurement target device to receive and feed back a modulated signal because the distance measurement is carried out by adopting an interactive response mode in the distance measurement process, so that the distance measurement has specificity or directivity, and can greatly reduce the requirement on the data processing capability at the distance measurement device side because a sine modulation signal is not influenced by interference and air quality in the transmitting and receiving process, so that the problems of multipath reflection, multipath fading and the like are not required to be considered in the final signal processing, the final distance measurement result can be obtained only by analog modulation, demodulation, phase discrimination and simple operation processing, the hardware can be favorably designed at low cost, and the method is particularly suitable for an RFID positioning system of the Internet of things;
(2) the phase type distance measuring method also has the advantages of simultaneous multi-target distance measurement, energy conservation of distance measuring target equipment, flexible application and the like, and is convenient for practical popularization and application.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a phase-type distance measuring method according to the present invention.
Fig. 2 is a schematic diagram of a waveform of a correlation signal of the phase ranging method according to the present invention.
FIG. 3 is a diagram illustrating a related channel timing sequence of the phase ranging method according to the present invention.
Fig. 4 is a schematic structural diagram of a distance measuring device for realizing phase distance measurement according to the present invention.
Fig. 5 is a schematic structural diagram of a distance measuring system for implementing phase distance measurement according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
It will be understood that when an element is referred to as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly adjacent" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
In the following description, specific details are provided to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
Example one
As shown in fig. 1 to 3, the phase-type distance measuring method provided in this embodiment may include, but is not limited to, the following steps.
S101, generating a ranging starting message, wherein the ranging starting message comprises address information of first ranging target equipment, and the address information of the first ranging target equipment is used for indicating ranging target equipment needing to immediately enter a ranging response mode.
In the step S101, the ranging initiation message is used to inform a receiver (i.e. a ranging target device) to immediately enter a ranging response mode: the method comprises the steps of monitoring a downlink channel, wirelessly receiving a downlink modulated signal, obtaining an uplink modulated signal according to the downlink modulated signal, and wirelessly transmitting the uplink modulated signal on an uplink channel. The uplink channel and the downlink channel are respectively dedicated channels different from a subsequent first channel, and can be defaulted through a standard protocol, or can be specified in the ranging start message, that is, optimized, the ranging start message further comprises a unique identifier of the downlink channel and/or a unique identifier of the uplink channel, wherein the unique identifier of the downlink channel is used for indicating the downlink channel which needs to be monitored by the ranging target equipment, and the unique identifier of the uplink channel is used for indicating the uplink channel which carries out feedback response by the ranging target equipment, so that the purpose of dynamically appointing the downlink channel and/or the uplink channel can be realized, and the application flexibility is strong.
In step S101, for the purpose of fast ranging, phase ranging may be simultaneously started to a plurality of ranging target devices at one time, and at this time, for the plurality of ranging target devices, they may simultaneously listen to the same downlink channel, but in order to avoid the problem of mutual interference of a plurality of uplink modulated signals, a corresponding uplink channel must be specified for each ranging target device, that is, it is optimized that, when the first ranging target device address information indicates a plurality of ranging target devices, the ranging start message further includes uplink channel unique identifiers corresponding to the ranging target devices one to one.
In the step S101, for the purpose of energy saving, preferably, the ranging start message further includes ranging start duration information, where the ranging start duration information is used to instruct the ranging target device to maintain a maximum duration of the ranging response mode. Therefore, after the ranging target equipment enters the ranging response mode, if the ranging target equipment does not wirelessly receive the downlink modulated signal on the downlink channel and does not receive other end messages, the ranging target equipment can exit the ranging response mode at regular time according to the ranging starting time length information so as to sleep or switch to other modes in time.
S102, the ranging starting message is wirelessly sent on a first channel.
In the step S102, for energy saving purposes, a ranging target device (i.e. an electronic tag) in an RFID positioning system of the internet of things typically sleeps and listens to the first channel periodically, and in order to ensure that the ranging target device can be started to perform a ranging response mode, it is optimized that a plurality of the ranging start messages are continuously and periodically transmitted on the first channel within a first time period, where a duration of the first time period is greater than a sleep cycle of the ranging target device, the sleep cycle includes a sleeping duration of the ranging target device and a first channel listening duration, and a transmission cycle of the ranging start message is less than the first channel listening duration of the ranging target device. Because the duration of the first time interval is longer than the sleep period of the ranging target equipment and the sending period of the ranging starting message is shorter than the first channel monitoring duration of the ranging target equipment, the ranging target equipment can be ensured to completely receive the ranging starting message in the first channel monitoring duration of any sleep period, and starting omission is avoided. For example, if the first channel sensing duration is 100ms, and the sleep duration is 3900ms, the sleep cycle of the ranging target device is 4 seconds, the transmission cycle may be designed to be 60ms (assuming that the transmission duration of the ranging start message is 50ms, a slot interval of 10ms is reserved), and the duration of the first period may be designed to be 4020ms, that is, the ranging start message may be continuously transmitted 67 times. Preferably, the ranging initiation message further includes first period duration information and current message sending clock information, where the current message sending clock information is used to indicate a timestamp from the start time of the first period to the current message sending time. Through the information configuration, after acquiring the first period duration information and the current message transmission clock information, the non-ranging target device or the ranging target device can know the transmission ending time of the ranging starting message in the current round, so that a longer sleep time can be set, the energy saving of the device is facilitated, and particularly for the non-ranging target device or the ranging target device (which may be simply referred to as a ranging device) which finishes the feedback of the uplink modulated signal, the non-ranging target device or the ranging target device can wake up after the transmission is ended due to no need of ranging response.
In step S102, since the ranging initiation message may inform that it is a ranging initiation message by a message frame attribute pair, for a ranging target device, the identity of the sender of the ranging initiation message and/or the group identity of the recipient may not be known, preferably, therefore, the ranging initiation message may further include a source address invalid bit and/or a ranging target device group address invalid bit, wherein the source address invalid bit is used to indicate that source address information is not present in the ranging initiation message, the ranging target device group address invalid bit is used to indicate that ranging target device group address information does not exist in the ranging initiation message, the source address information is used for indicating the sender identity of the ranging start message, and the ranging target device group address information is used for indicating the group identity of the ranging target device. By the address default configuration of the ranging starting message, the message length (generally, 4 bytes or 8 bytes) and the sending time length can be effectively shortened, the channel utilization rate can be improved, the first channel interception time length of the ranging target equipment can be effectively shortened, and the equipment energy saving is further facilitated.
S103, generating a sine modulation signal and a downlink carrier signal, wherein the frequency of the sine modulation signal is between 10K and 1MHz, and the frequency of the downlink carrier signal is between 300M and 3 GHz.
In step S103, the sinusoidal modulation signal and the downlink carrier signal may be generated by an existing crystal oscillator unit and a related frequency doubling unit.
And S104, performing analog modulation on the sine modulation signal and the downlink carrier signal to obtain a downlink modulated signal.
In step S104, the analog modulation is a conventional modulation technique, such as an amplitude modulation technique, a phase modulation technique, or a frequency modulation technique, for example, the amplitude modulation technique is adopted as shown in fig. 2 and 3.
And S105, wirelessly transmitting the downlink modulated signal on a downlink channel.
In the step S105, since the phase-type ranging is performed in this embodiment, in order to ensure that the final ranging result is accurate and reliable, it is preferable to ensure that the distance from the ranging apparatus to the ranging target device is not greater than half the wavelength of the sinusoidal modulation signal, and optimally, the effective coverage radius of the downlink modulated signal is not greater than half the wavelength of the sinusoidal modulation signal through the transmission power control manner (which is the prior art), that is, the effective coverage radius of the downlink modulated signal is limited through the transmission power control manner (which is the prior art), so that it can be ensured that only the ranging target device within the coverage area will respond to the feedback uplink modulated signal, and the final ranging result is accurate and reliable. In addition, the final ranging result can be corrected by combining the prior RSSI ranging technology.
After the step S105, considering that there may be a case that the ranging target device fails to feed back the uplink modulated signal due to reasons such as not receiving the ranging start message or receiving the downlink modulated signal, in order to avoid unnecessary energy consumption and continue ranging, it is optimized to terminate the wireless transmission of the downlink modulated signal if the uplink modulated signal is not received within the effective response time.
And S106, intercepting an uplink channel, and wirelessly receiving an uplink modulated signal from a ranging target device, wherein the uplink modulated signal is a modulated signal obtained by performing analog modulation on a sinusoidal modulated signal demodulated from the downlink modulated signal and a generated uplink carrier signal at the ranging target device side, and the frequency of the uplink carrier signal is between 300M and 3 GHz.
Before step S106 and on the ranging target device side, the following steps are also required: s601, after the ranging starting message is received by the ranging target device, if the address information of the first ranging target device is judged to be matched with the address of the local device, entering a ranging response mode: executing the subsequent steps S602-S604; s602, monitoring a downlink channel, and demodulating a sinusoidal modulation signal from the downlink modulated signal when the downlink modulated signal is wirelessly received; s603, performing analog modulation on the sine modulation signal demodulated from the downlink modulated signal and the locally generated uplink carrier signal to obtain an uplink modulated signal; and S604, wirelessly transmitting the uplink modulated signal on an uplink channel. In addition, if a plurality of the ranging start messages are not continuously and periodically transmitted in the first period, the ranging target device needs to be woken up before the step S601, that is, the method further includes the following steps: s600, after receiving a specified awakening message, the ranging target equipment starts to monitor a first channel, wherein the specified awakening message comprises address information of the specified awakening equipment matched with the address of the ranging target equipment. The designated wake-up message is used to send on a wake-up channel and wake up a ranging target device that is periodically sleeping, and in order to ensure that the ranging target device can be woken up, the sending mode on the wake-up channel may refer to the ranging start-up message, which is not described herein again.
And S107, phase discrimination is carried out on the sine modulation signal demodulated from the uplink modulated signal and the locally generated sine modulation signal, and phase difference is obtained.
In step S107, an existing phase discriminator may be specifically used to perform phase discrimination on the two sinusoidal modulation signals, so as to obtain a phase difference.
S108, calculating the distance from the local to the ranging target equipment according to the following formula:
wherein Δ φ is the phase difference, f0And the frequency of the sine modulation signal is delta t, the fixed processing delay time is delta t, and the speed of light is c.
In the step S108, Δ t is a fixed processing delay time necessary on the ranging target apparatus side and the ranging apparatus side, which can be determined in advance by a routine experiment. Therefore, through the steps S101-S108, the distance from the local to the ranging target equipment can be measured based on the phase difference between the transmitted and received signals, in the ranging process, as the ranging is carried out in an interactive response mode, the ranging target equipment can be appointed to receive and feed back the modulated signals, the ranging is enabled to have the specificity or the directivity, and as the sine modulation signals are not affected by interference and air quality in the transmitting and receiving process, the problems of multipath reflection, multipath fading and the like are not needed to be considered in the final signal processing process, the requirement on the data processing capacity can be greatly reduced on the ranging device side, the final ranging result can be obtained only through analog modulation, demodulation, phase discrimination and simple operation processing, the hardware design with low cost can be facilitated, and the method is particularly suitable for an RFID positioning system.
After step S108, in order to timely notify the ranging target device that the ranging result is obtained, without continuing to upload the uplink modulated signal, the method further includes the following steps: s109, generating a ranging ending message, and wirelessly sending the ranging ending message on a second channel, wherein the ranging ending message comprises second ranging target equipment address information, and the second ranging target equipment address information is used for indicating ranging target equipment needing to immediately end a ranging response mode. The second channel may be the same channel as the first channel or may be different. And after the ranging target equipment receives the ranging ending message, if the address information of the second ranging target equipment is judged to be matched with the address of the local equipment, the ranging target equipment exits the ranging response mode. Further optimally, if the ranging is started to a plurality of ranging target devices through the ranging start message at the same time, a plurality of ranging tasks are simultaneously completed, and in order to reduce the time length for the ranging target devices to listen to the second channel, the energy saving of the terminal devices is facilitated. In addition, in order to indicate whether the next action of the ranging target device is to continue listening or to go to sleep, it is further optimized that the ranging end message further includes duration information of continuing waiting or duration information of immediately sleeping, where the duration information of continuing waiting is used to indicate a duration for which the ranging target device needs to continue listening to the operating channel, and the duration information of immediately sleeping is used to indicate a duration for which the ranging target device needs to immediately go to the sleep mode. After receiving the ranging completion message, the ranging target device may continue to monitor the working channel according to the continuous waiting duration information so as to complete other tasks, or may periodically sleep according to the immediate sleep duration information so as to save energy. The setting manner of the continuous waiting time length information and the immediate sleep time length information is not limited.
In summary, the phase-type distance measuring method provided by the embodiment has the following technical effects:
(1) the embodiment provides a novel phase type ranging method, which can measure the distance from a local to a ranging target device based on the phase difference between a transmitting signal and a receiving signal, and in the ranging process, because the ranging is carried out by adopting an interactive response mode, the ranging target device can be appointed to receive and feed back a modulated signal, so that the ranging has the specificity or the directivity, and because a sine modulation signal is not influenced by interference and air quality in the transmitting and receiving process, the problems of multipath reflection, multipath fading and the like are not required to be considered in the final signal processing, the requirement on the data processing capacity can be greatly reduced on the ranging device side, the final ranging result can be obtained only by analog modulation, demodulation, phase discrimination and simple operation processing, the hardware can be designed at low cost, and the method is particularly suitable for an RFID (radio frequency identification) positioning system of the internet of things;
(2) the phase type distance measuring method also has the advantages of simultaneous multi-target distance measurement, energy conservation of distance measuring target equipment, flexible application and the like, and is convenient for practical popularization and application.
Example two
As shown in fig. 4, this embodiment provides a distance measuring device for implementing the method of the first embodiment, which includes a first carrier signal generating unit, a sinusoidal modulation signal generating unit, a first analog modulating unit, a first wireless transceiving unit, a first analog demodulating unit, a phase discriminating unit, and a first control unit;
the first carrier signal generation unit is communicatively connected to the first control unit and configured to generate a downlink carrier signal and an uplink carrier signal under the control of the first control unit, where frequencies of the downlink carrier signal and the uplink carrier signal are between 300M and 3GHz, respectively;
the sinusoidal modulation signal generation unit is in communication connection with the first control unit and is used for generating a sinusoidal modulation signal under the control of the first control unit, wherein the frequency of the sinusoidal modulation signal is between 10K and 1 MHz;
the first analog modulation unit is respectively in communication connection with the first carrier signal generation unit and the sinusoidal modulation signal generation unit, and is configured to perform analog modulation on the sinusoidal modulation signal from the sinusoidal modulation signal generation unit and the downlink carrier signal from the first carrier signal generation unit to obtain a downlink modulated signal;
the first wireless transceiving unit is respectively connected with the first control unit and the first analog modulation unit in a communication manner and is used for controlling the first control unit, wirelessly transmitting a ranging initiation message from said first control unit on a first channel, and wirelessly transmitting a downlink modulated signal from said first analog modulation unit on a downlink channel, and listening to an uplink channel and wirelessly receiving an uplink modulated signal from a ranging target device, wherein the ranging initiation message includes first ranging target device address information indicating a ranging target device that needs to immediately enter a ranging response mode, the uplink modulated signal is a modulated signal obtained by performing analog modulation on a sinusoidal modulated signal demodulated from the downlink modulated signal and a generated uplink carrier signal at a ranging target device side;
the first analog demodulation unit is respectively in communication connection with the first carrier signal generation unit and the first wireless transceiver unit, and is configured to demodulate the uplink modulation signal from the first wireless transceiver unit according to the uplink carrier signal from the first carrier signal generation unit;
the phase discrimination unit is respectively in communication connection with the first analog demodulation unit and the sinusoidal modulation signal generation unit, and is configured to phase-discriminate a sinusoidal modulation signal, which is from the first analog demodulation unit and is demodulated from the uplink modulated signal, from the sinusoidal modulation signal generation unit, so as to obtain a phase difference;
the first control unit is in communication connection with the phase discrimination unit, and is configured to generate the ranging initiation message, and calculate a distance from a local device to a ranging target device according to the following formula after obtaining a phase difference from the phase discrimination unit:
wherein Δ φ is the phase difference, f0And the frequency of the sine modulation signal is delta t, the fixed processing delay time is delta t, and the speed of light is c.
Preferably, the ranging initiation message further includes a unique downlink channel identifier and/or a unique uplink channel identifier.
Preferably, when the address information of the first ranging target device indicates a plurality of ranging target devices, the ranging start message further includes unique uplink channel identifiers corresponding to the ranging target devices one to one.
Preferably, the ranging start message further includes ranging start duration information, where the ranging start duration information is used to instruct the ranging target device to maintain the maximum duration of the ranging response mode.
Preferably, the ranging start message further includes a source address invalid bit for indicating that no source address information exists in the ranging start message and/or a ranging target device group address invalid bit for indicating that no ranging target device group address information exists in the ranging start message, the source address information for indicating a sender identity of the ranging start message, and the ranging target device group address information for indicating a group identity of a ranging target device.
Preferably, the first control unit is further configured to, after the downlink modulated signal is wirelessly transmitted, control the first wireless transceiver unit to terminate the wireless transmission of the downlink modulated signal if the uplink modulated signal is not received within the effective response time.
Preferably, the first control unit is further configured to generate a ranging end message after calculating a distance between the local target device and the ranging target device, and control the first wireless transceiving unit to wirelessly send the ranging end message on the second channel, where the ranging end message includes address information of a second ranging target device, and the address information of the second ranging target device is used to indicate the ranging target device that needs to immediately end the ranging response mode.
Preferably, if the ranging start message includes ranging target device group address information, the second ranging target device address information is ranging target device single address content or ranging target device group address content.
Preferably, the ranging end message further includes duration information of continuing to wait or duration information of immediately sleeping, where the duration information of continuing to wait is used to indicate a duration for the target device requiring ranging to continue to monitor the working channel, and the duration information of immediately sleeping is used to indicate a duration for the target device requiring ranging to immediately enter the sleeping mode.
The technical details and technical effects of the present embodiment are the same as those of the first embodiment, and are not described herein again.
EXAMPLE III
As shown in fig. 5, this embodiment provides a ranging system including the ranging apparatus of the second embodiment, further including a ranging target device, where the ranging target device includes a second wireless transceiver unit, a second carrier signal generating unit, a second analog demodulating unit, a second analog modulating unit, and a second control unit;
the second wireless transceiver unit is communicatively connected to the second control unit, and configured to, under the control of the second control unit, monitor the first channel and receive a ranging start message from the ranging apparatus, monitor the downlink channel and receive a downlink modulated signal from the ranging apparatus, and wirelessly transmit an uplink modulated signal from the second analog modulation unit on the uplink channel;
the second carrier signal generation unit is communicatively connected to the second control unit and configured to generate a downlink carrier signal and an uplink carrier signal under the control of the second control unit, where frequencies of the downlink carrier signal and the uplink carrier signal are between 300M and 3GHz, respectively;
the second analog demodulation unit is respectively connected to the second wireless transceiver unit and the second carrier signal generation unit in a communication manner, and is configured to demodulate the downlink modulated signal from the second wireless transceiver unit according to the uplink carrier signal from the second carrier signal generation unit;
the second analog modulation unit is respectively in communication connection with the second analog demodulation unit and the second carrier signal generation unit, and is configured to perform analog modulation on the sinusoidal modulation signal, which is from the second analog demodulation unit and demodulated from the downlink modulated signal, and the uplink carrier signal from the second carrier signal generation unit, so as to obtain an uplink modulated signal;
the second control unit is configured to, after receiving the ranging start message from the second wireless transceiver unit, control the second wireless transceiver unit and the second carrier signal generation unit to enter a ranging response mode if it is determined that the first ranging target device address information in the ranging start message matches the local device address.
The technical details and technical effects of the present embodiment are the same as those of the first embodiment, and are not described herein again.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (9)
1. A phase type distance measuring method is characterized by comprising the following steps:
s101, generating a ranging starting message, wherein the ranging starting message comprises first ranging target equipment address information and an uplink channel unique identifier, the first ranging target equipment address information is used for indicating a plurality of ranging target equipment needing to immediately enter a ranging response mode, the uplink channel unique identifier is in one-to-one correspondence with each ranging target equipment, and the uplink channel unique identifier is used for assigning a corresponding uplink channel for the ranging target equipment;
s102, wirelessly sending the ranging starting message on a first channel;
s103, generating a sine modulation signal and a downlink carrier signal, wherein the frequency of the sine modulation signal is between 10K and 1MHz, and the frequency of the downlink carrier signal is between 300M and 3 GHz;
s104, performing analog modulation on the sine modulation signal and the downlink carrier signal to obtain a downlink modulated signal;
s105, wirelessly sending the downlink modulated signal on a downlink channel, wherein the effective coverage radius of the downlink modulated signal is not more than half wavelength of the sinusoidal modulation signal in a transmission power control mode;
s106, an uplink channel is intercepted, and an uplink modulated signal from a distance measurement target device is wirelessly received, wherein the uplink modulated signal is a modulated signal obtained by performing analog modulation on a sinusoidal modulated signal demodulated from the downlink modulated signal and a generated uplink carrier signal at the side of the distance measurement target device, and the frequency of the uplink carrier signal is between 300M and 3 GHz;
s107, phase discrimination is carried out on the sine modulation signal demodulated from the uplink modulated signal and the locally generated sine modulation signal, and phase difference is obtained;
s108, calculating the distance from the local to the ranging target equipment according to the following formula:
wherein Δ φ is the phase difference, f0And the frequency of the sine modulation signal is delta t, the fixed processing delay time is delta t, and the speed of light is c.
2. A phase-type ranging method as claimed in claim 1, wherein:
the ranging start message further comprises a downlink channel unique identifier and/or an uplink channel unique identifier.
3. A phase-type ranging method as claimed in claim 1, wherein:
the ranging start message further includes ranging start duration information, where the ranging start duration information is used to indicate that the ranging target device maintains the maximum duration of the ranging response mode.
4. A phase-type ranging method as claimed in claim 1, wherein:
before the step S106, the following steps are further included:
s601, after the ranging starting message is received by the ranging target device, if the address information of the first ranging target device is judged to be matched with the address of the local device, entering a ranging response mode: executing the subsequent steps S602-S604;
s602, monitoring a downlink channel, and demodulating a sinusoidal modulation signal from the downlink modulated signal when the downlink modulated signal is wirelessly received;
s603, performing analog modulation on the sine modulation signal demodulated from the downlink modulated signal and the locally generated uplink carrier signal to obtain an uplink modulated signal;
and S604, wirelessly transmitting the uplink modulated signal on an uplink channel.
5. A phase-type ranging method as claimed in claim 4, wherein:
before the step S601, the following steps are further included:
s600, after receiving a specified awakening message, the ranging target equipment starts to monitor a first channel, wherein the specified awakening message comprises address information of the specified awakening equipment matched with the address of the ranging target equipment.
6. A phase-type ranging method as claimed in claim 1, wherein:
after step S105, if the uplink modulated signal is not received within the effective response time, terminating the wireless transmission of the downlink modulated signal.
7. A phase-type ranging method as claimed in claim 1, wherein:
after the step S108, the following steps are also included:
s109, generating a ranging ending message, and wirelessly sending the ranging ending message on a second channel, wherein the ranging ending message comprises second ranging target equipment address information, and the second ranging target equipment address information is used for indicating ranging target equipment needing to immediately end a ranging response mode.
8. A phase-type ranging method as claimed in claim 7, wherein:
and if the ranging starting message contains the address information of the ranging target equipment group, the address information of the second ranging target equipment is the single address content of the ranging target equipment or the address content of the ranging target equipment group.
9. A phase-type ranging method as claimed in claim 7, wherein:
the ranging end message further comprises continuous waiting duration information or instant sleep duration information, wherein the continuous waiting duration information is used for indicating the duration for the target equipment needing ranging to continuously monitor the working channel, and the instant sleep duration information is used for indicating the duration for the target equipment needing ranging to immediately enter the sleep mode.
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