EP3397988A1 - Positionsermittlungseinrichtung - Google Patents
PositionsermittlungseinrichtungInfo
- Publication number
- EP3397988A1 EP3397988A1 EP16825767.3A EP16825767A EP3397988A1 EP 3397988 A1 EP3397988 A1 EP 3397988A1 EP 16825767 A EP16825767 A EP 16825767A EP 3397988 A1 EP3397988 A1 EP 3397988A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- signal
- transmission
- location
- ellipse
- intermediate signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 103
- 238000000034 method Methods 0.000 claims description 50
- 238000001514 detection method Methods 0.000 claims description 43
- 239000000654 additive Substances 0.000 claims description 12
- 230000000996 additive effect Effects 0.000 claims description 12
- 238000005286 illumination Methods 0.000 claims description 11
- 238000001914 filtration Methods 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims 1
- 239000000203 mixture Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 238000005259 measurement Methods 0.000 description 8
- 238000009472 formulation Methods 0.000 description 7
- 101100310497 Arabidopsis thaliana SMT2 gene Proteins 0.000 description 6
- 101150107557 SMT-1 gene Proteins 0.000 description 6
- 238000013016 damping Methods 0.000 description 5
- 238000000926 separation method Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000010363 phase shift Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- 101100370119 Treponema pallidum (strain Nichols) tpf1 gene Proteins 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005305 interferometry Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002243 precursor Substances 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/003—Bistatic radar systems; Multistatic radar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/466—Indirect determination of position data by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93272—Sensor installation details in the back of the vehicles
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
Definitions
- This invention relates to a position detecting device for detecting a position of an object with respect to the position measuring device, wherein the position detecting device comprises a transmitting device at a first location and a receiving device at a second location.
- the receiving device is set up to receive a transmission signal from the first transmission device and to determine a transit time of the transmission signal from the transmission device to the object and from the object to the reception device.
- the invention relates to a method for determining the position of an object.
- a speed of an object can be measured from time series measurements and / or by the Doppler effect. It is possible to differentiate different objects by their different speeds, unless they are not equally fast with respect to the Radarabstandsmesserechtung.
- Figure 1A shows schematically this prior art.
- RuT radar pulses are emitted to the objects O1 and O2, which are shown as black filled circles, the object O2 is also shown with a black circle around the periphery.
- a signal change in the waveform understood, for example, a peak, a rectangular or delta waveform o- a sine half-wave or an approximation thereto or a differently shaped rising and falling or decreasing and increasing amplitude change in waveform.
- a pulse can have one, but also several related include signal drops. Compared to the duration of the total signal, the duration of the pulse is short.
- the objects 01 and 02 have the distances R1 and R2 from the receiver and transmitter RuT.
- the receiver and transmitter RuT is controlled by an electronic control unit ECU, which also receives the received signals.
- Figure 1 B shows in a graph of amplitude values A over the term the signals that are received again after sending a pulse from the same antenna and the information about the distance R of the objects 01 and 02 of the receiver and transmitter RuT included , Different distances of objects can be assigned to different received pulses.
- the angular position of an object with respect to the radar distance measuring device is desirable, for example, by rotation of the antenna.
- the monopulse method is known (also called the Angle-of-Arrival or Direction-of-Arrival method, in which two antennas with a constant and superimposed emission and reception area are used to detect the angular position of an object to each other at a distance D.
- this distance D is half a wavelength, that is, at 24 GHz about 6.25 mm.
- Both antennas transmit at the same frequency.
- the received signals both antennas are mixed down coherently with the transmission signal.
- the phase delays of both received signals can be measured, from which the direction of incidence of the reflected wave can be determined. This is included in the phase difference ⁇ between the pulses of the same object, each received by an antenna.
- the angle of incidence ⁇ can be calculated as follows:
- FIG 2A the structure of such a system is shown. There are only slight differences in construction compared to the variant shown in Figure 1 A. The same features are designated by like reference numerals and will not be described again separately.
- the receiver and transmitter RuT comprises two antennas TX1 and TX2.
- Figure 2B shows two diagrams with signals received at the antenna TX1 and TX2, respectively. In each case, the amplitude A of the reflected signal over the distance R is shown.
- Another way to determine distance and angle provides the trilateration method.
- two antennas are used, which are each fed by a separate oscillator.
- a separate oscillator operates at a very stable frequency.
- the oscillators are not synchronized with each other. They can run on different frequencies so as not to disturb each other.
- the antennas preferably have a greater distance D from each other. In this way, a smaller error in the angle calculation is possible.
- FIG. 3A shows the structure of a measuring device which uses the trilateration method. Same features have the same numbers and will not be described separately again.
- the angle a lies between a central emission direction of the receiver-and-transmitter unit RuT1 and the angle direction to the object O1
- the angle ⁇ lies between a central emission direction of the receiver-and-transmitter unit RuT1 and the angle direction to the object O1 . Due to the different angles .alpha. And .beta., Different distances R1 and R2 result between the receiver-and-transmitter units RuT1 and RuT2 and the object O1, and thus also different distances. different durations of the reflected pulses in the received signals.
- the receiver-and-transmitter units RuT1 and RuT2 are located at the locations X1 and X2 and have the distance D from one another.
- the receive signals of the receiver-and-transmitter units RuT1 and RuT2 are shown in FIG. 3B ,
- the angle ⁇ can be calculated from the triangle of R1, R2 and D as follows: d R1 R2 2
- the angle ⁇ can be calculated as follows: d R2 Rl 2
- FIG. 4A Such a constellation is shown in FIG. 4A.
- the object O1 has the distance R1 'to the receiver-and-transmitter unit RuT1 and the object O2 the distance R2 "to the receiver-and-transmitter unit RuT2, wherein the distances R1' and R2" are equal.
- the object O2 has the distance R1 "to the receiver-and-transmitter unit RuT1 and the object O2 the distance R2 'to the receiver and transmitter unit RuT2, wherein the distances R1" and R2' are also equal ,
- the objects O1 and O2 can indeed be distinguished from one another; however, their position is by no means unique, as shown by a comparison with the constellation shown in FIG. 5A.
- the same distances R1 'and R1 "lie between the object 01 and the receiver-and-transmitter unit RuT1 and the same distances R2' and R2" between the object 02 and the receiver-and-transmitter unit RuT2 as in Figure 4A.
- N clearly identifiable objects N! (Faculty of N) Possibilities of assignment exist.
- N Franty of N
- the position determination is preferably carried out so frequently that it is not to be expected that more than one possible constellation will be passed through within a period of time between two position determinations.
- the subject of the invention is a position determining device for determining a position of an object with respect to a position measuring device.
- the position determination device is suitable for assigning a received signal to a specific object.
- the correct ones can be determined from a plurality of, in particular two, possible position constellations for the objects, in particular for two objects.
- the position detection device comprises a transmitting device at a first location and a receiving device at a second location.
- the receiving device is configured to receive a transmission signal from the first transmission device and to determine a transit time of the transmission signal from the transmission device to the object and from the object to the reception device.
- the first location and the second location have a distance from one another and the position determination device is set up to determine an ellipse from the transit time on which the object lies. If measured in three dimensions, an ellipsoid can also be determined.
- the delay can be determined by known methods, for example, with phase comparison between the transmission signal and received signal, modulation of the transmission signal and mixing a received signal with a signal for down-mixing and extracting the delay information, interferometry, encoding the transmission time in the transmission signal and comparison with the reception time and other methods known in length measurement.
- the method can be carried out, for example, optically, with ultrasound or preferably with electromagnetic radio waves, in particular radar waves.
- the position detection device or a corresponding method provides a position of the object. This can be determined from the entire travel path of the transmission signal from the transmitter to an object and from there to the receiver, which is arranged at a location other than the transmitter. In this case, the distance or the positions of the transmitter and the receiver can be included.
- the distance can be entered by embedding it in an algorithm or in hardware implemented signal processing steps that determines the ellipse from the runtime.
- a position of an object lies on an ellipse, which has as focal points the transmitter and the receiver. If the distance from the transmitter via the object to the receiver, which is located at another location, is determined from the transit time, the ellipse on which the object must lie can be determined.
- An ellipse can be uniquely defined by two independent parameters, which is general knowledge in mathematics. For example, the distance from the transmitter and the receiver to one another and the determined distance from the transmitter via the object to the receiver can serve as these two parameters. If the distance between transmitter and receiver is constant with respect to each other, there is only one variable parameter that uniquely defines the ellipse. Thus, when the transmitter and receiver are fixed to each other, it is sufficient to determine the distance from the transmitter via the object to the receiver in order to determine on which ellipse the object is located. For example, a transmitting device and a receiving device at different locations on a vehicle during operation can be secured immovably to each other.
- the position of the object on the ellipse can not be determined unambiguously on the basis of the two parameters of an ellipse because the connecting distance of the focal points over a point on the elliptic curve is the same for all points on the elliptic curve.
- This is a well-known property of an ellipse found in relevant textbooks of mathematics.
- the position of the object can not be determined unambiguously, it can be clearly determined on which ellipse it lies.
- objects found to be on a particular ellipse may be subject to objec- be distinguished on a different ellipse. In this way, for example, in a trilateration process, in a situation with an ambiguous constellation of several objects, one can distinguish which constellation is the real one.
- a plane with an ellipse can be defined for each object by its position on the ellipsoid surface and the two focal points.
- the first receiving device and the first transmitting device and / or the second receiving device and the second transmitting device are each combined to form a receiver-and-transmitter unit, in which the transmitting device and the receiving device are arranged at the same location.
- the same location should also apply if the transmitting device and the receiving device use separate antennas which are arranged close to one another, for example at a distance of less than 25 cm from one another, for example for position detection of objects in the vicinity of a Vehicle is a suitable value.
- a single antenna of a receiver-and-transmitter unit may be provided for transmission and reception.
- the method can be configured as a radar technique; However, it is also possible to use it for analog other non-contact distance measurements such as optical or acoustic measurement methods.
- the oscillators then correspond to light sources. Preferably, the transmission frequency is modulated.
- the position detection device can also be operated with more than two transmitters and more than two receivers.
- the number of transmitters corresponds to the number of receivers.
- the position determination device further comprises a first transmission device at the first location and a first reception device at the first location. These may be combined in a receiver-and-transmitter unit and separate or common antennas use.
- the first receiving device generates a first received signal from a transmission signal of a second transmitting device.
- the second transmitting device is arranged at a second location, on which a second receiving device is arranged. These can be combined in a receiver-and-transmitter unit and use separate or common antennas.
- the second receiving device generates a second received signal from a transmission signal of the first transmitting device.
- An illumination region of the first transmission device overlaps with an illumination region of the second transmission device, wherein an object is located in the overlap region during a position determination.
- the first transmitting device transmits at a first transmitting frequency and the second transmitting device transmits at a second transmitting frequency, wherein the first transmitting frequency differs from the second transmitting frequency by a difference frequency.
- the first and second transmission frequencies are preferably frequency-modulated in the same way, so that the difference frequency remains constant.
- the modulation frequency and / or the difference frequency are preferably in the range between 1 kHz and 1 GHz, in which they can be processed with conventional electronics, if they are separated to determine a position of the transmission frequency.
- the transmission frequency is preferably higher than 1 GHz.
- the first and the second transmission frequency is linearly frequency-modulated, in particular with repeating ramps. Alternatively or additionally, a phase modulation can also be carried out.
- the modulation may be, for example, a harmonic modulation of the first and the second transmission frequency or a modulation with a digital signal.
- the difference frequency is kept very constant, for example by using a well-known in the art PLL circuit (Phased Locked Loop).
- Oscillators of the first and second transmitting means may be incoherent.
- the position determination device further comprises a first receiving device at the location of the first transmitting device for receiving signals from the second transmitting device and for generating a first received signal and a second receiving device at the location of the second transmitting device for receiving signals from the first transmitting device and for generating a second received signal.
- the frequency modulation of the first and the second transmission frequency preferably takes place in the same way. This has the advantage that the transit time information, which is preferably connected to the frequency modulation of the transmission frequency, is contained in the first and the second received signal alike, which can have advantages for the signal processing. For example, an average may be determined to increase accuracy.
- the position detecting means further comprises a first received signal mixing means for mixing the first received signal with the first transmission signal to produce a first intermediate signal and a second reception signal mixing means for mixing the second reception signal with the second transmission signal to produce a second intermediate signal.
- the first received signal mixing device is part of a receiver-and-transmitter unit, which also includes the first transmitting device and the first receiving device, in particular in the same housing.
- the second received signal mixing device is preferably part of a receiver-and-transmitter unit, which also comprises the second transmitting device and the second receiving device, in particular in the same housing.
- the result is a sum of two cosine functions.
- the argument of the cosine function is a subtraction of the original arguments x and y.
- This term is called a subtractive mixed term.
- the other term is called an additive mixed term in which the argument of the cosine function is an addition of the original arguments x and y.
- the first transmission signal can be described by the following formulation:
- SS1 is the first transmit signal
- f0 (t) is a time-modulated transmit frequency
- ⁇ 1 is an associated first phase shift.
- the second transmission signal can be described by the following formulation:
- SS2 is the second transmit signal
- Af is the difference frequency
- ⁇ 1 is an associated second phase shift
- the first received signal can be described by the following formulation:
- ES1 denote the first received signal, k1 1 a damping factor by the transmission from the first transmitting device to the first receiving device, k12 a damping factor by the transmission from the second transmitting device to the first receiving device, T1 1 a duration for the transmission of the first transmission device via an object to the first receiving device and T12 a transit time for the transmission from the second transmission device via an object to the first receiving device.
- the first term in the mixed term describes the part of the first received signal received by the first transmitting device located at the same location as the first receiving device, while the second term describes the part of the first receiving signal transmitted by the second transmitting device. which is arranged at a location other than the first receiving device is received.
- the second received signal can be described by the following formulation:
- ES2 denote the first received signal, k21 a damping factor by the transmission from the first transmitting device to the second receiving device, k22 a damping factor by the transmission from the second transmitting device to the second receiving device, T21 a transit time for the transmission from the first transmitting device to the second receiving device and T22 a transit time for the transmission from the second transmitting device to the second receiving device.
- the first term describes the part of the second received signal received from the first transmitting device connected to it
- the second term describes the part of the first received signal which is received by the second transmitting device, which is arranged at a location other than the first receiving device.
- ZSlSMT k ⁇ - cos (2 - ⁇ - / 0 (i) - ni) + ⁇ : - cos (2 - n - (f0 (t) + f) - T12 - 2 - n ⁇ Af - t + ⁇ - ⁇ )
- ZS1 SMT means the subtractive mixing term of the first intermediate signal.
- the first is a quasidynamic term whose dynamics depends exclusively on the modulation of the transmission frequency.
- information about the distance of the object to the first transmitting device is included, which is arranged at the same location as the first receiving device.
- This term is called first direct share.
- the second term is a dynamic term whose dynamics depend both on the modulation of the transmission frequency and directly on time as an argument of the cosine function.
- information about the transit time from the second transmitting device to the object and from there to the first receiving device is included. This term is called the first cross part.
- ZS2SMT * y * cos (2 * ⁇ ⁇ fO (t) - T21 + 2 ⁇ ⁇ ⁇ Af ⁇ t - 1 + ⁇ 2) + fcy • cos (2 ⁇ ⁇ ⁇ (f0 (t) + Af) - T22)
- this ZS2SMT means the subtractive mixing term of the second intermediate signal.
- the second is a quasi-static term whose dynamic part depends exclusively on the modulation of the transmission frequency.
- information about the distance of the object to the second transmitting device is included, which is arranged at the same location as the second receiving device.
- This term is called second direct share.
- the first term, which receives the reception from the transmitting device at the whose location means receiving means is a dynamic term whose dynamics depend on both the modulation of the transmission frequency and on the difference frequency, which are both time-dependent quantities in the argument of the cosine function.
- information about the transit time from the first transmitting device to the object and from there to the second receiving device is included. This term is called the second cross part.
- the subtractive mixing term of the first intermediate signal largely corresponds to the subtractive mixing term of the second intermediate signal.
- the difference frequency is present in the subtractive mixing term of both intermediate signals in each case in the dynamic term. These are the first and the second cross term.
- the difference frequency in the dynamic term is additionally present as a static offset in the argument of the cosine function.
- the difference frequency is additionally present in the quasi-static term as a static offset in the argument of the cosine function.
- the transit times T12 and T21 as well as the damping coefficients k12 and k21 correspond to one another, since in this respect it is generally not important in which direction the signal is traveling.
- the position detecting means in this embodiment comprises an intermediate signal mixing means for mixing the first intermediate signal with the second intermediate signal to generate an ellipse detection signal.
- the intermediate signal mixing device is a central unit that can mix at least two, preferably more intermediate signals with each other.
- it can be arranged outside the receiver-and-transmitter units, with intermediate signal connections to the participating receiver-and-transmitter units. Compared to the large number of possibly required intermediate signal connections between receiver and transmitter units, this solution can have advantages in design.
- an intermediate signal mixing device is arranged in a receiver-and-transmitter unit or a plurality of intermediate signal mixing devices in a plurality of receiver-and-transmitter units. In this way, an additional unit is avoided.
- not the entire first intermediate signal and the entire second intermediate signal are mixed with each other, but only the respective cross parts of the subtractive intermediate signal mixing terms.
- These can be previously extracted from the intermediate signals.
- a certain frequency range from the intermediate signal can be used.
- the ellipse detection signal may be represented as the following additive term:
- EES - cos (2 ⁇ ⁇ ⁇ (fO (t) + Af) ⁇ Tl 2 + 2 ⁇ ⁇ ⁇ fO (t) ⁇ T21)
- the ellipse detection signal is denoted EES. If the ellipse detection signal is generated exclusively from the cross terms, this is the only term of the ellipse detection signal.
- the information about the transit time is contained by a transmitting device at one location to the object and from there to a receiving device at another location in both directions.
- the ellipse detection signal comprises three terms in the argument of the cosine function. One of them, which includes the difference frequency, forms a phase term. The other two terms depend on the modulation of the transmission frequency.
- EES kU 'k21 - cos (2 - 2 - n - f0 (t) - T + 2 - n - Af - T)
- the transit time lies both in the phase term and in the dynamic term of the argument of the cosine function.
- the frequency of the dynamic part is evaluated, since this advantageously allows good accuracy and is easy to evaluate.
- the ellipse detection signal represents the sum of the distances from the transmitting device to the object and from the object to the receiving device, which is arranged at a location other than the transmitting device, and the distance between the transmitting devices of the receiving device is known and preferably fixed, a value of the ellipse detection signal can be unambiguously assigned to a specific ellipse.
- the position detection device comprises a signal separator for separating or filtering a portion of a signal in the position detector to further process a desired portion of the signal.
- a signal separator for separating or filtering a portion of a signal in the position detector to further process a desired portion of the signal.
- the different parts of a signal differ in particular in their frequency or their information content. This can also be applied here.
- the position determining means may comprise a first low pass filter means for low pass filtering the first intermediate signal to obtain the subtractive mixing term of the first intermediate signal.
- the position detecting means may comprise a second low-pass filter means for low-pass filtering the second intermediate signal to obtain the subtractive mixing term of the second intermediate signal.
- a passive component can be used, for example, a line or an RC element, which can not be passed by the high-frequency additive mixing term of the first and second intermediate signal. Then a lower bandwidth can be used in the further processing.
- the further processed subtractive mixing term contains the information sought in a suitable form.
- the position detecting means may comprise a signal separating means for the subtractive mixing term of the first and / or the second intermediate signal.
- the signal separation device can divide the subtractive mixing term of the first and / or the second intermediate signal into a direct component, in which the information about the transit time of a transmission signal from a location to a reflection on an object and back to the same location is contained, and a cross component in which the information about the transit time of a transmission signal at one location leads to a reflection at one object and further to another Place is included.
- the direct component and the cross component differ in their frequency and in that in the cross component in the cosine function the difference frequency has a product of the time and the limit frequency as an argument, while the direct component in the cosine function has the modulation of the transmission frequency as an argument as the only time-variable component Has.
- the position determination device comprises a signal separation device for the ellipse detection signal.
- the ellipse detection signal comprises an additive and a subtractive mixing component.
- the additive mixing component is further processed to determine the transit time.
- the additive mixing component can be extracted from the ellipse detection signal by means of a high-pass filter device functioning as a signal separation device by high-pass filtering the ellipse detection signal.
- the entire intermediate signal can also be processed.
- digitization and subsequent (inverse) Fourriertransformation to get both the direct component and the cross component in the frequency domain.
- the transformed cross component results in pulses that are shifted by the difference frequency delta f in the frequency domain.
- One must therefore generally ensure that the highest frequencies that result in the intrinsic proportion are much smaller than the difference frequency, so that in the frequency range both shares can be separated cleanly. Due to the larger frequency range of the direct and cross section, a higher sampling frequency must be maintained than if the direct component is used solely for position determination.
- the position determination device has an ellipse determination device for determining an ellipse, wherein the ellipse can be determined by means of the ellipse determination device from the frequency of an additive mixing component of the ellipse determination signal.
- the information about the ellipse is present in this proportion.
- the position determination device may include a thinning device or perform a trilateration. The position determination device can then receive a first trilateration received signal from the first transmitting device at the first receiving device and a second trilateration received signal from the second transmitting device at the second receiving device in order to use the floating device to determine a position of an object with respect to the first location and / or to determine the second place.
- This position can be determined from a total of four distance information of the two objects to the two mutually arranged transmitting and receiving stations.
- the Thalaterations worn is particularly adapted to perform the trilateration by means of a first direct component and a second direct component.
- the first direct component is taken from the first subtractive intermediate signal mixing term and / or the second direct component from the second subtractive intermediate signal mixing term. If the trilateration can not assign pulses in the received signals to certain objects, an ambiguous constellation can result.
- a position of an object which is determined in particular by means of the trilateration method, can be checked for plausibility.
- the position determining device can determine whether the position of the same object lies on an ellipse which is determined by the position-determining device for this object.
- the ellipse detection signal contains in its time course for each object that is detected by the position detection device, a pulse.
- the time from the emission of a pulse from the transmitter to the pulse in the ellipse detection signal represents the distance from the transmitter of the pulse at one of the locations across the object to the receiver of the pulse in the ellipse detection signal located at the other location. From this distance, taking into account the distance of the transmitter from the receiver, the ellipse can be determined.
- the detected object lies on the ellipse. When two objects are detected, two pulses are produced in the ellipse detection signal when the two objects are on different ellipses. If the two objects are on an ellipse, a superimposed pulse is created.
- the objects There may be constellations of the position information of the two objects based on the detection the objects are ambiguous by the receivers in the same place as the respective transmitter. Then, the measurements of the two receivers provide pulses of equal duration and it is not clear which pulse belongs to which object. Then the objects can be assigned unique positions by means of the information as to whether the objects lie on one or two ellipses.
- the position determination means comprises a plausibility device, by means of which it is possible to determine whether a position of an object determined by the trilateration method lies on an ellipse which is derived from the ellipse detection signal. If this is the case, the position determination device determines that two objects are in an ambiguous constellation on the ellipse. If it is determined that an object is not on the ellipse, the position detection device may determine that two objects in an ambiguous constellation lie on a small half-axis of the ellipse or an extension thereof.
- the proposed method if there are more than two objects, may be performed multiple times with combinations of two objects. Preferably, the method is performed only when an upstream trilateration method determines that there is an ambiguous configuration.
- the method for determining an ellipse on which an object is located can also be performed in order to increase the accuracy of the position determination.
- the position of the ellipse can be included in the calculation of the position of an object.
- the position error can be reduced by calculating an optimized position from positions which have been determined by means of trilateration and elliptical determination. For example, an average can be formed and / or the least squares method applied.
- a transmitter and a receiver are connected to a unit.
- the position determination device according to the invention can be constructed.
- Figure 1A shows schematically a radar distance measuring device in the measurement of two objects operating with a single antenna and frequency modulation
- FIG. 1B shows a diagram in which the amplitude of two pulses received by the objects are shown over the distance of the objects from the radar distance measuring device
- FIG. 2A schematically shows a radar distance measuring device with two antennas in the measurement of two objects which operates according to the monopulse method
- FIG. 2B shows two diagrams each belonging to one of the receivers and in which the amplitudes of two pulses each received by the two objects are shown over the distance of the objects from the radar distance measuring device;
- FIG. 3A schematically shows a radar distance measuring device with two separate antennas in the measurement of an object which operates according to the trilateration method
- FIG. 3B shows two diagrams each belonging to one of the receivers and in which the amplitude of each one pulse received by the object is shown over the distance of the object from the radar distance measuring device;
- FIG. 4A schematically shows the radar distance measuring device from FIG. 4A
- Figure 4B shows two diagrams, each belonging to one of the receivers and in which the amplitudes of two pulses, that of the two Objects are shown above the distance of the objects from the radar distance measuring device,
- FIG. 5A schematically shows the radar distance measuring device from FIG. 5A
- FIG. 5B shows two diagrams each belonging to one of the receivers and in which the amplitudes of every two pulses received by the two objects are shown over the distance of the objects from the radar distance measuring device
- FIG. 6 schematically shows an ellipse, which was determined by means of the invention and on which two objects lie, as well as two further positions of an ambiguous constellation of two objects,
- Figure 7 shows an arrangement of six position detecting devices according to the invention and their illumination areas on a vehicle
- Figure 8 shows a first part of a schematic diagram in which
- Figure 9 shows a second part of the schematic diagram in which
- FIG. 6 shows an ellipse E, which was calculated from the ellipse detection signal of the position determination device.
- the objects 01 and 02 lie on the ellipse.
- the positions of the objects 01 and 02 were determined beforehand by means of the temporal flattening method.
- the positions 01 and 02 shown are ambiguous due to the peculiarities of the temporalization process and could also be the positions of the virtual objects 01 'and 02'.
- the virtual objects 01 'and 02' do not lie on the ellipse E. Therefore, it can be excluded by means of the position detection device according to the invention that the positions of the virtual objects 01 'and 02' are real.
- FIG. 1 shows an ellipse E, which was calculated from the ellipse detection signal of the position determination device.
- the objects 01 and 02 lie on the ellipse.
- the positions of the objects 01 and 02 were determined beforehand by means of the temporal flattening method.
- the positions 01 and 02 shown are ambiguous due to the peculiar
- Each receiver-and-transmitter unit RuT1 to RuT12 comprises a transmitting device SE1, SE2 and a receiving device EE1, EE2, which are arranged at the same location.
- the transmitting devices SE1, SE2 and the receiving devices EE1, EE2 are shown in FIG.
- Each receiver-and-transmitter unit RuT1 to RuT12 has a triangular illumination area. Adjacent illumination areas of the receiver and transmitter units RuT1 to RuT12 overlap. In these overlapping regions, the position-determining device according to the invention can act.
- the position detection device can be used for example as a parking radar.
- the opening angle of the illumination area is preferably 1 10 °.
- the areas in which the illumination areas of individual transmitters do not overlap are narrow and preferably have a short length.
- FIG. 8 shows a first part of a schematic diagram in which method steps or signals and conversions of signals are shown.
- a first transmission signal SS1 is transmitted from a first transmission device SE1, which is located at location X1
- a second transmission signal SS2 from a second transmission device SE2, which is located at location X2.
- the frequencies of the transmission signals SS1 and SS2 are each temporally modulated in time f0 (t) and differ from each other by a difference frequency Af. fO is referred to as the oscillator frequency, while the time dependence (t) describes the modulation of the oscillator frequency.
- Both transmit signals SS1, SS2 in each case hit one or in particular two objects O1, O2 and are reflected from there.
- FIG. 8 shows the propagation of the transmission signal SS1 in a solid line and the propagation of the transmission signal SS2 in a dashed line.
- FIG. 8 shows only one object is shown in FIG. 8, which is designated 01, 02; however, the signal flow scheme shown in FIG. 8 applies individually for each object 01, 02.
- Shares of both transmit signals SS1 and SS2 are each reflected by each of the existing objects 01, 02 to a first receiving device EE1 and to a second receiving device EE2.
- the first transmitting device SE1 and the first receiving device EE1 are located at the same first location X1, while the second transmitting device SE2 and the second receiving device EE2 are located at the same second location X2, which is spatially different from the first location.
- the locations X1 and X2 have a distance D from each other.
- the transmission device SE1 and the reception device EE1 can use the same antenna and are then referred to as a receiver-and-transmitter unit RuT1.
- the transmitting device SE2 and the receiving device EE2 can use the same antenna and are then referred to as receiver-and-transmitter unit RuT2.
- a term L is shown as a dot-dashed arrow. This transit time L denotes all transit times of signals which run from one of the transmitting devices SE1, SE2 to one of the receiving devices EE1, EE2, independently of their path and independently of the symbolically represented curve in FIG. 8.
- the first transmission signal and the second transmission signal are received by one or two different objects 01, 02.
- the first receiving device EE1 generates a first received signal ES1 and the second receiving device generates a second received signal ES2.
- the first received signal ES1 is mixed in a first received signal mixing device EM1 with the oscillator frequency f0 (t) of the first transmission signal SS1. This results in the first intermediate signal ZS1.
- the second received signal ES2 is mixed in a second received signal mixing device EM2 with the oscillator frequency fO (t) + Af of the second transmission signal SS2. This results in the second intermediate signal ZS2.
- FIG. 9 shows a second part of the schematic diagram in FIG. 8.
- FIG. 9 shows process steps for processing the first and the second intermediate signal ZS1, ZS2.
- the first intermediate signal ZS1 is low-pass filtered in a first intermediate signal low-pass filter device TPF1, resulting in a first subtractive intermediate signal mixing term SMT1.
- the second intermediate signal ZS2 is low-pass filtered in a second intermediate signal low-pass filter device TPF2, resulting in a second subtractive intermediate signal mixing term SMT2.
- the subtractive intermediate signal mixing terms SMT1, SMT2 each comprise a portion of the respective associated intermediate signal ZS1, ZS2 whose frequency results from a subtraction of the received frequencies and the oscillator frequency, so that the subtractive intermediate signal mixing terms SMT1, SMT2 the respective modulation frequencies of the transmission signals SS1, SS2 of Figure 8 included.
- Each receiving device EE1 or EE2 receives two different transmission signals SS1 and SS2 from two transmitting devices SE1 and SE2, which are located at different locations. Therefore, in each of the subtractive intermediate signal mixing terms SMT1 and SMT2 there is a respective portion which originates from the transmitting device SE1 or SE2, which is located at the same location as the considered receiving device SE1 or SE2. This proportion is called first or second direct share DA1 or DA2.
- the subtractive intermediate signal mixing terms SMT1 and SMT2 each comprise a further component, which originates from a transmitting device SE1 or SE2, which is not located at the location of the receiving device EE1 or EE2.
- first or second cross component KA1 or KA2 This component is called first or second cross component KA1 or KA2, the numbering being based on the corresponding receiving device EE1 or EE2.
- first intermediate signal separating device ZTE1 the first direct component DA1 can be separated from the first cross component KA1.
- second intermediate signal separating device ZTE2 the second direct component DA2 can be separated from the second cross component KA2.
- the objects O1 and O2 appear in each case as pulses in the received signals ES1 and ES2, the intermediate signals ZS1 and ZS2, the subtractive intermediate signal mixing terms SMT1 and SMT2 and the direct shares DA1 and DA2 and the cross shares KA1 and KA2.
- the temporal position of the pulses contains the information about the distances of the objects 01 and 02 from the first and the second location. Therefore, it is possible to perform a trilateration T with the first and second direct components DA1 and DA2. Since this can lead to ambiguity when measuring two objects, the first and second cross parts KA1 and KA2 can be used to resolve such ambiguities.
- the signal propagation times which represent the pulses in the cross parts KA1 and KA2, correspond to the distance of the transmitting transmitting device SE1 or SE2 to the object 01, 02, which generates the pulse, and from there to the receiving device EE2 or EE1, which adjoin another location than the transmitting device SE1 or SE2.
- an ellipse can be defined on which the relevant object 01, 02, which generated the pulse, is located.
- the first cross part KA1 and the second cross part KA2 are fed into a cross-share mixing device KME.
- the original modulation of the oscillator signal in the transmission signals SS1 and SS2 is eliminated.
- the information for determining the ellipse is present in a high-frequency portion of the ellipse detection signal EES, which results when mixing the first and second cross portion KA1 and KA2 as a proportion in which the frequencies of the first and second cross portion KA1 and KA2 are added.
- the ellipse determination signal EES is fed to an ellipse detection signal high-pass filter device HPF.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015017027 | 2015-12-31 | ||
DE102016119484.0A DE102016119484A1 (de) | 2015-12-31 | 2016-10-12 | Positionsermittlungseinrichtung |
PCT/EP2016/082475 WO2017114762A1 (de) | 2015-12-31 | 2016-12-22 | Positionsermittlungseinrichtung |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3397988A1 true EP3397988A1 (de) | 2018-11-07 |
Family
ID=59068933
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16825767.3A Withdrawn EP3397988A1 (de) | 2015-12-31 | 2016-12-22 | Positionsermittlungseinrichtung |
Country Status (5)
Country | Link |
---|---|
US (1) | US11112496B2 (de) |
EP (1) | EP3397988A1 (de) |
CN (1) | CN108474847B (de) |
DE (1) | DE102016119484A1 (de) |
WO (1) | WO2017114762A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7318194B2 (ja) * | 2018-10-26 | 2023-08-01 | 株式会社アイシン | 物体検出装置 |
CN113359136A (zh) * | 2020-03-06 | 2021-09-07 | 华为技术有限公司 | 一种目标检测方法、装置及分布式雷达*** |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4120397A1 (de) | 1991-06-19 | 1992-12-24 | Bosch Gmbh Robert | Einrichtung zur messung mittels ultraschall |
DE19521771A1 (de) * | 1995-06-20 | 1997-01-02 | Jan Michael Mrosik | FMCW-Abstandsmeßverfahren |
US6545633B1 (en) | 2002-04-08 | 2003-04-08 | The Boeing Company | Radar system having simultaneous monostatic and bistatic mode of operation |
US6922145B2 (en) * | 2002-05-29 | 2005-07-26 | Gregory Hubert Piesinger | Intrusion detection, tracking, and identification method and apparatus |
US20070176822A1 (en) * | 2006-01-30 | 2007-08-02 | Fujitsu Limited | Target detection apparatus and system |
WO2009017393A1 (en) * | 2007-07-31 | 2009-02-05 | Tele Atlas B.V. | Method and device for determining a position |
FR2964289A1 (fr) * | 2010-09-01 | 2012-03-02 | France Telecom | Procede et dispositif de localisation d'au moins un obstacle dans un reseau de communication, programme d'ordinateur correspondant. |
DE102010045657A1 (de) * | 2010-09-17 | 2012-03-22 | Wabco Gmbh | Umfeld-Überwachungssystem für ein Fahrzeug |
CN104067141B (zh) * | 2011-11-21 | 2016-08-24 | 大陆-特韦斯贸易合伙股份公司及两合公司 | 用于对道路交通中的物体基于通信信号进行位置确定的方法和装置以及该装置的应用 |
EP2783236B1 (de) * | 2011-11-21 | 2019-10-09 | Continental Teves AG & Co. OHG | Verfahren und vorrichtung zur positionsbestimmung von objekten mittels kommunikationssignalen sowie verwendung der vorrichtung |
EP2767847B1 (de) * | 2013-02-14 | 2016-04-20 | Semtech Corporation | Entfernungs- und Positionierungssystem |
US9442188B2 (en) * | 2014-03-14 | 2016-09-13 | Codar Ocean Sensors, Ltd. | Negative pseudo-range processing with multi-static FMCW radars |
CN104569960A (zh) * | 2014-12-18 | 2015-04-29 | 北京无线电计量测试研究所 | 一种双站雷达目标特性测量同步散射点区域确定方法 |
-
2016
- 2016-10-12 DE DE102016119484.0A patent/DE102016119484A1/de active Granted
- 2016-12-22 US US16/065,857 patent/US11112496B2/en active Active
- 2016-12-22 CN CN201680077153.3A patent/CN108474847B/zh active Active
- 2016-12-22 WO PCT/EP2016/082475 patent/WO2017114762A1/de unknown
- 2016-12-22 EP EP16825767.3A patent/EP3397988A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
US20190011546A1 (en) | 2019-01-10 |
WO2017114762A1 (de) | 2017-07-06 |
CN108474847A (zh) | 2018-08-31 |
DE102016119484A1 (de) | 2017-07-06 |
US11112496B2 (en) | 2021-09-07 |
CN108474847B (zh) | 2022-10-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3377915B1 (de) | Radarsystem mit verschachtelt seriellem senden und parallelem empfangen | |
DE102018127947B3 (de) | Mimo fmcw radarsystem | |
EP3123199B1 (de) | Verfahren in einem radarsystem, radarsystem und vorrichtung eines radarsystems | |
DE69714956T2 (de) | Hindernis-Entdeckungsradar, insbesondere für Fahrzeuge | |
EP3538922A1 (de) | Radarsensor für kraftfahrzeuge | |
WO2014206630A1 (de) | Winkelauflösender fmcw-radarsensor | |
DE102013200404A1 (de) | Verfahren zur zyklischen Messung von Abständen und Geschwindigkeiten von Objekten mit einem FMCW-Radarsensor | |
DE102014009651A1 (de) | Verfahren und Vorrichtung zum Erfassen der Umgebung auf der Grundlage von Erfassungssignalen von frequenzmoduliertem Dauerstrichradar und Dauerstrichradar | |
DE10345565B4 (de) | Impulsradarvorrichtung | |
DE102013212079A1 (de) | Winkelauflösender Radarsensor | |
DE102012211809A1 (de) | Verfahren und Anordnung zur relativen Lageerkennung von Stationen mittels Funkortung | |
DE102009016480A1 (de) | Radarsystem zur Unterdrückung von Mehrdeutigkeiten bei der Bestimmung von Objektmaßen | |
DE102017101763A1 (de) | Verfahren zur Ermittlung von wenigstens einer Objektinformation wenigstens eines Objektes, das mit einem Radarsystem insbesondere eines Fahrzeugs erfasst wird, Radarsystem und Fahrerassistenzsystem | |
DE102011120244A1 (de) | Empfängerarchitektur für orthogonale, Multiple-Input-Multiple-Output Radarsysteme | |
WO2021047844A1 (de) | Radar-verfahren sowie radar-system | |
DE102019110512A1 (de) | Ortungsverfahren zur Lokalisierung wenigstens eines Objektes unter Verwendung wellenbasierter Signale sowie Ortungssystem | |
DE102018209013A1 (de) | Betriebsverfahren für ein LiDAR-System, Steuereinheit, LiDAR-System und Vorrichtung | |
DE69525227T2 (de) | Verfahren und Vorrichtung zur Bestimmung der Geschwindigkeit eines bewegbaren Körpers mittels eines Radars oder Sonars mit Impulskompression | |
EP3397988A1 (de) | Positionsermittlungseinrichtung | |
DE10348216A1 (de) | Objekterfassungssystem für ein Fahrzeug | |
WO2021063574A1 (de) | Radar-system sowie verfahren zum betreiben eines radar-systems | |
DE2133395A1 (de) | Verfahren und Schaltungsanordnung fuer kohaerente Impuls-Doppler-Radaranlagen | |
EP3064960B1 (de) | Verfahren zum betrieb eines dauerstrichradardetektors und dauerstrichradardetektor | |
DE112018004001T5 (de) | Radarvorrichtung und automobil mit derselben | |
DE102018202290A1 (de) | Winkelschätzung und Mehrdeutigkeitsauflösung von Radarsensoren für Kraftfahrzeuge mit großem Antennenarray |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: UNKNOWN |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20180607 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
17Q | First examination report despatched |
Effective date: 20210312 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: EXAMINATION IS IN PROGRESS |
|
P01 | Opt-out of the competence of the unified patent court (upc) registered |
Effective date: 20230527 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20231003 |