JP2011128144A - Radio positioning device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensive device capable of determining a two-dimensional or three-dimensional position with high accuracy, by first transmitter and receiver and second transmitter and receiver. <P>SOLUTION: The second transmitter and receiver intermittently transmits a wireless signal as a burst signal in a time-sharing manner, the wireless signal including at least a starting-point signal, and upon receiving the wireless signal, the first transmitter and receiver reproduces the starting-point signal and transmits a wireless signal including a distance measurement signal generated by synchronizing synchronous oscillator with the starting-point signal thus reproduced and a direction measurement signal generated separately, while switching among a plurality of antennas periodically. With reference to the starting-point signal, the second transmitter and receiver measures a phase of the distance measurement signal and thereby calculates the distance from the first transmitter and receiver, measures a phase difference of direction measurement signals corresponding to the plurality of antennas and thereby calculates a direction in which the first transmitter and receiver is positioned, and determines the three-dimensional position of the second transmitter and receiver with high accuracy and instantaneously from the distance and direction thus calculated. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

この発明は、第１の発受信手段と第２の発受信手段との間で、同一の無線周波数を用いて、時分割で双方向通信を行うことで、第１の発受信手段、第２の発受信手段、あるいはこれらの両方の２次元もしくは３次元の位置を高精度で測位するための無線測位装置に関するものである。
The present invention performs the two-way communication in a time-sharing manner using the same radio frequency between the first transmitting / receiving unit and the second transmitting / receiving unit. The present invention relates to a wireless positioning device for positioning the two-dimensional or three-dimensional positions of both of them with high accuracy.

従来から、複数の発信手段を用いて測位を行なうシステムが提案されている。（例えば、特許文献１〜３参照）
Conventionally, a system that performs positioning using a plurality of transmission means has been proposed. (For example, see Patent Documents 1 to 3)

特開２００５−０８３８８８号JP 2005-088888 A 特開２００６−０２３２６１号JP 2006-023261 A 特開２００７−０１０６３９号JP 2007-010639 A

図１１は、特許文献１に記載されている従来の「ＲＴＫ測位システム及びその測位方法」の実施例である。
図１１において、１は、ＲＴＫ（リアルタイムキネマティック）測位を利用して利用者の測位を行なうＲＴＫ測位システムである。
このＲＴＫ測位システム１は、４基のスードライト２と、固定基準局受信手段３と移動基準局受信手段４とからなる２基の基準局受信手段と、ローバー受信手段５と、利用者処理ユニット６と、データリンク７とにより構成されている。
ここで、スードライト２は、衛星の代わりの信号源として使用され、利用者の３次元測位を行なう場合は、少なくとも４基必要であり、２次元測位を行なう場合は、少なくとも３基が必要であるとされている。 FIG. 11 shows an example of a conventional “RTK positioning system and its positioning method” described in Patent Document 1.
In FIG. 11, reference numeral 1 denotes an RTK positioning system that performs user positioning using RTK (real-time kinematic) positioning.
This RTK positioning system 1 includes four pseudolites 2, two reference station receiving means comprising a fixed reference station receiving means 3 and a mobile reference station receiving means 4, a rover receiving means 5, a user processing unit 6, a data And a link 7.
Here, the pseudolite 2 is used as a signal source instead of a satellite, and when performing three-dimensional positioning of a user, at least four units are necessary, and when performing two-dimensional positioning, at least three units are necessary. It is said that.

上記のように、従来の「ＲＴＫ測位システム及びその測位方法」では３次元の測位を行なうために少なくとも４基のスードライト（擬似衛星局）が必要であり、更に、利用者処理ユニット６の他に、固定基準局受信手段３と移動基準局受信手段４とからなる２基の基準局受信手段と、ローバー受信機５と、データリンク７が必要であることから、システムが複雑であり、取り扱いが煩雑であり、高価となる問題点があった。
As described above, the conventional “RTK positioning system and its positioning method” requires at least four pseudolites (pseudo satellite stations) to perform three-dimensional positioning, and in addition to the user processing unit 6. The system is complicated and handling is complicated because two reference station receiving means consisting of a fixed reference station receiving means 3 and a mobile reference station receiving means 4, a rover receiver 5 and a data link 7 are required. There was an expensive problem.

一方、特許文献２に記載されている従来の「アクティブタグ装置」では、発信手段1の指向性アンテナの方向３１に対向して受信手段２の指向性アンテナ２１ａと２１ｂを向け、発信手段１が高周波信号を発信中に指向性アンテナ２１ａと２１ｂを切替えた時に受信した高周波信号のタイミングあるいは振幅あるいは周波数あるいは位相あるいはこれらの組み合わせの変化をリアルタイムで検知し、当該発信手段1が位置する方向を検知し、当該発信手段１と受信手段２の距離を検知するとされているが、当該発信手段１と受信手段２の距離を検知する手段あるいは方法が明確にされておらず、受信手段２の３次元の位置を測位する旨の訴求がなされていない問題点がある。
On the other hand, in the conventional “active tag device” described in Patent Document 2, the directional antennas 21a and 21b of the receiving unit 2 are directed to face the direction 31 of the directional antenna of the transmitting unit 1, and the transmitting unit 1 Changes in timing, amplitude, frequency, phase, or a combination of the received high-frequency signals when the directional antennas 21a and 21b are switched while transmitting high-frequency signals are detected in real time, and the direction in which the transmitting means 1 is located is detected. However, although it is said that the distance between the transmitting means 1 and the receiving means 2 is detected, the means or method for detecting the distance between the transmitting means 1 and the receiving means 2 is not clarified. There is a problem that no appeal has been made to determine the position of.

また、特許文献３に記載されている従来の「アクティブタグ装置」では、固定される側の発信手段に複数のアンテナを接続し、当該アンテナから個別のシステム同期信号と同期しあるいは直交する複数の測定用信号を周期的に発信し、移動体が携帯する受信手段において当該システム同期信号を受信して相対距離と方向を検知し、相対距離が短いものの平均値から方向を検知することで高い精度で方向を検知するとされているが、相対距離と方向を高精度で検知するための当該システム同期信号あるいは個別の同期信号の役割が記述されたおらず、また、一方向通信によって距離を測定することによっては十分な測位精度が得られないこと、また、受信手段の３次元の位置を測位する旨の訴求がなされていないことなどの問題点がある。
Further, in the conventional “active tag device” described in Patent Document 3, a plurality of antennas are connected to the transmitting means on the fixed side, and a plurality of antennas synchronized with or orthogonal to individual system synchronization signals from the antennas. High accuracy by periodically transmitting measurement signals, receiving the system synchronization signal at the receiving means carried by the moving body, detecting the relative distance and direction, and detecting the direction from the average value of the short relative distance However, the role of the system synchronization signal or individual synchronization signal for detecting the relative distance and direction with high accuracy is not described, and the distance is measured by one-way communication. In some cases, sufficient positioning accuracy cannot be obtained, and there is a problem that a request for positioning the three-dimensional position of the receiving means is not made.

この発明は、上記の問題点を解決するためになされたものであり、第１の発受信手段と第２の発受信手段との間で、同一の無線周波数を用いて、時分割で双方向通信を行うことによって、第１の発受信手段、第２の発受信手段、もしくはこれらの両方の２次元もしくは３次元の位置を高精度で、しかも短時間で測位するための無線測位装置を提供することを目的とする。
The present invention has been made in order to solve the above-described problems, and uses the same radio frequency between the first transmission / reception means and the second transmission / reception means in a time-division bidirectional manner. Provided is a wireless positioning device for performing high-accuracy and short-time positioning of the first transmission / reception means, the second transmission / reception means, or both of these two-dimensional or three-dimensional positions by performing communication. The purpose is to do.

この発明に係わる無線測位装置は、同一の無線周波数を用いて時分割で双方向通信を行うための、第１の発受信手段と、第２の発受信手段とから構成され、前記第１の発受信手段から少なくとも起点信号を含む無線信号をバースト信号として間欠発信し、前記第２の発受信手段が、前記第１の発受信手段から発信される無線信号を受信して前記起点信号を再生し、前記再生した起点信号と同期した距離測定信号と、別に生成した方向測定信号とを含む無線信号を、時分割のタイミングで、折返し発信し、   A radio positioning apparatus according to the present invention comprises a first transmitter / receiver and a second transmitter / receiver for performing two-way communication in a time-division manner using the same radio frequency. A radio signal including at least a starting point signal is intermittently transmitted as a burst signal from the transmitting / receiving unit, and the second transmitting / receiving unit receives the radio signal transmitted from the first transmitting / receiving unit and reproduces the starting point signal. Then, a radio signal including a distance measurement signal synchronized with the reproduced starting signal and a direction measurement signal generated separately is sent back at a time division timing,

前記第１の発受信手段が、前記自局から発信した起点信号を基準とし、複数のアンテナ又は送受波器を周期的に切り替えながら、前記第２の発信手段から受信した距離測定信号の位相を測定して前記第２の発受信手段からの距離を算出し、前記複数のアンテナ又は送受波器に対応した方向測定信号の位相差を測定して前記第２の発受信手段が位置する方向を算出し、前記距離の算出結果と、前記方向の算出結果とから、前記第２の発受信手段の２次元もしくは３次元の位置を高精度で測位し、   The first transmitter / receiver means sets the phase of the distance measurement signal received from the second transmitter means while periodically switching a plurality of antennas or transducers with the origin signal transmitted from the own station as a reference. The distance from the second transmitter / receiver is measured to measure the phase difference of the direction measurement signals corresponding to the plurality of antennas or transducers, and the direction in which the second transmitter / receiver is located is determined. Calculating the two-dimensional or three-dimensional position of the second transmitting / receiving means with high accuracy from the calculation result of the distance and the calculation result of the direction;

あるいは、前記第２の発受信手段から少なくとも起点信号を含む無線信号をバースト信号として間欠発信し、第１の発受信手段で前記起点信号と同期した距離測定信号と、別に生成した方向測定信号とを含む無線信号を、複数のアンテナ又は送受波器を周期的に切り替えながら、折返し発信し、前記第２の発受信手段において、自局の２次元もしくは３次元の位置を高精度で測位し、
あるいは、上記のシーケンスを繰返し実施し、前記第１の発受信手段において前記第２の発受信手段の２次元もしくは３次元の位置を高精度で測位し、前記第２の発受信手段において自局の２次元もしくは３次元の位置を高精度で測位するように構成される。

Alternatively, a radio signal including at least a starting signal is intermittently transmitted as a burst signal from the second transmitting / receiving unit, and a distance measuring signal synchronized with the starting signal by the first transmitting / receiving unit and a direction measuring signal generated separately The radio signal containing the signal is sent back while periodically switching a plurality of antennas or transducers, and the second transmitting / receiving unit measures the two-dimensional or three-dimensional position of the own station with high accuracy,
Alternatively, the above sequence is repeated, the two-dimensional or three-dimensional position of the second transmitting / receiving unit is measured with high accuracy by the first transmitting / receiving unit, and the second transmitting / receiving unit performs self-station. The two-dimensional or three-dimensional position is configured with high accuracy.

上記のように、本発明の無線測位装置では、同一の無線周波数を用いて、時分割で双方向通信を行うことで、第１の発受信手段、第２の発受信手段、あるいはこれらの両方の２次元もしくは３次元の位置を高精度でしかもリアルタイムで測位するための無線測位装置を安価に実現できる利点がある。
As described above, in the wireless positioning device of the present invention, the first transmission / reception unit, the second transmission / reception unit, or both of them are performed by performing bidirectional communication in a time division manner using the same radio frequency. There is an advantage that a wireless positioning device for measuring the two-dimensional or three-dimensional position with high accuracy and in real time can be realized at low cost.

この発明に係わる無線測位装置は、図１、図２、図３、図４、および請求項１に本発明の第１〜第４の実施の形態を示すように、超音波信号あるいは高周波信号あるいは光信号である無線信号を用いる無線測位装置において、前記無線信号を同一の無線周波数を用いて時分割で発信し受信するための、第１の発受信手段１０１と、第２の発受信手段１０３とから構成され、   As shown in FIGS. 1, 2, 3, 4, and 1 in the first to fourth embodiments of the present invention, the radio positioning apparatus according to the present invention is an ultrasonic signal, a high-frequency signal, In a radio positioning device using a radio signal which is an optical signal, a first transmitting / receiving unit 101 and a second transmitting / receiving unit 103 for transmitting and receiving the radio signal in a time division manner using the same radio frequency. And consists of

前記第１の発受信手段１０１が、少なくとも、前記無線信号を、時分割でバースト信号として発信するための第１の発信手段１２ａと、前記無線信号を受信して、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第１の受信手段１３ａと、前記第１の発信手段と前記第１の受信手段とを制御するための第１の制御手段１１ａと、複数のアンテナ又は送受波器１５ａ−１〜１５ａ−４を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第１の発信手段と前記第１の受信手段との間で時分割で切替えるための第１のアンテナ切替手段１５ａとを有し、   The first transmission / reception means 101 receives at least the first transmission means 12a for transmitting the radio signal as a burst signal in a time division manner, and receives the radio signal directly or as an intermediate frequency signal or base A first receiving means 13a for converting and amplifying the signal into a band signal; a first control means 11a for controlling the first transmitting means and the first receiving means; and a plurality of antennas or transmission / reception units. For periodically switching the wave generators 15a-1 to 15a-4, or for switching a single or a plurality of antennas or transducers in a time division manner between the first transmitting means and the first receiving means. First antenna switching means 15a,

前記第２の発受信手段が、少なくとも、前記無線信号を、時分割でバースト信号として発信するための第２の発信手段１２ｂと、前記無線信号を受信して、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第２の受信手段１３ｂと、前記第２の発信手段と前記第２の受信手段とを制御するための第２の制御手段１１ｂと、複数のアンテナ又は送受波器を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第２の発信手段と前記第２の受信手段との間で時分割で切替えるための第２のアンテナ切替手段１５ｂとを有し、   The second transmitter / receiver receives at least the second transmitter 12b for transmitting the radio signal as a burst signal in a time-sharing manner, and receives the radio signal directly or as an intermediate frequency signal or baseband. Second receiving means 13b for converting and amplifying the signal, second control means 11b for controlling the second transmitting means and the second receiving means, and a plurality of antennas or transmission / reception waves A second antenna switching means 15b for switching the antenna periodically, or switching a single or a plurality of antennas or transducers in a time division manner between the second transmitting means and the second receiving means; Have

前記第１の制御手段１１ａが、少なくとも、システム同期信号と、識別信号と、起点信号とを生成するための起点信号生成手段と、前記第１の受信手段によって受信される無線信号から、距離測定信号と方向測定信号とを再生するための位置測位信号再生手段と、前記再生された距離測定信号と方向測定信号との位相を測定するための位相測定手段と、前記位相の測定結果から前記第２の発受信手段の位置を測位するための位置測位手段とを有し、   The first control unit 11a measures a distance from at least a system synchronization signal, an identification signal, a starting point signal generating unit for generating a starting point signal, and a radio signal received by the first receiving unit. A position measurement signal reproducing means for reproducing a signal and a direction measurement signal, a phase measuring means for measuring the phase of the reproduced distance measurement signal and the direction measurement signal, and a first measurement result from the phase measurement result. Position measuring means for measuring the position of the two transmitting / receiving means,

前記第２の制御手段１１ｂが、少なくとも、前記第２の受信手段によって時分割で受信される無線信号から、前記起点信号を再生するための起点信号再生手段と、前記再生された起点信号と高精度でかつ短時間に同期を確立し、同期を保持できる同期発振手段と、前記同期発振手段の出力信号と同期しあるいは直交する距離測定信号と、前記距離測定信号とは別に、方向を測定するための方向測定信号とを生成するための位置測位信号生成手段とを有し、   The second control unit 11b includes at least a starting point signal reproducing unit for reproducing the starting point signal from a radio signal received in a time division manner by the second receiving unit, and the reproduced starting point signal and the high level signal. The direction is measured separately from the synchronous oscillation means that can establish synchronization in a short time with accuracy and maintain the synchronization, the distance measurement signal that is synchronized with or orthogonal to the output signal of the synchronous oscillation means, and the distance measurement signal A position measurement signal generating means for generating a direction measurement signal for

前記第１の発受信手段から前記第２の発受信手段に向けて、少なくとも、起点信号を含む無線信号をバースト信号として間欠発信し、前記起点信号を含む無線信号を受信した前記第２の発受手段が、前記第１の発受信手段に向けて、少なくとも前記位置測位信号を含む無線信号を時分割のタイミングで発信し、前記第１の発受信手段において、前記生成された起点信号を基準とし前記距離測定信号の位相を測定して第２の発受信手段からの距離を算出し、前記複数のアンテナ又は送受波器に対応した方向測定信号の位相差を測定して第２の発受信手段が位置する方向を算出し、前記距離の算出結果と、前記方向の算出結果とから、前記第１の発受信手段において、前記第２の発受信手段の２次元もしくは３次元の位置を高精度で測位する。
From the first transmission / reception means to the second transmission / reception means, at least the radio signal including the origin signal is intermittently transmitted as a burst signal, and the radio signal including the origin signal is received. The receiving unit transmits a radio signal including at least the position measurement signal to the first transmission / reception unit at a time division timing, and the first transmission / reception unit uses the generated starting point signal as a reference. The distance from the second transmitter / receiver is calculated by measuring the phase of the distance measurement signal, and the second transmitter / receiver is measured by measuring the phase difference of the direction measurement signals corresponding to the plurality of antennas or transducers. The direction in which the means is located is calculated, and the two-dimensional or three-dimensional position of the second transmitter / receiver is increased in the first transmitter / receiver from the distance calculation result and the direction calculation result. Position with accuracy.

また、図１、図２、図３、図４および請求項２に本発明の第１〜第４の実施の形態を示すように、超音波信号あるいは高周波信号あるいは光信号である無線信号を用いる無線測位装置において、同一の無線周波数を用いて時分割で双方向通信するための、第１の発受信手段１０１と、第２の発受信手段１０３とから構成され、   In addition, as shown in FIGS. 1, 2, 3, 4 and 2 of the first to fourth embodiments of the present invention, an ultrasonic signal, a radio frequency signal or a radio signal which is an optical signal is used. In the wireless positioning device, it comprises a first transmission / reception means 101 and a second transmission / reception means 103 for two-way communication in a time division manner using the same radio frequency,

前記第１の発受信手段１０１が、少なくとも、前記無線信号を、時分割でバースト信号として発信するための第１の発信手段１２ａと、前記無線信号を受信し直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第１の受信手段１３ａと、前記第１の発信手段と前記第１の受信手段とを制御するための第１の制御手段１１ａと、複数のアンテナ又は送受波器１５ａ−１〜１５ａ−４を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第１の発信手段と前記第１の受信手段との間で時分割で切替えるための第１のアンテナ切替手段１５ａとを有し、   The first transmission / reception unit 101 receives at least the first transmission unit 12a for transmitting the radio signal as a burst signal in a time division manner, and receives the radio signal directly or as an intermediate frequency signal or baseband signal. First receiving means 13a for converting and amplifying the first receiving means 13a, first control means 11a for controlling the first transmitting means and the first receiving means, and a plurality of antennas or transducers 15a-1 to 15a-4 are periodically switched, or a first or a plurality of antennas or transducers are switched in a time-sharing manner between the first transmitting means and the first receiving means. Antenna switching means 15a,

前記第２の発受信手段１０３が、少なくとも、前記無線信号を、時分割でバースト信号として発信するための第２の発信手段１２ｂと、前記無線信号を受信し直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第２の受信手段１３ｂと、前記第２の発信手段と前記第２の受信手段とを制御するための第２の制御手段１１ｂと、複数のアンテナ又は送受波器を周期的に切替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第２の発信手段と前記第２の受信手段との間で、時分割で切替えるための第２のアンテナ切替手段１５ｂとを有し、   The second transmitter / receiver 103 receives at least the second transmitter 12b for transmitting the radio signal as a burst signal in a time-sharing manner, and receives the radio signal directly or as an intermediate frequency signal or baseband signal. Second receiving means 13b for converting and amplifying the signal, second control means 11b for controlling the second transmitting means and the second receiving means, and a plurality of antennas or transducers Or a second antenna switching means 15b for switching a single or a plurality of antennas or transducers between the second transmitting means and the second receiving means in a time division manner; Have

前記第１の制御手段１１ａが、少なくとも、前記第１の受信手段１３ａによって受信される無線信号から、前記起点信号を再生するための起点信号再生手段５０と、前記再生された起点信号と高精度でかつ短時間に同期を確立し、同期を保持できる同期発振手段４６と、前記同期発振手段の出力信号と同期しあるいは直交する距離測定信号と、前記距離測定信号とは別に、方向を測定するための方向測定信号を生成するための位置測位信号生成手段４７とを有し、   The first control unit 11a at least generates a starting point signal reproducing unit 50 for reproducing the starting point signal from a radio signal received by the first receiving unit 13a, and the reproduced starting point signal and the high accuracy. The direction is measured separately from the synchronous oscillation means 46 that can establish synchronization in a short time and maintain the synchronization, the distance measurement signal that is synchronized with or orthogonal to the output signal of the synchronous oscillation means, and the distance measurement signal. Position measurement signal generation means 47 for generating a direction measurement signal for,

前記第２の制御手段１１ｂが、少なくとも、システム同期信号と、識別信号と、起点信号とを生成するための起点信号生成手段４５と、前記第２の受信手段１３ｂによって受信される無線信号から、距離測定信号と方向測定信号とを再生するための位置測位信号再生手段４４と、前記再生された距離測定信号と方向測定信号との位相を測定するための位相測定手段４３と、前記位相の測定結果から自局の位置を測位するための位置測位手段４２とを有し、   The second control unit 11b includes at least a system synchronization signal, an identification signal, and a starting point signal generating unit 45 for generating a starting point signal, and a radio signal received by the second receiving unit 13b. Position measurement signal reproduction means 44 for reproducing the distance measurement signal and direction measurement signal, phase measurement means 43 for measuring the phase of the reproduced distance measurement signal and direction measurement signal, and measurement of the phase Position positioning means 42 for positioning the position of the own station from the result,

前記第２の発受信手段１０３から前記第１の発受信手段１０１に向けて、少なくとも、起点信号を含む無線信号をバースト信号として間欠発信し、前記起点信号を含む無線信号を受信した前記第１の発受信手段１０１が、前記第２の発受信手段１０３に向けて、少なくとも前記位置測位信号を含む無線信号を時分割のタイミングで発信し、前記第２の発受信手段において、前記生成された起点信号を基準とし前記距離測定信号の位相を測定して第１の発受信手段からの距離を算出し、前記複数のアンテナ又は送受波器に対応した方向測定信号の位相差を測定して第１の発受信手段が位置する方向を算出し、前記距離の算出結果と、方向の算出結果とから、前記第２の発受信手段において、自局の２次元もしくは３次元の位置を高精度で測位する。   The first transmitter / receiver 103 intermittently transmits a radio signal including a start signal as a burst signal from the second transmitter / receiver 103 to the first transmitter / receiver 101 and receives the radio signal including the start signal. The transmitting / receiving unit 101 transmits a radio signal including at least the positioning signal to the second transmitting / receiving unit 103 at a time division timing, and the second transmitting / receiving unit generates the generated radio signal. The distance from the first transmitter / receiver is calculated by measuring the phase of the distance measurement signal with reference to the origin signal, and the phase difference of the direction measurement signal corresponding to the plurality of antennas or transducers is measured. The direction in which the first transmission / reception means is located is calculated, and the second transmission / reception means determines the two-dimensional or three-dimensional position of the own station with high accuracy from the calculation result of the distance and the calculation result of the direction. Positioning .

また、図１、図２、図５および請求項３に本発明の第１、第２、および第５の実施の形態を示すように、超音波信号あるいは高周波信号あるいは光信号である無線信号を用いる無線測位装置において、同一の無線周波数を用いて時分割で双方向通信を行うための、第１の発受信手段１０１と、第２の発受信手段１０２とから構成され、   In addition, as shown in FIGS. 1, 2, 5, and 3 according to the first, second, and fifth embodiments of the present invention, radio signals that are ultrasonic signals, high-frequency signals, or optical signals are used. The wireless positioning device to be used is composed of a first transmission / reception means 101 and a second transmission / reception means 102 for performing two-way communication in a time division manner using the same radio frequency,

前記第１の発受信手段１０１が、少なくとも、前記無線信号を、時分割でバースト信号として発信するための第１の発信手段１２ａと、前記無線信号を受信して、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第１の受信手段１３ａと、前記第１の発信手段と前記第１の受信手段とを制御するための第１の制御手段１１ａと、複数のアンテナ又は送受波器１５ａ−１〜１５ａ−４を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第１の発信手段と前記第１の受信手段との間で時分割で切替えるための第１のアンテナ切替手段１５ａとを有し、   The first transmission / reception means 101 receives at least the first transmission means 12a for transmitting the radio signal as a burst signal in a time division manner, and receives the radio signal directly or as an intermediate frequency signal or base A first receiving means 13a for converting and amplifying the signal into a band signal; a first control means 11a for controlling the first transmitting means and the first receiving means; and a plurality of antennas or transmission / reception units. For periodically switching the wave generators 15a-1 to 15a-4, or for switching a single or a plurality of antennas or transducers in a time division manner between the first transmitting means and the first receiving means. First antenna switching means 15a,

前記第２の発受信手段が、少なくとも、前記無線信号を、時分割でバースト信号として発信するための第２の発信手段１２ｂと、前記無線信号を受信して、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第２の受信手段１３ｂと、前記第２の発信手段と前記第２の受信手段とを制御するための第２の制御手段１１ｂと、複数のアンテナ又は送受波器を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第２の発信手段と前記第２の受信手段との間で時分割で切替えるための第２のアンテナ切替手段１５ｂとを有し、   The second transmitter / receiver receives at least the second transmitter 12b for transmitting the radio signal as a burst signal in a time-sharing manner, and receives the radio signal directly or as an intermediate frequency signal or baseband. Second receiving means 13b for converting and amplifying the signal, second control means 11b for controlling the second transmitting means and the second receiving means, and a plurality of antennas or transmission / reception waves A second antenna switching means 15b for switching the antenna periodically, or switching a single or a plurality of antennas or transducers in a time division manner between the second transmitting means and the second receiving means; Have

前記第１の制御手段１１ａと、前記第２の制御手段１１ｂとが、少なくとも、システム同期信号と、識別信号と、起点信号とを生成するための起点信号生成手段４５と、前記受信手段が受信した無線信号から、起点信号を再生するための起点信号再生手段５０と、前記再生された起点信号、距離測定信号、もしくはこれらの両方の立上がり点、立下がり点、もしくはゼロ交差点のタイミングを高精度で検出するための同期検出手段４９と、前記検出されたタイミングで、起点信号、距離測定信号、もしくはこれらの両方と高精度でかつ短時間に同期を確立し、かつ起点信号、距離測定信号、もしくはこれらの両方が消滅した後も、比較的に長時間、同期を保持してクロック信号を生成するための同期発振手段４６と、   The first control unit 11a and the second control unit 11b receive at least a system synchronization signal, an identification signal, and a starting point signal generating unit 45 for generating a starting point signal, and the receiving unit receives The starting point signal reproducing means 50 for reproducing the starting point signal from the radio signal and the timing of the rising point, the falling point, or the zero crossing point of the reproduced starting point signal, the distance measuring signal, or both of them are highly accurate. Synchronization detection means 49 for detecting at the same time, and at the detected timing, synchronization with the origin signal, the distance measurement signal, or both of them is established with high accuracy in a short time, and the origin signal, the distance measurement signal, Alternatively, after both of these disappear, the synchronous oscillation means 46 for generating a clock signal while maintaining synchronization for a relatively long time;

前記クロック信号と同期しあるいは直交する距離測定信号と、前記距離測定信号とは別に、方向を測定するための方向測定信号とを生成するための位置測位信号生成手段４７と、前記受信した無線信号から位置測定信号を再生するための位置測位信号再生手段４４と、前記再生された位置測位信号の位相を、高精度でリアルタイムに測定するための位相測定手段４３と、前記測定された位置測位信号の位相から、位置を算出するための位置測位手段４２とを有し、   Position measurement signal generating means 47 for generating a distance measurement signal synchronized or orthogonal to the clock signal and a direction measurement signal for measuring a direction separately from the distance measurement signal, and the received radio signal Position measurement signal reproduction means 44 for reproducing the position measurement signal from the signal, phase measurement means 43 for measuring the phase of the reproduced position measurement signal in real time with high accuracy, and the measured position measurement signal Position measuring means 42 for calculating the position from the phase of

前記第２の発受信手段１０３から前記第１の発受信手段１０１に向けて、少なくとも、起点信号を含む無線信号をバースト信号として間欠発信し、前記起点信号を含む無線信号を受信した前記第１の発受信手段が、前記受信した起点信号と高精度で同期した第１の距離測定信号と、第１の距離測定信号とは別に、方向を測定するための方向測定信号とを含む無線信号を前記第２の発受手段に向けて折返し発信し、前記無線信号を受信した前記第２の発受信手段において、前記発信された第１の距離測定信号と方向測定信号を再生し、前記第２の発受信手段で生成した起点信号を基準として、前記再生した第１の距離測定信号を位相を測定して前記第１の発受信手段からの距離を算出し、前記複数のアンテナ又は送受波器に対応した方向測定信号の位相差を測定して第１の発受信手段が位置する方向を算出し、前記距離の算出結果と、前記方向の算出結果とから、前記第２の発受信手段において、自局の２次元もしくは３次元の位置を高精度で測位するとともに、   The first transmitter / receiver 103 intermittently transmits a radio signal including a start signal as a burst signal from the second transmitter / receiver 103 to the first transmitter / receiver 101 and receives the radio signal including the start signal. The transmitting and receiving means includes a first distance measurement signal synchronized with the received origin signal with high accuracy, and a radio signal including a direction measurement signal for measuring a direction separately from the first distance measurement signal. The second transmission / reception unit that transmits the signal back to the second transmission / reception unit and receives the radio signal reproduces the transmitted first distance measurement signal and direction measurement signal, and And measuring the phase of the reproduced first distance measurement signal using the origin signal generated by the transmitting / receiving means as a reference to calculate the distance from the first transmitting / receiving means, and the plurality of antennas or transducers. Direction measurement signal corresponding to The direction in which the first transmitter / receiver is located is calculated by measuring the phase difference between the two and the second transmitter / receiver in the second transmitter / receiver from the distance calculation result and the direction calculation result. Or while measuring the three-dimensional position with high accuracy,

前記第２の発受信手段から、少なくとも、前記第１の距離測定信号と高精度で同期した第２の距離測定信号と、前記第２の距離測定信号とは別に、方向を測定するための方向測定信号とを含む無線信号を時分割のタイミングで発信し、前記無線信号を受信した前記第１の発受信手段において、前記第２の発受信手段から発信された第２の距離測定信号と方向測定信号とを再生し、前記第１の発受手段で生成した第１の距離測定信号を基準として前記第２の距離測定信号の位相を測定して前記第２の発受信手段からの距離を算出し、前記複数のアンテナ又は送受波器に対応した方向測定信号の位相から前記第２のと発受信手段の位置する方向を算出し、前記距離の算出結果と、前記方向の算出結果とから、前記第１の発受信手段において、前記２の発受信手段の２次元もしくは３次元の位置を高精度で測位する。   A direction for measuring a direction separately from at least the second distance measurement signal synchronized with the first distance measurement signal with high accuracy from the second transmission / reception means. A radio signal including a measurement signal is transmitted at a time-sharing timing, and in the first transmission / reception unit that has received the radio signal, the second distance measurement signal and direction transmitted from the second transmission / reception unit A measurement signal is reproduced, the phase of the second distance measurement signal is measured with reference to the first distance measurement signal generated by the first transmission / reception means, and the distance from the second transmission / reception means is determined. Calculate the direction in which the second and transmitting / receiving means are located from the phase of the direction measurement signal corresponding to the plurality of antennas or transducers, and calculate the distance and the direction calculation result. In the first transmission / reception means, It positions the 2-dimensional or 3-dimensional position of the calling reception means with high accuracy.

また、請求項４に示すように、前記第１の発受信手段１０１から発信される起点信号、前記第１の発受信手段から発信される距離測定信号と方向測定信号、前記第２の発受信手段１０３から発信される起点信号、前記第２の発受信手段から発信される距離測定信号と方向測定信号、あるいはこれらの組み合わせが、単一もしくは複数の、搬送波信号、副搬送波信号、変調信号、スペクトル拡散符号、もしくはこれらの組み合わせである。
また、請求項５に示すように、前記起点信号再生手段５０、位置測位信号再生手段４４、もしくはこれらの両方において、前記再生する信号が、無線信号の搬送波信号あるいは副搬送波信号である場合には、伝達位相誤差の少ない帯域通過フイルタを通し、あるいは無線信号を変調した変調信号である場合には、伝達位相誤差の少ないアナログ復調器あるいは高いサンプリング周波数を用いるデジタル復調器によって復調した後に、前記帯域通過フイルタを通して再生する。 According to a fourth aspect of the present invention, an origin signal transmitted from the first transmitting / receiving unit 101, a distance measurement signal and a direction measuring signal transmitted from the first transmitting / receiving unit, and the second transmitting / receiving The origin signal transmitted from the means 103, the distance measurement signal and the direction measurement signal transmitted from the second transmission / reception means, or a combination thereof is a single or a plurality of carrier signals, subcarrier signals, modulation signals, A spread spectrum code or a combination thereof.
Further, as shown in claim 5, when the signal to be reproduced is the carrier signal of the radio signal or the subcarrier signal in the origin signal reproducing means 50, the position positioning signal reproducing means 44, or both of them. In the case of a modulated signal obtained by passing a band-pass filter with a small transmission phase error or modulating a radio signal, the band signal is demodulated by an analog demodulator with a small transmission phase error or a digital demodulator using a high sampling frequency. Play through the pass filter.

また、請求項６に示すように、前記第１の制御手段１１ａ、前記第２の制御信手段１１ｂ、もしくはこれらの両方の同期発振手段４６が、基準発振器４１の出力信号を直接もしくは周波数を変換して生成したクロック信号によって駆動される、セットあるいはリセット付きのカウンタあるいは数値制御発振器によって構成され、前記第１の受信手段もしくは前記第２受信手段によって受信され、起点信号再生手段によって復調されあるいは再生された起点信号の立上がり点、立下がり点、もしくはゼロ交差点のタイミングを、同期検出手段によって比較的に高い周波数のサンプリング信号を用いて検出し、前記検出したタイミングで、前記セットあるいはリセット付きのカウンタあるいは数値制御発振器をセットしもしくはリセットすることによって、前記起点信号と短時間で同期を確立し、前記起点信号が消滅した後も、所定期間、同期を保持できる。   Further, as shown in claim 6, the first control means 11a, the second control signal means 11b, or both synchronous oscillation means 46 can directly convert the output signal of the reference oscillator 41 or convert the frequency. And a counter with a set or reset or a numerically controlled oscillator driven by the generated clock signal, received by the first receiving means or the second receiving means, and demodulated or reproduced by a starting signal reproducing means The timing of the rising point, falling point, or zero crossing of the generated starting point signal is detected using a sampling signal having a relatively high frequency by the synchronization detecting means, and the counter with the set or reset is detected at the detected timing. Or set or reset the numerically controlled oscillator Therefore, the origin signal and a short time to establish synchronization, even after the origin signal has disappeared, the predetermined period of time, can maintain synchronization.

また、請求項７に示すように、前記第１の制御手段１１ａ、前記第２の制御手段１１ｂ、もしくはこれらの両方の同期発振手段４６と、前記復調されあるいは再生された起点信号との間の同期確立誤差を低減し、高精度でかつ短時間に同期を確立させるために、前記第１の発受信手段１０１、前記第２の発受信手段１０３、もしくはこれらの両方に同期確立誤差関数を付与し、前記同期確立誤差関数が前記同期確立誤差を限りなくゼロに近づける特性を有する。   Further, as shown in claim 7, between the first control means 11a, the second control means 11b, or both synchronous oscillation means 46, and the demodulated or reproduced starting signal. In order to reduce synchronization establishment error and establish synchronization with high accuracy and in a short time, a synchronization establishment error function is given to the first transmission / reception means 101, the second transmission / reception means 103, or both. The synchronization establishment error function has a characteristic of bringing the synchronization establishment error as close to zero as possible.

また、請求項８に示すように、前記第１の制御手段、前記第２の制御手段、もしくはこれらの両方の起点信号生成手段４５、位置測位信号生成手段４７、もしくはこれらの両方に前記同期確立誤差関数を付与するために、位相同期発振器の出力信号の位相をシフトさせるための移相手段と、前記移相手段によって各々異なった位相にシフトされた複数組の出力信号を選択して外部に出力するためのタイミング制御手段とを設け、前記移相手段の移相量の合計を、前記第１の発受信手段、第２の発受信手段、もしくはこれらの両方の同期発振手段から出力されるクロック信号の一周期の間隔よりも大きく設定することによって、距離の算出精度を向上させる。   Further, as defined in claim 8, the synchronization is established in the first control means, the second control means, or both of the origin signal generation means 45, the position positioning signal generation means 47, or both of them. In order to provide an error function, a phase shift means for shifting the phase of the output signal of the phase-locked oscillator and a plurality of sets of output signals each shifted to a different phase by the phase shift means are selected and externally selected. A timing control means for outputting, and the total amount of phase shift of the phase shift means is output from the first transmission / reception means, the second transmission / reception means, or both synchronous oscillation means The distance calculation accuracy is improved by setting it larger than the interval of one cycle of the clock signal.

また、請求項９に示すように、前記第１の制御手段、前記第２の制御手段、もしくはこれらの両方の同期発振手段４６に前記同期確立誤差関数を付与するために、前記同期発振手段が複数組のカウンタもしくは数値制御発振器を有し、前記複数組のカウンタもしくは複数組の数値制御発振器が、前記再生された起点信号と各々異なった複数のタイミングで切替手段によって切替えられて同期を確立し、前記複数組のカウンタもしくは複数組の数値制御発振器から出力される出力信号を異なった複数のタイミングで選択手段によって選択し、前記選択された出力信号に同期しあるいは直交した距離測定信号を生成することによって、距離の算出精度を向上させる。   According to a ninth aspect of the present invention, in order to provide the synchronization establishment error function to the first control means, the second control means, or both synchronous oscillation means 46, the synchronous oscillation means A plurality of sets of counters or numerically controlled oscillators are provided, and the plurality of sets of counters or the plurality of sets of numerically controlled oscillators are switched by switching means at a plurality of timings different from the reproduced starting point signals to establish synchronization. The output signals output from the plurality of sets of counters or the plurality of sets of numerically controlled oscillators are selected by a selection unit at a plurality of different timings, and a distance measurement signal synchronized with or orthogonal to the selected output signals is generated. Thus, the distance calculation accuracy is improved.

また、請求項１０に示すように、前記第１の制御手段、第２の制御手段、もしくはこれらの両方の位相測定手段４３が、Ｓｉｎのルックアップテーブルが０、１、０、−１、あるいは１、１、−１、−１、あるいはこれらの繰り返しであり、Ｃｏｓのルックアップテーブルが１、０、−１、０あるいは１、−１、−１、１、あるいはこれらの繰り返しであり、前記測定信号と前記ルックアップテーブルとの積和演算を行なう際に−１の乗算は補数を求める積和演算器によって構成される。
また、請求項１１に示すように、前記第１の発受信手段、前記第２の発受信手段、もしくはこれらの両方のアンテナ又は送受波器が、９０°以上の広い指向性ビーム幅を有する円偏波指向性アンテナであり、前記第２の発受信手段と第１の発受信手段との間で、指向性の方向が、双方向通信の相手方に向けて、お互いに対向して設けられている。 Further, as shown in claim 10, the first control means, the second control means, or both of the phase measurement means 43 has a Sin lookup table of 0, 1, 0, -1, or 1, 1, -1, -1, or repetition thereof, and the Cos lookup table is 1, 0, -1, 0 or 1, -1, -1, 1, or repetition thereof, When performing the product-sum operation between the measurement signal and the lookup table, the multiplication of -1 is constituted by a product-sum operation unit for obtaining a complement.
Further, as shown in claim 11, the first transmitting / receiving unit, the second transmitting / receiving unit, or both of these antennas or transducers have a circular directional beam width of 90 ° or more. A polarization directivity antenna, wherein the direction of directivity is provided between the second transmitter / receiver and the first transmitter / receiver so as to face each other toward the other party of the bidirectional communication. Yes.

また、請求項１２に示すように、前記第１の発受信手段、前記第２の発受信手段、もしくはこれらの両方が、伝搬経路の品質を検知する品質検知手段を有し、前記品質検知手段が、前記受信手段において受信した無線信号の電力あるいは信号対雑音比を測定した結果から回線品質を分析しあるいは統計処理を行い、前記位相測定手段で距離測定信号の位相あるいは方向測定信号の位相差を測定した結果から距離測定精度あるいは方向測定精度を分析しあるいは統計処理を行い、あるいはこれらの両方を行い、前記距離測定処理の結果、方向測定処理の結果、あるいはこれらの両方を補正しあるいは補完する。
また、請求項１３に示すように、前記無線信号の周波数として、ＧＰＳに割当てられた周波数、あるいはその近傍の周波数を割当て、前記前記第１の発受信手段、前記第２の発受信手段、もしくはこれらの両方からバースト信号として発信される無線信号の占有率を２０％以下とすることで、屋外と屋内でＧＰＳをシームレスに接続する。
Moreover, as shown in claim 12, the first transmission / reception means, the second transmission / reception means, or both of them have a quality detection means for detecting the quality of a propagation path, and the quality detection means The channel quality is analyzed or statistically processed from the result of measuring the power or signal-to-noise ratio of the radio signal received by the receiving means, and the phase of the distance measurement signal or the phase difference of the direction measurement signal is measured by the phase measuring means. The distance measurement accuracy or direction measurement accuracy is analyzed from the measurement results, or statistical processing is performed, or both are performed, and the distance measurement processing result, direction measurement processing result, or both are corrected or complemented. To do.
Further, as shown in claim 13, as the frequency of the radio signal, a frequency assigned to GPS or a frequency in the vicinity thereof is assigned, and the first transmission / reception means, the second transmission / reception means, or By setting the occupation ratio of radio signals transmitted from both of them as burst signals to 20% or less, GPS is seamlessly connected outdoors and indoors.

（実施の形態１）
図１は本発明の第１の実施の形態による無線測位装置の構成図である。図１において、１０１は第１の発受信手段、１５ａ−１〜１５ａ−４は指向性アンテナ、１０３は第２の発受信手段、１０４は前記第１の発受信手段１０１と第２の発受信手段１０３との間の距離、１０５は前記第２の発受信手段１０３の指向性アンテナからみた第１の発受信手段１０１の方向、１０６は前記第１の発受信手段１０１の指向性アンテナの傾き角度である。
ここで、前記第２の発受信手段１０３、第１の発受信手段１０１、もしくはこれらの両方のアンテナ又は送受波器が、９０°以上の広い指向性ビーム幅を有する円偏波指向性アンテナであり、前記第２の発受信手段と第１の発受信手段との間で、指向性の方向が双方向通信の相手方に向けて、お互いに対向して設けられているものとする。 (Embodiment 1)
FIG. 1 is a configuration diagram of a wireless positioning device according to a first embodiment of the present invention. In FIG. 1, 101 is a first transmitter / receiver, 15a-1 to 15a-4 are directional antennas, 103 is a second transmitter / receiver, and 104 is the first transmitter / receiver 101 and the second transmitter / receiver. The distance to the means 103, 105 is the direction of the first transmitting / receiving means 101 viewed from the directional antenna of the second transmitting / receiving means 103, and 106 is the inclination of the directional antenna of the first transmitting / receiving means 101. Is an angle.
Here, the second transmitting / receiving unit 103, the first transmitting / receiving unit 101, or both of these antennas or transducers are circularly polarized directional antennas having a wide directional beam width of 90 ° or more. In addition, it is assumed that the direction of directivity is provided between the second transmission / reception means and the first transmission / reception means so as to face each other toward the other party of the bidirectional communication.

前記第１の発受信手段１０１からは、少なくとも、システム同期信号と、識別信号と、起点信号を含む無線信号を前記第２の発受信手段１０３に向けて時間占有率２０％以下のバースト信号として間欠発信し、前記起点信号を受信した第２の発受信手段１０３は、前記起点信号を再生し、再生した起点信号と瞬時に同期を高精度で確立し、前記起点信号が消滅した後も同期を保持させ、前記起点信号と同期しあるいは直交した距離測定信号と、前記距離測定信号とは別に生成した、方向を測定するための方向測定信号とを含む無線信号を、前記第２の発受信手段１０３に向けて時分割のタイミングで発信する。   From the first transmission / reception means 101, at least a system synchronization signal, an identification signal, and a radio signal including an origin signal are sent to the second transmission / reception means 103 as a burst signal having a time occupancy rate of 20% or less. The second transmission / reception means 103 that intermittently transmits and receives the starting signal reproduces the starting signal, establishes synchronization with the reproduced starting signal with high accuracy instantaneously, and synchronizes after the starting signal disappears. And a second radio signal including a distance measurement signal synchronized with or orthogonal to the origin signal and a direction measurement signal generated separately from the distance measurement signal for measuring a direction. A message is transmitted to the means 103 at a time division timing.

前記第１の発受信手段１０１から発信される起点信号と、前記第２の発受信手段１０３から発信される距離測定信号と方向測定信号とが、単一もしくは同期しあるいは直交する複数の、搬送波信号、副搬送波信号、変調信号、スペクトル拡散符号、もしくはこれらの任意の組み合わせであり、
前記第１の発受信手段１０１において、指向性の方向が下方向もしくは斜め下方向に向けて設置された、複数の指向性アンテナ１５ａ−１〜１５ａ−４を周期的に切替えながら、前記第２の発受信手段から発信された無線信号を受信し、前記第２の発受信手段から折返された距離測定信号を再生し、前記再生した距離測定信号の伝搬位相を自局で生成した起点信号を基準として測定し、前記測定した伝搬位相を用いて前記第２の発受信手段１０３からの距離を算出し、前記複数の指向性アンテナ１５ａ−１〜１５ａ−４に対応した方向測定信号の位相差を測定して前記第２の発受信手段１０３が位置する方向を算出し、前記距離の算出結果と、方向の算出結果とから、前記第２の発受信手段１０３の２次元もしくは３次元の位置を高精度で測位することができる。 A plurality of carrier waves in which a starting point signal transmitted from the first transmitting / receiving unit 101 and a distance measurement signal and a direction measuring signal transmitted from the second transmitting / receiving unit 103 are single or synchronized or orthogonal to each other Signal, subcarrier signal, modulated signal, spread spectrum code, or any combination thereof,
In the first transmitting / receiving means 101, the second directivity antenna 15a-1 to 15a-4, whose directivity direction is set downward or obliquely downward, is periodically switched while the second directivity antenna 101a is installed. Receiving a radio signal transmitted from the transmitting / receiving means, reproducing the distance measurement signal returned from the second transmitting / receiving means, and generating a starting signal generated by the own station in the propagation phase of the reproduced distance measuring signal The phase difference of the direction measurement signal corresponding to the plurality of directional antennas 15a-1 to 15a-4 is measured as a reference, the distance from the second transmitting / receiving unit 103 is calculated using the measured propagation phase. The direction in which the second transmitting / receiving unit 103 is located is calculated, and the two-dimensional or three-dimensional position of the second transmitting / receiving unit 103 is calculated from the distance calculation result and the direction calculation result. With high accuracy It can be.

前記距離の算出結果を距離１０４（Ｌｍ）、方向の算出結果を方向１０５（α（Ｘ）、α（Ｙ））とすると、前記距離１０４と方向１０５および１０６とから、次のようにして、前記第２の発受信手段１０３の２次元もしくは３次元の位置を求めることができる。
（１）第１の発受信手段１０１の複数のアンテナ１５ａ−１〜１５ａ−４が真下方向を向いている場合
Ｘｘ＝Ｘ０−Ｌ*Sin(α(Ｘ)) −−−−(１)
Ｙｙ＝Ｙ０−Ｌ*Sin(α(Ｙ)) −−−−(２)
Ｚｚ＝Ｚ０−Ｌ*√(１−Sin^２(α(Ｘ))−Sin^２(α(Ｙ))−−−−(３) When the distance calculation result is the distance 104 (Lm) and the direction calculation result is the direction 105 (α (X), α (Y)), the distance 104 and the directions 105 and 106 are used as follows. The two-dimensional or three-dimensional position of the second transmitting / receiving unit 103 can be obtained.
(1) When the plurality of antennas 15a-1 to 15a-4 of the first transmission / reception means 101 are directed downward Xx = X0−L * Sin (α (X)) −−−− (1)
Yy = Y0−L * Sin (α (Y)) −−−− (2)
Zz = Z0−L * √ (1−Sin ^ 2 (α (X)) − Sin ^ 2 (α (Y)) −−−− (3)

（２）第１の発受信手段１０１の複数のアンテナ１５ａ−１〜１５ａ−４がβ（X）、β（Ｙ）傾いている場合
Ｘｘ＝Ｘ０−Ｌ*Sin(γ（X）) −−−−(４)
Ｙｙ＝Ｙ０−Ｌ*Sin(γ（Ｙ）) −−−−(５)
Ｚｚ＝Ｚ０−Ｌ*√(１−Sin^２(γ（X）)−Sin^２(γ（Ｙ）)−−−−(６)
ただし、γ(Ｘ)＝α(Ｘ)＋β(Ｘ)＜９０°、γ(Ｙ)＝α(Ｙ)＋β(Ｙ)＜９０°とする。 (2) When the plurality of antennas 15a-1 to 15a-4 of the first transmitting / receiving means 101 are inclined by β (X), β (Y) Xx = X0−L * Sin (γ (X)) −− -(4)
Yy = Y0−L * Sin (γ (Y)) −−−− (5)
Zz = Z0−L * √ (1−Sin ^ 2 (γ (X)) − Sin ^ 2 (γ (Y)) −−−− (6)
However, γ (X) = α (X) + β (X) <90 ° and γ (Y) = α (Y) + β (Y) <90 °.

ここで、前記起点信号と距離測定信号とが１ＭＨｚの場合、距離の測定レンジが１５０ｍとなり、前記起点信号に対して、距離測定信号の伝達位相が３６０°となるので、起点信号との位相差を検出することによって相対距離が高精度で測定できる。
また、前記位相差の測定精度が±０．５°程度を容易に実現できるので、相対距離の測定誤差として±２１ｃｍ程度が実現できる。
また、上記とは逆に、前記第２の発受信手段から起点信号を含む無線信号を間欠発信し、前記第１の発受信手段で受信した無線信号から前記起点信号を再生し、前記再生した起点信号と高精度で同期した距離測定信号と、前記距離測定信号とは別に生成した、方向を測定するための方向測定信号とを含む無線信号を前記第２の発受手段に向けて折返し発信し、前記第２の発受信手段において、自局の２次元もしくは３次元の測位を高精度で行なうことも可能である。 Here, when the origin signal and the distance measurement signal are 1 MHz, the distance measurement range is 150 m, and the transmission phase of the distance measurement signal is 360 ° with respect to the origin signal, so the phase difference from the origin signal By detecting this, the relative distance can be measured with high accuracy.
Moreover, since the measurement accuracy of the phase difference can be easily realized at about ± 0.5 °, the relative distance measurement error of about ± 21 cm can be realized.
Contrary to the above, intermittently transmitting a radio signal including a starting signal from the second transmitting / receiving unit, reproducing the starting signal from the radio signal received by the first transmitting / receiving unit, and reproducing the signal A radio signal including a distance measurement signal synchronized with the origin signal with high accuracy and a direction measurement signal generated separately from the distance measurement signal is sent back to the second transmitting / receiving means. In the second transmitting / receiving means, it is also possible to perform two-dimensional or three-dimensional positioning of the own station with high accuracy.

また、上記を相互に繰返すことによって、前記第１の発受信手段において前記第２の発受信手段の２次元もしくは３次元の測位を高精度で行なうとともに、前記第２の発受信手段において、自局の２次元もしくは３次元の測位を高精度で行なうことも可能である。
また、前記第１の発受信手段１０１が固定局もしくは無線マーカであり、かつ常時受信待受け状態であり、前記第２の発受信手段１０３が電池で駆動される携帯端末であり、かつ常時は休止状態である場合には、前記第２の発受信手段が、前記第１の発受信手段に対して、少なくとも起点信号を含む無線信号を、所定の周期で間欠発信することによって、前記携帯端末の電池の消耗を軽減することができる。 Further, by repeating the above, the first transmitter / receiver performs two-dimensional or three-dimensional positioning of the second transmitter / receiver with high accuracy, and the second transmitter / receiver It is also possible to perform two-dimensional or three-dimensional positioning of a station with high accuracy.
Further, the first transmitting / receiving unit 101 is a fixed station or a wireless marker, and is always in a reception standby state, and the second transmitting / receiving unit 103 is a portable terminal driven by a battery, and is always in a pause state. In the state, the second transmitting / receiving unit intermittently transmits a radio signal including at least a starting signal to the first transmitting / receiving unit at a predetermined period, thereby Battery consumption can be reduced.

また、前記第１の発受信手段１０１が複数局設置される場合には、前記複数局の第１の発受信手段から、ランダムな時間間隔で、少なくとも報知信号を含む無線信号を繰返し間欠発信し、前記第２の発受信手段において受信入力（ＲＳＳＩ）が所定の値より大きい局を選択し、前記選択した第１の発受信手段を指定して少なくとも起点信号を含む無線信号を発信することで、相互間の妨害を除去し、測位精度を改善することができる。
また、前記第１の発受信手段もしくは第２の発受信手段に２基の指向性アンテナを設けて周期的に切替えることによって、２次元の位置を測位することも可能である。 When the first transmitting / receiving unit 101 is installed in a plurality of stations, the first transmitting / receiving unit of the plurality of stations repeatedly and intermittently transmits a radio signal including at least a notification signal at random time intervals. The second transmission / reception means selects a station having a reception input (RSSI) larger than a predetermined value, designates the selected first transmission / reception means, and transmits a radio signal including at least an origin signal. , Can eliminate the interference between each other and improve the positioning accuracy.
It is also possible to measure a two-dimensional position by providing two directional antennas in the first transmitting / receiving unit or the second transmitting / receiving unit and periodically switching them.

また、前記第１の発受信手段１０１が擬似衛星局（スードライト）であり、前記擬似衛星局から発信される無線信号が、時間率２０％以下の短いバースト信号である場合、既存のＧＰＳ衛星局との間で遠近問題が生じず、したがって、発信可能な電力を１ｍＷ程度まで高めることが可能である。
また、単一の擬似衛星局を利用して２次元もしくは３次元測位が可能なことから、従来の擬似衛星局４局を利用して双曲線航法により２次元もしくは３次元の測位を行なう場合に比較して、マルチパスによる影響を飛躍的に軽減することができる。
Further, when the first transmitting / receiving unit 101 is a pseudo satellite station (pseudolite) and the radio signal transmitted from the pseudo satellite station is a short burst signal with a time rate of 20% or less, an existing GPS satellite station Therefore, it is possible to increase the power that can be transmitted to about 1 mW.
In addition, since two-dimensional or three-dimensional positioning is possible using a single pseudo satellite station, it is compared with two-dimensional or three-dimensional positioning using hyperbolic navigation using four conventional pseudo satellite stations. Thus, the influence of multipath can be drastically reduced.

（実施の形態２）
図２は本発明の第２の実施の形態による無線測位装置の構成図である。図２において、１０１は第１の発受信手段、１０３は第２の発受信手段、１１ａ、１１ｂは制御手段、１２ａ、１２ｂは発信手段、１３ａ、１３ｂは受信手段、１４ａ、１４ｂはアンテナ切替手段、１５ａ−１〜１５ａ−４は指向性アンテナ、３１は無線の伝搬路である。前記第１の発受信手段１０１と第２の発受信手段１０３は、同一の周波数の無線信号を用いて時分割で送受信し、伝搬路３１を介して双方向通信を行い、第１の発受信手段１０１もしくは第２の発受信手段１０３の何れか一方あるいはこれらの両方で、短時間で、高精度で、しかも、２次元もしくは３次元の測位を行うことができる。 (Embodiment 2)
FIG. 2 is a configuration diagram of a radio positioning apparatus according to the second embodiment of the present invention. In FIG. 2, 101 is a first transmission / reception means, 103 is a second transmission / reception means, 11a and 11b are control means, 12a and 12b are transmission means, 13a and 13b are reception means, and 14a and 14b are antenna switching means. , 15a-1 to 15a-4 are directional antennas, and 31 is a wireless propagation path. The first transmission / reception means 101 and the second transmission / reception means 103 transmit and receive in a time division manner using radio signals of the same frequency, perform bidirectional communication via the propagation path 31, and perform the first transmission / reception. Either one of the means 101 or the second transmitting / receiving means 103 or both of them can perform two-dimensional or three-dimensional positioning in a short time with high accuracy.

なお、複数のアンテナ１５ａ−１〜１５ａ−４を前記第１の発受信手段１０１に設ける代わりに、前記第２の発受信手段側に設けても同様の効果があり、あるいは前記第１の発受信手段側と前記第２発受信手段側の両方に設けても同様な効果が得られる。
また、前記第２の発受信手段側が携帯端末の場合には、指向性ビーム幅が１３５°程度の指向性アンテナを用いることで、アンテナの傾きに左右されずに、高精度の位置の測位が可能となる。
It is to be noted that, instead of providing the plurality of antennas 15a-1 to 15a-4 on the first transmitting / receiving unit 101, the same effect can be obtained by providing the plurality of antennas 15a-1 to 15a-4 on the second transmitting / receiving unit side. Similar effects can be obtained by providing both the receiving means side and the second emitting / receiving means side.
Further, when the second transmitting / receiving means side is a mobile terminal, by using a directional antenna having a directional beam width of about 135 °, highly accurate positioning can be performed without being influenced by the inclination of the antenna. It becomes possible.

（実施の形態３）
図３は本発明の第３の実施の形態による制御手段の構成図である。図３において、１１−１は制御手段の第１の構成例、４１は基準発振器、４２は位置測位手段、４３は位相測定手段、４４は位置測位信号再生手段、４５は起点信号生成手段、５１ａ、５２ａは接続端子である。
前記起点信号生成手段４５によって、前記基準発振器４１に同期して、少なくとも図６に示す、システム同期信号６１と、マックレイヤ６２と、法規により許容される周波数範囲の単一もしくは複数の起点信号６３−１〜６３−ｎとが生成され、制御手段１１−１の接続端子５１ａを介して前記第１の発受信手段もしくは第２の発受信手段に供給される。
更に、前記起点信号は、前記位相測定手段４３にも、距離測定信号の位相測定のためのクロック信号としても供給される。 (Embodiment 3)
FIG. 3 is a block diagram of the control means according to the third embodiment of the present invention. In FIG. 3, 11-1 is a first configuration example of the control means, 41 is a reference oscillator, 42 is a position positioning means, 43 is a phase measuring means, 44 is a position positioning signal reproducing means, 45 is a starting point signal generating means, 51a , 52a are connection terminals.
The origin signal generator 45 synchronizes with the reference oscillator 41 to at least a system synchronization signal 61, a Mac layer 62, and a single or a plurality of origin signals 63 in a frequency range allowed by law, as shown in FIG. −1 to 63-n are generated and supplied to the first transmitting / receiving unit or the second transmitting / receiving unit via the connection terminal 51a of the control unit 11-1.
Further, the starting point signal is also supplied to the phase measuring means 43 as a clock signal for measuring the phase of the distance measuring signal.

一方、前記起点信号を含む無線信号が前記第１の発受信手段もしくは第２の発受信手段からバースト信号として間欠発信されると、前記第２の発受信手段もしくは第１の発受信手段によって前記起点信号と同期した位置測位信号を含む無線信号として折返され、前記第１の発受信手段もしくは第２の発受信手段によって受信され、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅され、接続端子５２ａを介して位置測位信号再生手段４４に供給され、前記位置測位信号が無線信号の搬送波信号あるいは副搬送波信号である場合には、直接伝達位相誤差の少ない帯域通過フイルタ（例えばバターワースバンドパスフイルタなど）を通し、   On the other hand, when a radio signal including the origin signal is intermittently transmitted as a burst signal from the first transmitting / receiving unit or the second transmitting / receiving unit, the second transmitting / receiving unit or the first transmitting / receiving unit Folded back as a radio signal including a positioning signal synchronized with the origin signal, received by the first transmission / reception means or the second transmission / reception means, directly or converted into an intermediate frequency signal or baseband signal and amplified, When the position positioning signal is supplied to the position positioning signal reproducing means 44 via the connection terminal 52a and the position positioning signal is a carrier signal or subcarrier signal of a radio signal, a band-pass filter (for example, Butterworth bandpass with little direct transmission phase error) is provided. Through a filter)

あるいは前記位置測位信号が無線信号の搬送波信号あるいは副搬送波信号を変調した変調信号である場合には、アナログ復調器、リニアデジタル復調器、もしくは高いサンプリング周波数を用いたデジタル復調器によって復調した後に前記帯域通過フイルタを通して再生することによって、前記位置測位信号に含まれる雑音成分を除去し、しかも伝達位相誤差の発生を軽減することができる。   Alternatively, when the position positioning signal is a modulated signal obtained by modulating a carrier signal or subcarrier signal of a radio signal, the signal is demodulated by an analog demodulator, a linear digital demodulator, or a digital demodulator using a high sampling frequency. By reproducing through the band-pass filter, it is possible to remove the noise component contained in the position positioning signal and reduce the occurrence of a transmission phase error.

前記再生された位置測位信号は前記位相測定手段４３に供給され、前記自局内で生成した起点信号の周波数の整数倍もしくは整数分の１の周波数をクロック信号として用い、積和演算器によって前記位置測位信号の位相を高精度でリアルタイムで測定し、測定結果を位置測位手段４２に出力し、前記位置測位手段４２は、例えば、基準発振器４１からの供給されるクロック信号によって動作する標準的なマイクロプロセッサであり、前記第２の発受信手段もしくは第１の発受信手段の位置を、短時間で、高精度で、しかもリアルタイムで測位することができる。   The reproduced position positioning signal is supplied to the phase measuring means 43, and an integer multiple or a fraction of an integer frequency of the starting point signal generated in the own station is used as a clock signal, and the position-and-sum calculator calculates the position. The phase of the positioning signal is measured in real time with high accuracy, and the measurement result is output to the position positioning means 42. The position positioning means 42 is operated by, for example, a standard micro that is operated by a clock signal supplied from the reference oscillator 41. The processor can measure the position of the second transmitting / receiving unit or the first transmitting / receiving unit in a short time, with high accuracy, and in real time.

ここで、前記積和演算器は、少なくとも、前記起点信号、距離測定信号、もしくはこれらの両方の周波数の整数倍をクロック信号として用い、例えば、前記距離測定信号を８ビット以上のアナログ／デジタル変換器によってデジタル信号に変換し、前記デジタル信号とＳｉｎおよびＣｏｓのルックアップテーブルとの積和演算を行うものであり、前記位相を検出するために用いるＳｉｎのルックアップテーブルは０、１、０、−１、もしくは１、１、−１、−１、もしくはこれらの整数倍の繰り返しであり、一方、Ｃｏｓのルックアップテーブルは１、０、−１、０、もしくは１、−１、−１、１、もしくはこれらの整数倍の繰り返しであり、かつ積和演算を行う際の１との乗算は当該デジタル信号と同じ値であり、−１との乗算は当該デジタル信号の補数を求めることであり、０との剰算は０であり、これらを組合わせることで、前記積和演算回路を単純化でき、ロジック回路のみで実現でき、しかも高速で、リアルタイムの演算が可能となる。   Here, the product-sum calculator uses at least an integer multiple of the origin signal, the distance measurement signal, or both of these frequencies as a clock signal, for example, analog / digital conversion of the distance measurement signal of 8 bits or more. The digital signal is converted into a digital signal by a detector, and a product-sum operation is performed on the digital signal and the Sin and Cos lookup tables. The Sin lookup table used for detecting the phase is 0, 1, 0, −1, or 1, 1, −1, −1, or an integer multiple of these, while the Cos lookup table is 1, 0, −1, 0, or 1, −1, −1, 1 or an integer multiple of these, and multiplication with 1 when performing a product-sum operation is the same value as the digital signal, and multiplication with -1 Signal, and the remainder with 0 is 0. By combining these, the product-sum operation circuit can be simplified and realized with only a logic circuit, and at high speed, in real time. Calculation is possible.

また、前記距離測定信号、方向測定信号、もしくはこれらの両方の１周期の整数倍以上の区間を区切って位相を測定し、もしくは１周期の整数倍以上の区間を更に複数区間に区切って位相を測定して平均値を求め、もしくは１周期の整数倍以上の長さの窓枠関数を設定して位相を測定し、必要に応じて、平均値を求め、かつ／又は複数回の間欠発受信の間に移動平均値を求めることで、±０．５°程度の精度でしかもリアルタイムで、位相を測定することができる。
また、前記第１の発受信手段、第２の発受信手段、あるいはこれらの両方が、無線の伝搬経路３１の品質を検知する品質検知手段（記載せず）を有し、前記品質検知手段が、受信した無線信号の電力あるいは信号対雑音比を測定した結果から回線品質を分析し、あるいは前記位相測定手段４３で距離測定信号の位相を測定した結果から、比較的に位相を小さく測定したものを選択し平均しあるいは荷重平均し、あるいはこれらの両方を行なうことによって、前記測位の結果を補正しあるいは補完することができる。
Further, the phase is measured by dividing a section of the distance measurement signal, the direction measurement signal, or both of them by an integer multiple of one period or more, or the section of an integer multiple of one period or more is further divided into a plurality of sections. Measure to obtain an average value, or set a window frame function with a length equal to or greater than an integral multiple of one period to measure the phase, and if necessary, obtain an average value and / or intermittent transmission / reception multiple times By calculating the moving average value during this period, the phase can be measured in real time with an accuracy of about ± 0.5 °.
Further, the first transmission / reception means, the second transmission / reception means, or both of them have quality detection means (not shown) for detecting the quality of the wireless propagation path 31, and the quality detection means The line quality is analyzed from the result of measuring the power or signal-to-noise ratio of the received radio signal, or the phase of the distance measurement signal is measured by the phase measuring means 43 and the phase is measured to be relatively small. The positioning result can be corrected or complemented by selecting and averaging, or performing load averaging, or both.

（実施の形態４）
図４は本発明の第４の実施の形態によるの制御手段の他の構成図である。図４において、１１−２は制御手段の第２の構成例、制御手段、５０は起点信号再生手段、４９は同期検出手段、４７は位置測位信号生成手段、４６は同期発振手段、４１は基準発振器、４８は位相同期発振器、５１ｂ、５２ｂは接続端子である。
前記第１の発受信手段もしくは第２の発受信手段によって受信される起点信号を含む無線信号が、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅され、制御手段１１−２の接続端子５１ｂを経由して起点信号再生手段５０に接続される。 (Embodiment 4)
FIG. 4 is another block diagram of the control means according to the fourth embodiment of the present invention. In FIG. 4, 11-2 is a second configuration example of the control means, control means, 50 is a starting point signal reproduction means, 49 is synchronization detection means, 47 is a positioning signal generation means, 46 is synchronous oscillation means, and 41 is a reference. An oscillator 48 is a phase-locked oscillator, and 51b and 52b are connection terminals.
A wireless signal including a starting signal received by the first transmitting / receiving unit or the second transmitting / receiving unit is amplified directly or converted into an intermediate frequency signal or a baseband signal and amplified, and connected to the control unit 11-2 It is connected to the starting point signal reproducing means 50 via 51b.

前記起点信号再生手段５０では、前記起点信号が無線信号の搬送波信号あるいは副搬送波信号である場合には、直接伝達位相誤差少ない帯域通過フイルタ（例えばバターワースバンドパスフイルタなど）を通し、あるいは前記起点信号が無線信号の搬送波信号あるいは副搬送波信号を変調した変調信号である場合には、伝達位相誤差の少ないアナログ復調器もしくはリニアデジタル復調器もしくは高いサンプリング周波数を用いた伝達位相誤差の少ないデジタル復調器によって復調した後に前記帯域通過フイルタを通して再生する。   In the origin signal reproducing means 50, when the origin signal is a carrier signal or subcarrier signal of a radio signal, a direct pass phase error is passed through a band pass filter (for example, a Butterworth band pass filter) or the origin signal Is a modulated signal obtained by modulating a carrier signal or subcarrier signal of a radio signal, an analog demodulator or linear digital demodulator with a small transmission phase error, or a digital demodulator with a small transmission phase error using a high sampling frequency After demodulation, reproduction is performed through the band-pass filter.

前記再生された起点信号は、同期検出手段４９によって、基準発振器４１から直接供給され、あるいは位相同期発振器４８によって高い周波数に変換されて供給されるクロック信号によってサンプリングされ、前記起点信号の立上り点、立下り点、もしくはゼロ交差点のタイミングが検出され、セットあるいはリセット信号あるいは外部同期信号として同期発振手段４６に供給される。
ここで、例えば、前記位相同期発振器４８から供給されるクロック信号の周波数が１００ＭＨｚの場合、前記同期信号の検出誤差は±１０ナノ秒となり、前記距離測定信号の周波数を１ＭＨｚとすると、距離の測定誤差は±７５ｃｍとなる。更に高精度にするために２５６ＭＨｚのクロック信号とすると、距離の測定誤差は±３０ｃｍとなる。一般的に、クロック信号の周波数は、前記距離測定信号の１０倍以上の周波数に設定されるものとする。 The regenerated starting point signal is directly supplied from the reference oscillator 41 by the synchronization detecting means 49 or sampled by the clock signal supplied after being converted to a high frequency by the phase synchronous oscillator 48, and the rising point of the starting point signal, The timing of the falling point or the zero crossing point is detected and supplied to the synchronous oscillation means 46 as a set or reset signal or an external synchronization signal.
Here, for example, when the frequency of the clock signal supplied from the phase-locked oscillator 48 is 100 MHz, the detection error of the synchronization signal is ± 10 nanoseconds, and the frequency of the distance measurement signal is 1 MHz. The error is ± 75 cm. If a clock signal of 256 MHz is used for higher accuracy, the distance measurement error is ± 30 cm. In general, it is assumed that the frequency of the clock signal is set to a frequency that is 10 times or more that of the distance measurement signal.

一方、前記同期発振手段４６は、前記基準発振器４１から直接もしくは位相同期発振器４８から供給されるクロック信号によって駆動される、セットあるいはリセット付きの同期式あるいは非同期式のカウンタあるいは数値制御発振器によって構成され、前記セットあるいはリセット信号あるいは外部同期信号によって、セットしあるいはリセットすることで、数マイクロ秒以内の瞬時にして同期を確立し、前記起点信号が消滅しても、所定期間、同期を保持できるメリットが得られる。   On the other hand, the synchronous oscillating means 46 is constituted by a synchronous or asynchronous counter with a set or reset or a numerically controlled oscillator, which is driven directly from the reference oscillator 41 or by a clock signal supplied from a phase synchronous oscillator 48. By setting or resetting with the set or reset signal or external synchronization signal, the synchronization can be established within a few microseconds instantaneously, and the synchronization can be maintained for a predetermined period even if the origin signal disappears Is obtained.

また、前記同期発振手段４６からの出力信号は、位置測位信号生成手段４７によって、単一の周波数あるいは周波数の異なる複数の、搬送波信号、副搬送波信号、変調信号、スペクトル拡散符号、もしくはこれらの任意の組み合わせによる位置測位信号に変換され、接続端子５２ｂを介して前記第１の発受信手段もしくは第２の発受信手段に供給される。
前記位置測位信号が同期しあるいは直交し少なくとも周波数が異なる複数の距離測定信号である場合には、距離を測定するレンジを変化させることが可能であり、大まかな距離の測定から精細な距離の測定に切替えて測定することが可能となる。
Also, the output signal from the synchronous oscillation means 46 is output by the position positioning signal generation means 47 by a single frequency or a plurality of carrier signals, subcarrier signals, modulation signals, spread spectrum codes, or any of these, having different frequencies. Is converted into a positioning signal by the combination of the above and supplied to the first transmitting / receiving means or the second transmitting / receiving means via the connection terminal 52b.
When the position measurement signals are a plurality of distance measurement signals that are synchronized or orthogonal and have at least different frequencies, it is possible to change the range for measuring the distance, from a rough distance measurement to a fine distance measurement. It becomes possible to switch to and measure.

（実施の形態５）
図５は本発明の第５の実施の形態によるの制御手段の他の構成図である。図５において、１１−３は制御手段の第３の構成例、４１は基準発振器、４２は位置測位手段、４３は位相測定手段、４４は位置測位信号再生手段、４５は起点信号生成手段、４６は同期発振器、４７は位置測位信号生成手段、４８は位相同期発振器、４９は同期検出手段、５０は起点信号再生手段、５１ｃ、５２ｃは接続端子である。
ここで、前記制御手段１１−３は、前記制御手段１１-１と制御手段１１−２とを併せ持った構成であり、前記第１の発受信手段と第２発受信手段とに共通して用いることができる。 (Embodiment 5)
FIG. 5 is another block diagram of the control means according to the fifth embodiment of the present invention. In FIG. 5, 11-3 is a third configuration example of the control means, 41 is a reference oscillator, 42 is a position positioning means, 43 is a phase measuring means, 44 is a position positioning signal reproducing means, 45 is an origin signal generating means, 46 Is a synchronous oscillator, 47 is a positioning signal generating means, 48 is a phase synchronous oscillator, 49 is a synchronous detecting means, 50 is a starting point signal reproducing means, and 51c and 52c are connection terminals.
Here, the control means 11-3 is configured to have both the control means 11-1 and the control means 11-2, and is commonly used for the first transmission / reception means and the second transmission / reception means. be able to.

前記起点信号生成手段４５によって、図６に無線信号の構成を例示するように、前記基準発振器４１に同期し、少なくとも、システム同期信号６１と、マックレイヤ６２と、法規により許容される周波数範囲の単一もしくは複数の起点信号６３−１〜６３−ｎとが生成され、制御手段１１−３の接続端子５１ｃを介して前記第１の発受信手段もしくは第２発受信手段に供給され、更に、前記起点信号は、位相測定のためのクロック信号として、別途、前記位相測定手段４３にも供給される。   As shown in FIG. 6, the origin signal generation means 45 synchronizes with the reference oscillator 41, and at least the system synchronization signal 61, the Mac layer 62, and the frequency range allowed by law. Single or plural origin signals 63-1 to 63-n are generated and supplied to the first transmission / reception means or the second transmission / reception means via the connection terminal 51c of the control means 11-3. The origin signal is separately supplied to the phase measuring means 43 as a clock signal for phase measurement.

一方、前記第２の発受信手段もしくは第１発受信手段によって受信される無線信号は、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅され、制御手段１１−３の接続端子５２ｃを介して前記起点信号再生手段４４と位置測位信号再生手段５０とに供給され、前記起点信号、位置測位信号、もしくはこれらの両方が、無線信号の搬送波信号あるいは副搬送波信号である場合には、伝達位相誤差の少ない帯域通過フイルタ（例えば、バターワースバンドパスフイルタ）を通し、あるいは無線信号の搬送波信号あるいは副搬送波信号を変調した変調信号あるいは拡散符号である場合には、伝達位相誤差の少ないアナログ復調器もしくはリニアデジタル復調器もしくは高いサンプリング周波数を用いた伝達位相誤差の少ないデジタル復調器によって復調した後に、前記帯域通過フイルタを通して再生することによって、前記距離の算出誤差を軽減することができる。   On the other hand, the radio signal received by the second transmission / reception means or the first transmission / reception means is amplified directly or converted into an intermediate frequency signal or baseband signal and amplified via the connection terminal 52c of the control means 11-3. If the starting signal, the positioning signal, or both of them are a carrier signal or a subcarrier signal of a radio signal, they are supplied to the starting signal reproducing means 44 and the position positioning signal reproducing means 50. An analog demodulator with a small transmission phase error or a spread code through a band-pass filter (for example, a Butterworth band-pass filter) with a small error, or a modulated signal or spread code obtained by modulating a carrier signal or subcarrier signal of a radio signal Digital with low transmission phase error using linear digital demodulator or high sampling frequency After demodulated by Le demodulator, by reproducing through the band-pass filter, it is possible to reduce the calculation error of the distance.

なお、前記位置測位信号は、前記起点信号と同期した第１の距離測定信号、あるいは前記第１の距離測定信号と同期した第２の距離測定信号と、前記の距離測定信号とは別に生成した、方向測定信号から構成される。
また、前記位置測位信号再生手段４４によって再生された位置測位信号は位相測定手段４３に供給され、前記第１の発受信手段もしくは第２の発受信手段で生成した起点信号あるいは第１の距離測定信号の整数倍の周波数をクロック信号として用い、積和演算器によって前記位置測位信号の位相を高精度でリアルタイムで測定し、測定結果を位置測位手段４２に出力する。
また、前記位置測位手段４２は、例えば、基準発振器４１からの供給されるクロック信号によって動作する標準的なマイクロプロセッサであり、前記第１の発受信手段１０１、前記第２の発受信手段１０３、もしくはこれらの両方の２次元あるいは３次元の位置を高精度で算出する。 The position measurement signal is generated separately from the first distance measurement signal synchronized with the origin signal or the second distance measurement signal synchronized with the first distance measurement signal and the distance measurement signal. , Composed of direction measurement signals.
The position positioning signal reproduced by the position positioning signal reproducing means 44 is supplied to the phase measuring means 43, and the starting point signal or the first distance measurement generated by the first transmitting / receiving means or the second transmitting / receiving means. Using a frequency that is an integral multiple of the signal as a clock signal, the product-sum calculator measures the phase of the positioning signal with high accuracy in real time, and outputs the measurement result to the positioning means 42.
The position positioning means 42 is, for example, a standard microprocessor that operates according to a clock signal supplied from the reference oscillator 41. The first transmitting / receiving means 101, the second transmitting / receiving means 103, Alternatively, both of these two-dimensional or three-dimensional positions are calculated with high accuracy.

ここで、前記積和演算器は、少なくとも、前記起点信号もしくは第１の距離測定信号の整数倍の周波数をクロック信号として用い、前記第１もしくは第２の距離測定信号を、例えば、８ビット以上のアナログ／デジタル変換器によってデジタル信号に変換し、前記デジタル信号に変換した第１もしくは第２の距離測定信号とＳｉｎおよびＣｏｓのルックアップテーブルとの積和演算を行うものであり、前記積和演算に用いるＳｉｎのルックアップテーブルは０、１、０、−１、もしくは１、１、−１、−１、もしくはこれらの整数倍の繰り返しであり、一方、Ｃｏｓのルックアップテーブルは１、０、−１、０、もしくは１、−１、−１、１、もしくはこれらの整数倍の繰り返しであり、かつ積和演算を行う際の１との乗算は当該デジタル信号と同じ値であり、−１との乗算は当該デジタル信号の補数を求めることであり、０との剰算は０であり、これらを組合わせることで、前記積和演算回路を単純化でき、しかもロジック回路で実現できるため、高速で、リアルタイムの演算が可能となる。   Here, the product-sum calculator uses, as a clock signal, at least a frequency that is an integer multiple of the origin signal or the first distance measurement signal, and the first or second distance measurement signal is, for example, 8 bits or more. Is converted into a digital signal by an analog / digital converter, and a product-sum operation is performed on the first or second distance measurement signal converted into the digital signal and a lookup table of Sin and Cos. The Sin lookup table used for the calculation is 0, 1, 0, −1, or 1, 1, −1, −1, or an integer multiple of these, while the Cos lookup table is 1, 0. , -1, 0, or 1, -1, -1, 1, or an integer multiple of these, and multiplication with 1 when performing a product-sum operation is performed in the digital signal. The multiplication with -1 is to obtain the complement of the digital signal, the remainder with 0 is 0, and by combining these, the product-sum operation circuit can be simplified, Moreover, since it can be realized with a logic circuit, high-speed and real-time computation is possible.

また、前記距離測定信号の１周期の整数倍以上の区間を区切って位相を測定し、もしくは１周期の整数倍以上の区間を更に複数区間に区切って位相を測定して平均値を求め、もしくは１周期の整数倍以上の長さの窓枠関数を設定して位相を測定し、必要に応じて、平均値を求め、又は複数回の間欠発受信の間に移動平均値を求めることで、±０．５°の精度でしかもリアルタイムで、位相を測定することができる。   Further, the phase is measured by dividing a section of an integer multiple of one cycle of the distance measurement signal, or the phase is measured by dividing a section of an integer multiple of one cycle into a plurality of sections, or an average value is obtained, or By measuring a phase by setting a window frame function having a length of an integer multiple of one cycle, and obtaining an average value as necessary, or obtaining a moving average value during multiple intermittent transmissions, The phase can be measured with an accuracy of ± 0.5 ° and in real time.

一方、前記起点信号再生手段５０によって再生された起点信号、前記位置測位信号再生手段４４によって再生された第１の距離測定信号、あるいはこれらの両方は、同期検出手段５９によって、基準発振器４１から直接供給され、あるいは位相同期発振器４８によって高い周波数に変換されて供給されるクロック信号によってサンプリングされ、前記起点信号、第１の距離測定信号、もしくはこれらの両方の立上り点、立下り点、もしくはゼロ交差点のタイミングが検出され、セットあるいはリセット信号あるいは外部同期信号として同期発振手段４６に供給される。   On the other hand, the origin signal reproduced by the origin signal reproduction means 50, the first distance measurement signal reproduced by the position positioning signal reproduction means 44, or both of them are directly transmitted from the reference oscillator 41 by the synchronization detection means 59. Sampled by a clock signal supplied or converted to a high frequency by the phase-locked oscillator 48 and supplied to the rising point, falling point, or zero crossing point of the origin signal, the first distance measurement signal, or both Is detected and supplied to the synchronous oscillation means 46 as a set or reset signal or an external synchronization signal.

ここで、前記同期発振手段４６はセットあるいはリセット付きの同期式あるいは非同期式のカウンタあるいは数値制御発振器によって構成され、前記セットあるいはリセット信号あるいは外部同期信号によって、セットしあるいはリセットすることで、数マイクロ秒以内の瞬時にして同期を確立し、前記起点信号もしくは第１の距離測定信号が消滅しても、所定期間、同期を保持できるメリットが得られる。   Here, the synchronous oscillating means 46 is constituted by a synchronous or asynchronous counter with a set or reset or a numerically controlled oscillator, and is set or reset by the set or reset signal or an external synchronous signal. Even if the synchronization is established within an instant within seconds and the origin signal or the first distance measurement signal disappears, there is an advantage that the synchronization can be maintained for a predetermined period.

なお、前記同期発振手段４６の代わりに、基準発振器４１によって駆動されるデジタルシンセサイザを用いると、前記起点信号との同期を確立し、前記起点信号が消滅した後も、所定期間、同期を保持できるよう構成することができるが、この場合には、同期確立までに数百マイクロ秒がかかり、また同期確立後の残留位相誤差が大きいなどの問題点がある。
また、前記同期検出手段４９に供給されるサンプリング信号と、前記同期発振手段５４に供給されるクロック信号とは、前記基準発振器４１の出力信号を直接あるいは位相同期発振器４８もしくは逓倍器を用いて高い周波数に変換して生成される。 If a digital synthesizer driven by a reference oscillator 41 is used instead of the synchronous oscillation means 46, synchronization with the starting signal can be established, and synchronization can be maintained for a predetermined period after the starting signal disappears. However, in this case, it takes several hundreds of microseconds to establish synchronization, and there are problems such as a large residual phase error after establishment of synchronization.
Also, the sampling signal supplied to the synchronization detecting means 49 and the clock signal supplied to the synchronous oscillating means 54 are high, using the output signal of the reference oscillator 41 directly or by using the phase synchronous oscillator 48 or a multiplier. Generated by converting to frequency.

また、前記同期発振手段４６からの出力信号は、位置測位信号生成手段４７によって、単一の周波数あるいは周波数の異なる複数の、搬送波信号、副搬送波信号、変調信号、スペクトル拡散符号、もしくはこれらの任意の組み合わせによる位置測位信号に変換され、接続端子５１ｃを介して前記第１の発受信手段もしくは第２の発受信手段に供給される。
また、前記距離測定信号が同期しあるいは直交し少なくとも周波数が異なる複数の距離測定信号である場合には、距離を測定するレンジを変化させることが可能であり、大まかな距離の測定から精細な距離の測定に切替えて測定することが可能となる。
Also, the output signal from the synchronous oscillation means 46 is output by the position positioning signal generation means 47 by a single frequency or a plurality of carrier signals, subcarrier signals, modulation signals, spread spectrum codes, or any of these, having different frequencies. Is converted into a positioning signal by the combination of the above and supplied to the first transmitting / receiving means or the second transmitting / receiving means via the connection terminal 51c.
In addition, when the distance measurement signals are a plurality of distance measurement signals that are synchronized or orthogonal and have at least different frequencies, it is possible to change the range for measuring the distance, and from the rough distance measurement to the fine distance measurement. It is possible to switch to the measurement of

図６は、本発明の無線信号の構成例を示す図である。図６において、６１はシステム同期信号、６２はＭＡＣレイヤ、６３−１〜６３−ｎは起点信号もしくは位置測位信号もしくは方向測定信号である。
前記システム同期信号６１は複数ビットのユニークワードであり、±１００ナノ秒程度の精度で前記第１の発受信手段１０１と第２の発受信手段１０３との間の制御タイミングを合わせることができるが、この程度の精度で両者間の距離を算出すると、距離の測定誤差が数十ｍと大きくなる問題点がある。
前記ＭＡＣレイヤ６２は、少なくとも、符号長、識別番号、相手先番号、データ情報、誤り訂正符号、もしくはこれらの組合せから構成され、前記システム同期信号６１とセットになって生成される。 FIG. 6 is a diagram illustrating a configuration example of a radio signal according to the present invention. In FIG. 6, 61 is a system synchronization signal, 62 is a MAC layer, 63-1 to 63-n are origin signals, position positioning signals, or direction measurement signals.
The system synchronization signal 61 is a multi-bit unique word, and the control timing between the first transmission / reception means 101 and the second transmission / reception means 103 can be matched with an accuracy of about ± 100 nanoseconds. If the distance between the two is calculated with such accuracy, there is a problem that the distance measurement error becomes as large as several tens of meters.
The MAC layer 62 includes at least a code length, an identification number, a partner number, data information, an error correction code, or a combination thereof, and is generated as a set with the system synchronization signal 61.

前記起点信号もしくは第１の距離測定信号は、前記第１の発受信手段１０１と第２の発受信手段１０３との間で精密な同期を確立するための信号であり、通常所定の値よりも低い周波数の単一もしくは複数の、搬送波信号、副搬送波信号、変調信号、スペクトル拡散符号、もしくはこれらの任意の組合せによる信号が用いられる。
また、前記ＭＡＣレイヤ６２の継続時間を１ｍｓ程度とし、前記起点信号もしくは位置測位信号の継続時間を１ｍｓ程度とすると、片方向の合計で２ｍｓ程度の継続時間となり、両方向の合計で５ｍｓ程度となるので、前記間欠発信の間隔をＣＲ発振器などの自励発振器で制御することで、複数の発受信手段の間で相互間の同期を取らず非同期で間欠発信できることから、経済的なシステム運用が可能となる。 The origin signal or the first distance measurement signal is a signal for establishing precise synchronization between the first transmission / reception means 101 and the second transmission / reception means 103, and is usually lower than a predetermined value. A low frequency single or multiple carrier signal, subcarrier signal, modulated signal, spread spectrum code, or any combination thereof is used.
Further, if the duration of the MAC layer 62 is about 1 ms and the duration of the origin signal or the positioning signal is about 1 ms, the total duration in one direction is about 2 ms and the total in both directions is about 5 ms. Therefore, by controlling the interval of intermittent transmission with a self-excited oscillator such as a CR oscillator, it is possible to perform intermittent transmission asynchronously without synchronization between a plurality of transmission / reception means, enabling economical system operation It becomes.

一方、前記位置測位信号の継続時間を１００ｍｓ程度に延長することで、位置の測位精度を１０倍程度に高くすることができるが、複数の発受信手段の間で混信が生じるようになり、これを避けるために複数の発受信手段の間で同期をとる必要が生じ、運用コストが上昇する欠点が生じることとなる。
また、前記複数組の起点信号あるいは複数組の位置測位信号には、図９および図１０に示すように、同期検出誤差関数を付与するために設けられた、移相手段８２によって複数組の起点信号８３ａ〜８３ｎを生成し、あるいは複数組の同期発振手段９２ａ〜９２ｎによって複数組の距離測定信号を生成する場合を含んでいる。
On the other hand, it is possible to increase the positioning accuracy of the position to about 10 times by extending the duration of the positioning signal to about 100 ms. However, this causes interference between a plurality of transmitting / receiving means. In order to avoid this, it is necessary to synchronize between a plurality of transmission / reception means, resulting in a disadvantage that the operation cost increases.
Further, as shown in FIG. 9 and FIG. 10, a plurality of sets of starting points are provided by the phase shift means 82 provided to give a synchronization detection error function to the plurality of sets of starting signals or the plurality of position positioning signals. This includes a case where the signals 83a to 83n are generated or a plurality of sets of distance measurement signals are generated by the plurality of sets of synchronous oscillation means 92a to 92n.

図７は、本発明の無線測位装置のタイミングチャートである。図７において、７１ａは第２の発受信手段１０３から発信される起点信号、７１ｂは第１の発受信手段１０１よって再生される起点信号、７２は前記第２の発受信手段から第１の発受信手段に向けて起点信号が伝搬する伝搬経路、７３ａは前記第１の発受信手段よって再生された起点信号に同期して生成される距離測定信号、７３ｂは前記第１の発受信手段によって再生された距離測定信号、７４は前記第１の発受信手段から第２の発受信手段に向けて距離測定信号が伝搬する伝搬経路、７５は前記第２の発受信手段から発信される起点信号と前記第２の発受信手段によって再生される距離測定信号との位相差、７６ａは前記第２の発受信手段の発信手段の時間軸、７６ｂは前記第２の発受信手段の受信手段の時間軸、７７ａは前記第１の発受信手段の受信手段の時間軸、７７ｂは前記第１の発受信手段の発信手段の時間軸、７８は前記第２の発受信手段の発信のタイミングから第１発受信手段の発信のタイミングまでの時分割の送受信間隔である。   FIG. 7 is a timing chart of the wireless positioning device of the present invention. In FIG. 7, 71a is a starting signal transmitted from the second transmitting / receiving means 103, 71b is a starting signal reproduced by the first transmitting / receiving means 101, and 72 is a first transmitting signal from the second transmitting / receiving means. A propagation path through which the starting signal propagates toward the receiving means, 73a is a distance measurement signal generated in synchronization with the starting signal reproduced by the first transmitting / receiving means, and 73b is reproduced by the first transmitting / receiving means. The distance measurement signal 74 is a propagation path through which the distance measurement signal propagates from the first transmission / reception means to the second transmission / reception means, and 75 is a starting signal transmitted from the second transmission / reception means. The phase difference from the distance measurement signal reproduced by the second transmitter / receiver, 76a is the time axis of the transmitter of the second transmitter / receiver, and 76b is the time axis of the receiver of the second transmitter / receiver. , 77a is the first The time axis of the reception means of the transmission means, 77b is the time axis of the transmission means of the first transmission / reception means, and 78 is the transmission timing of the second transmission / reception means to the transmission timing of the first transmission / reception means. This is the time division transmission / reception interval.

前記第２の発受信手段から発信される前記起点信号７１ａをＡＳｉｎ（２πｆ１ｔ）とすると、前記起点信号７１ａが、距離Ｌ（ｍ）の伝搬経路７２を伝搬し、前記第１の発受信手段によって受信され、起点信号７１ｂとして再生されると、ＢＳｉｎ｛２πｆ１ｔ＋（２πＬｆ１／Ｃ）｝に位相が変化する。
前記再生された起点信号７１ｂと、同期確立誤差がゼロで同期した距離測定信号７３ａを生成すると、生成された距離測定信号７３ａは、同じくＢＳｉｎ｛２πｆ１ｔ＋（２πＬｆ１／Ｃ）｝で表される。 Assuming that the starting signal 71a transmitted from the second transmitting / receiving means is ASin (2πf1t), the starting signal 71a propagates along the propagation path 72 of a distance L (m), and is transmitted by the first transmitting / receiving means. When received and reproduced as the origin signal 71b, the phase changes to BSin {2πf1t + (2πLf1 / C)}.
When the distance measurement signal 73a synchronized with the reproduced origin signal 71b and the synchronization establishment error is zero, the generated distance measurement signal 73a is similarly expressed by BSin {2πf1t + (2πLf1 / C)}.

前記時分割の送受信間隔７８後に、前記生成された距離測定信号７３ａが、前記第１の発受信手段から発信され、再び、距離Ｌ（ｍ）の伝搬経路７４を伝搬し、前記第２の発受信手段で再生される距離測定信号７３ｂは、ＣＳｉｎ｛２πｆ１ｔ＋（４πＬｆ１／Ｃ）｝で表わされる。ここで、Ｃは光の速度とする。
そこで、前記第２の発受信手段で生成された起点信号７１ａと同期しあるいは直交し、周波数が前記起点信号の整数倍のクロック信号を用い、前記再生された距離測定信号７３ｂの位相を測定すると、前記第２の発受信手段で生成された起点信号７１ａと前記第２の発受信手段で再生された距離測定信号７３ｂとの位相差７７ａが測定され、ΔΦ＝｛４πＬｆ１／Ｃ｝となることから、Ｌ＝｛ＣΔΦ／４πｆ１｝から、距離Ｌ（ｍ）が算出できる。
After the time division transmission / reception interval 78, the generated distance measurement signal 73a is transmitted from the first transmission / reception means, propagates again through the propagation path 74 of the distance L (m), and the second transmission signal 74a is transmitted. The distance measurement signal 73b reproduced by the receiving means is represented by CSin {2πf1t + (4πLf1 / C)}. Here, C is the speed of light.
Therefore, when the phase of the reproduced distance measurement signal 73b is measured using a clock signal that is synchronized with or orthogonal to the starting point signal 71a generated by the second transmitting / receiving means and whose frequency is an integral multiple of the starting point signal. The phase difference 77a between the origin signal 71a generated by the second transmitter / receiver and the distance measurement signal 73b reproduced by the second transmitter / receiver is measured, and ΔΦ = {4πLf1 / C}. From L = {CΔΦ / 4πf1}, the distance L (m) can be calculated.

図８は、本発明の無線測位装置の他のタイミングチャートであり、７１ａは第２の発受信手段から発信される起点信号、７１ｂは第１の発受信手段によって再生される起点信号、７２は前記第２の発受信手段から第１の発受信手段に向けて起点信号７１ａが伝搬する伝搬経路、７３ａは前記第１の発受信手段によって再生された起点信号７１ｂに同期して生成される第１の距離測定信号、７３ｂは前記第１の発受信手段によって再生された第１の距離測定信号、７４は前記第２の発受信手段から第１の発受信手段に向けて第１の距離測定信号７３ａが伝搬する伝搬経路、７５ａは前記第１の発受信手段で再生される第１の距離測定信号７３ｂに同期して生成された第２の距離測定信号、７５ｂは第２の発受信手段で再生された第２の距離測定信号であり、   FIG. 8 is another timing chart of the wireless positioning device of the present invention, in which 71a is a starting signal transmitted from the second transmitting / receiving means, 71b is a starting signal reproduced by the first transmitting / receiving means, and 72 is A propagation path 73a through which the origin signal 71a propagates from the second transmitter / receiver to the first transmitter / receiver, and 73a is generated in synchronization with the origin signal 71b reproduced by the first transmitter / receiver. 1 is a distance measurement signal, 73b is a first distance measurement signal reproduced by the first transmission / reception means, and 74 is a first distance measurement from the second transmission / reception means toward the first transmission / reception means. A propagation path through which the signal 73a propagates; 75a, a second distance measurement signal generated in synchronization with the first distance measurement signal 73b reproduced by the first transmission / reception means; and 75b, second transmission / reception means. Second distance measurement reproduced in Is an issue,

７６は前記第１の発受信手段から第２の発受信手段に向けて第２の距離測定信号７５ａが伝搬する伝搬経路、７７ａは第２の発受信手段から発信される起点信号７１ａと前記第２の発受信手段によって再生される第１の距離測定信号７３ｂとの位相差、７７ｂは第１の発受信手段で生成される第１の距離測定信号７３ａと第１の発受信手段で再生される第２の距離測定信号７５ｂとの位相差、７８ａ〜７８ｃは前記第２の発受信手段の発信手段と受信手段の時間軸、７９ａ〜７９ｃは前記第１の発受信手段の受信手段と発信手段の時間軸、８０ａ、８０ｂは時分割の送受信間隔である。   76 is a propagation path through which the second distance measurement signal 75a propagates from the first transmitting / receiving unit to the second transmitting / receiving unit, and 77a is the origin signal 71a transmitted from the second transmitting / receiving unit and the first signal. The phase difference from the first distance measurement signal 73b reproduced by the second transmission / reception means, 77b is reproduced by the first distance measurement signal 73a generated by the first transmission / reception means and the first transmission / reception means. The phase difference with the second distance measurement signal 75b, 78a to 78c are the time axis of the transmitting and receiving means of the second transmitting and receiving means, and 79a to 79c are the transmitting and receiving means of the first transmitting and receiving means. The time axis of the means, 80a and 80b are time-division transmission / reception intervals.

前記第２の発受信手段から発信される前記起点信号７１ａをＡＳｉｎ（２πｆ１ｔ）とすると、前記起点信号７１ａが、距離Ｌ（ｍ）の伝搬経路７２を伝搬し、前記第１の発受信手段によって受信され、起点信号７１ｂとして再生されると、ＢＳｉｎ｛２πｆ１ｔ＋（２πＬｆ１／Ｃ）｝に位相が変化する。
前記再生された起点信号７１ｂと、同期確立誤差がゼロで同期した第１の距離測定信号７３ａを生成すると、生成された第１の距離測定信号７３ａは、同じくＢＳｉｎ｛２πｆ１ｔ＋（２πＬｆ１／Ｃ）｝で表される。 Assuming that the starting signal 71a transmitted from the second transmitting / receiving means is ASin (2πf1t), the starting signal 71a propagates along the propagation path 72 of a distance L (m), and is transmitted by the first transmitting / receiving means. When received and reproduced as the origin signal 71b, the phase changes to BSin {2πf1t + (2πLf1 / C)}.
When the first distance measurement signal 73a synchronized with the reproduced origin signal 71b and the synchronization establishment error is zero, the generated first distance measurement signal 73a is similarly BSin {2πf1t + (2πLf1 / C)}. It is represented by

前記時分割の送受信間隔８０ａ後に、前記生成された第１の距離測定信号７３ａが、前記第１の発受信手段から発信され、再び、距離Ｌ（ｍ）の伝搬経路７４を伝搬し、前記第２の発受信手段で再生される第１の距離測定信号７３ｂは、ＣＳｉｎ｛２πｆ１ｔ＋（４πＬｆ１／Ｃ）｝で表わされる。ここで、Ｃは光の速度とする。
そこで、前記第２の発受信手段で生成された起点信号７１ａと同期しあるいは直交し、周波数が前記起点信号の整数倍のクロック信号を用い、前記再生された第１の距離測定信号７３ｂの位相を測定すると、前記第２の発受信手段で生成された起点信号７１ａと前記第２の発受信手段で再生された第１の距離測定信号７３ｂとの位相差７７ａが測定され、ΔΦ＝｛４πＬｆ１／Ｃ｝となることから、Ｌ＝｛ＣΔΦ／４πｆ１｝から、距離Ｌ（ｍ）が前記第２の発受信手段の側で算出できる。 After the time-division transmission / reception interval 80a, the generated first distance measurement signal 73a is transmitted from the first transmission / reception means, propagates again through the propagation path 74 of the distance L (m), and the first The first distance measurement signal 73b reproduced by the two transmitting / receiving means is represented by CSin {2πf1t + (4πLf1 / C)}. Here, C is the speed of light.
Therefore, the phase of the reproduced first distance measurement signal 73b is synchronized with or orthogonal to the starting point signal 71a generated by the second transmitting / receiving means and uses a clock signal whose frequency is an integral multiple of the starting point signal. Is measured, a phase difference 77a between the origin signal 71a generated by the second transmitter / receiver and the first distance measurement signal 73b reproduced by the second transmitter / receiver is measured, and ΔΦ = {4πLf1 / C}, the distance L (m) can be calculated on the second transmitting / receiving unit side from L = {CΔΦ / 4πf1}.

前記に続けて、前記第２の発受信手段１０３において、前記再生された第１の距離測定信号７３ｂと同期して生成された第２の距離測定信号７５ａを前記第１の発受信手段１０１に向けて発信し、前記第１の発受信手段１０１で再生された第２の距離測定信号７５ｂと、前記第１の発受信手段に向けて発信した第１の距離測定信号との位相差７７ｂを測定すると、ΔΦ＝｛４πＬｆ１／Ｃ｝となることから、Ｌ＝｛ＣΔΦ／４πｆ１｝から、距離Ｌ（ｍ）が前記第１の発受信手段側でも算出できる。
更に、同様なシーケンスを繰返すことによって、前記第１の発受信手段側と前記第２の発受信手段側とで、複数回距離Ｌ（ｍ）が算出できることから、それぞれの側で、平均値を求めることで、距離の算出精度を高めることができる。
なお、前記算出精度の改善は、同期確立誤差関数の付与によって、前記同期検出手段４９における同期確立誤差がランダムに変化することでも追加的に実現できる。
Subsequently to the above, the second transmission / reception means 103 receives the second distance measurement signal 75a generated in synchronization with the reproduced first distance measurement signal 73b to the first transmission / reception means 101. A phase difference 77b between the second distance measurement signal 75b transmitted to the first transmission / reception means 101 and the first distance measurement signal transmitted to the first transmission / reception means is obtained. Since ΔΦ = {4πLf1 / C} is measured, the distance L (m) can also be calculated on the first transmitting / receiving unit side from L = {CΔΦ / 4πf1}.
Further, by repeating the same sequence, the distance L (m) can be calculated a plurality of times on the first transmitting / receiving means side and the second transmitting / receiving means side. By calculating, the distance calculation accuracy can be increased.
The improvement of the calculation accuracy can be additionally realized by the fact that the synchronization establishment error in the synchronization detection means 49 changes at random by adding the synchronization establishment error function.

図９は、本発明の無線測位装置の誤差関数生成手段の構成図である。図９において、４１は基準発振器、４８は位相同期発振器、２７は同期確立誤差関数生成手段、８２は移相手段、８３ａ〜８３ｎは移相手段８２の切替タップ、８４は切替制御手段、８５、８６、８７は接続端子である。
前段の基準発振器４１からの出力信号を位相同期発振器４８によって高い周波数に変換し、接続端子８５を介して移相手段８２に入力する。 FIG. 9 is a block diagram of the error function generating means of the wireless positioning device of the present invention. 9, reference numeral 41 is a reference oscillator, 48 is a phase-locked oscillator, 27 is a synchronization establishment error function generating means, 82 is a phase-shifting means, 83a to 83n are switching taps for the phase-shifting means 82, 84 is a switching control means, 85, 86 and 87 are connection terminals.
The output signal from the reference oscillator 41 at the previous stage is converted to a high frequency by the phase-locked oscillator 48 and input to the phase shift means 82 via the connection terminal 85.

移相手段８２は、複数段のシフトレジスタ、あるいは複数段の遅延素子、あるいは複数段の遅延回路などによって構成され、各段の信号出力は切替タップ８３ａ〜８３ｎによって引き出され、切替制御手段８４によって順次切替えられ、高い周波数のクロック信号として接続端子８６から外部（同期検出手段、同期発振手段など）に出力される。
前記移相手段８２の各段の移相量は極力小さいことが望ましく、かつ移相量の合計は、前記クロック信号の１周期以上であることが必要である。例えば、前記クロック信号の周波数が２５６ＭＨｚであるとすると、移相手段８２の各段の移相量は４ナノ秒以下（例えば、０．４ナノ秒など）であり、かつ移相量の合計は４ナノ秒以上（例えば、６．４ナノ秒など）とする必要がある。 The phase shift means 82 is constituted by a plurality of stages of shift registers, a plurality of stages of delay elements, or a plurality of stages of delay circuits, and the signal output of each stage is drawn out by switching taps 83a to 83n. The signals are sequentially switched and output from the connection terminal 86 to the outside (synchronization detection means, synchronous oscillation means, etc.) as a high frequency clock signal.
The amount of phase shift at each stage of the phase shift means 82 is preferably as small as possible, and the total amount of phase shift needs to be one period or more of the clock signal. For example, if the frequency of the clock signal is 256 MHz, the phase shift amount of each stage of the phase shift means 82 is 4 nanoseconds or less (for example, 0.4 nanosecond), and the sum of the phase shift amounts is It is necessary to set it to 4 nanoseconds or more (for example, 6.4 nanoseconds).

上記の移相手段８２が無い場合に、同期発振手段５４の同期確立精度が±２ナノ秒程度であり、起点信号の周波数を１ＭＨｚとすると、距離の測定精度は、距離測定レンジが１５０ｍであるのに対して、±３０ｃｍが限界となるが、上記の移相手段８２を設け、各段に割付けられた移相量を０．４ナノ秒とし、算出した距離の平均値を求めると、測位精度を±１５ｃｍ程度に改善することができる。
なお、前記移相手段８２は前記同期発振手段５４に対して同期確立誤差関数を付与することになり、複数段のタップ８３ａ〜８３ｎの各段ごとに生じる同期確立誤差の合計を同期確立誤差関数として表現すれば、同期確立誤差関数は多項式によって表現できるので、しかも前記多項式が０もしくは一定値に収斂するように設定することになる。
When the phase shift means 82 is not provided, the synchronization establishment accuracy of the synchronous oscillation means 54 is about ± 2 nanoseconds, and the distance measurement range is 150 m when the frequency of the origin signal is 1 MHz. On the other hand, ± 30 cm is the limit, but the phase shift means 82 is provided, the phase shift amount assigned to each stage is 0.4 nanoseconds, and the average value of the calculated distances is determined. The accuracy can be improved to about ± 15 cm.
The phase shifting means 82 gives a synchronization establishment error function to the synchronous oscillation means 54, and the sum of the synchronization establishment errors generated for each stage of the plurality of stages of taps 83a to 83n is the synchronization establishment error function. Since the synchronization establishment error function can be expressed by a polynomial, the polynomial is set to converge to 0 or a constant value.

図１０は、本発明の無線測位装置の誤差関数生成手段の他の構成図である。図１０において、１３は同期発信手段、９１、９３は切替スイッチ、９２ａ〜９２ｎは複数組のセットあるいはリセット付きのカウンタあるいは複数組の数値制御発振器、９４〜９６は接続端子である。
接続端子９４に供給される前記起点信号、距離測定信号、もしくはこれらの両方から検出されたセットあるいはリセット信号、もしくは同期検出信号は、切替スイッチ９１によって切替えられ、前記複数組のカウンタあるいは複数組の数値制御発振器９２ａ〜９２ｎを順次セットしあるいはリセットする。 FIG. 10 is another configuration diagram of the error function generation means of the wireless positioning device of the present invention. In FIG. 10, reference numeral 13 is a synchronous transmission means, 91 and 93 are changeover switches, 92a to 92n are a plurality of sets or counters with resets or a plurality of sets of numerically controlled oscillators, and 94 to 96 are connection terminals.
A set or reset signal or a synchronization detection signal detected from the starting point signal, the distance measurement signal, or both of them supplied to the connection terminal 94 is switched by a changeover switch 91, and the plurality of sets of counters or a plurality of sets of The numerically controlled oscillators 92a to 92n are sequentially set or reset.

一方、接続端子９６には基準発振器４１（記載せず）から直接あるいは位相同期発振器４８を用いて高い周波数に変換してクロック信号が供給され、前記セットあるいはリセットのタイミングに同期して、前記複数組のカウンタ９２ａ〜９２ｎがセットされあるいはリセットされて、通常、低い周波数へカウントダウンされる。
前記複数組のカウンタあるいは複数組の数値制御発振器９２ａ〜９２ｎによって生成された出力信号は、切替スイッチ９３により順次切替えられてＳＩＧＮＡＬ＃１〜ＳＩＧＮＡＬ＃ｎの各信号として割付けられ、接続端子９５を経由して、前記距離測定信号生成手段４５（記載せず）に供給される。 On the other hand, the connection terminal 96 is supplied with a clock signal directly from a reference oscillator 41 (not shown) or converted into a high frequency using a phase-locked oscillator 48, and the plurality of the plurality of the connection terminals 96 are synchronized with the set or reset timing. A set of counters 92a-92n is set or reset and is usually counted down to a lower frequency.
Output signals generated by the plural sets of counters or plural sets of numerically controlled oscillators 92a to 92n are sequentially switched by the changeover switch 93 and assigned as signals SIGNAL # 1 to SIGNAL # n. Then, it is supplied to the distance measurement signal generation means 45 (not shown).

ここで、前記基準発振器４１（記載せず）から直接あるいは位相同期発振器４８を介して前記同期検出手段４６（記載せず）に供給されるクロック信号の周波数もしくは位相と、前記起点信号の周波数もしくは位相とは非相関であることが望ましく、かつ／又は両者間の周波数もしくは位相の関係を前記起点信号を受信している時間内にランダムに変化させることができれば、前記複数組のカウンタあるいは複数組の数値制御発振器９２ａ〜９２ｎの間の同期確立誤差の相関係数を低く抑えられるので、前記距離測定信号の位相を測定して距離を算出した結果から平均値を求めることで、距離測定精度を改善できるメリットが得られる。   Here, the frequency or phase of the clock signal supplied from the reference oscillator 41 (not shown) directly or via the phase-locked oscillator 48 to the synchronization detecting means 46 (not shown), and the frequency or the phase of the starting signal or If it is desirable that the phase is uncorrelated and / or the frequency or phase relationship between the two can be changed randomly within the time when the starting signal is received, the plurality of counters or the plurality of sets Since the correlation coefficient of the synchronization establishment error between the numerically controlled oscillators 92a to 92n can be kept low, the distance measurement accuracy can be improved by obtaining the average value from the result of calculating the distance by measuring the phase of the distance measurement signal. Benefits that can be improved.

言い換えれば、前記複数組のカウンタあるいは複数組の数値制御発振器９２ａ〜９２ｎの各出力に対応して、前記同期検出手段４６によって検出されるセットあるいはリセット信号の検出タイミングがランダムに変化すれば、前記同期確立誤差の相関係数を低く抑えられる。
一例として、前記アンテナ切替手段に複数のアンテナもしくは送受波器を接続し、前記複数組のカウンタあるいは複数組の数値制御発振器９２ａ〜９２ｎを切替えるタイミングに合わせて前記複数のアンテナもしくは送受波器を切替えることによって、無線信号の伝搬経路の位相変化がランダムであることを利用して、前記同期確立誤差の相関係数を低く抑えることができる。 In other words, if the detection timing of the set or reset signal detected by the synchronization detecting means 46 changes at random in correspondence to the outputs of the plurality of sets of counters or the plurality of sets of numerically controlled oscillators 92a to 92n, The correlation coefficient of synchronization establishment error can be kept low.
As an example, a plurality of antennas or transducers are connected to the antenna switching means, and the plurality of antennas or transducers are switched in accordance with the timing of switching the plurality of sets of counters or the plurality of sets of numerically controlled oscillators 92a to 92n. Accordingly, the correlation coefficient of the synchronization establishment error can be kept low by utilizing the fact that the phase change of the propagation path of the radio signal is random.

なお、切替スイッチ９１と９３の切替タイミングは同一でなく、少なくとも、前記時分割の送受信間隔で受発信を行うタイミングに合わせる必要がある。
また、前記複数組のカウンタを用いると、１組当たり８段程度以下のカウンタで済むことから、１６組程度のカウンタを設けても、１２８段程度のカウンタで済むことから経済的な規模となる。
また、前記複数組のカウンタあるいは複数組の数値制御発振器９２ａ〜９２ｎの各組ごとに生じる同期確立誤差の合計を同期確立誤差関数として表現すれば、同期確立誤差関数は多項式によって表現でき、しかも前記多項式は０もしくは一定値に収斂するように設定することになる。
Note that the switching timings of the changeover switches 91 and 93 are not the same, and it is necessary to match at least the timing of transmission / reception at the time-division transmission / reception intervals.
In addition, when a plurality of sets of counters are used, the number of counters is about 8 or less per set, so even if about 16 sets of counters are provided, only about 128 stages of counters are required, resulting in an economical scale. .
Further, if the total synchronization establishment error generated for each set of the plurality of sets of counters or the plurality of sets of numerically controlled oscillators 92a to 92n is expressed as a synchronization establishment error function, the synchronization establishment error function can be expressed by a polynomial. The polynomial is set to converge to 0 or a constant value.

以上の説明では無線信号として電波を用いる場合について述べたが、無線信号として超音波信号あるいは高周波信号あるいは光信号を含むことができる。なお、超音波信号あるいは光信号の場合には、アンテナの代わりに送受波器を用い、また、光信号の場合には所定の値よりも周波数が高い副搬送波信号あるいは高いチップレートの拡散符号を用いるものとする。
また、ＵＷＢ（ウルトラワイドバンド）方式を採用することで、所定の値よりも高い周波数の変調信号を用いることが可能となり、３０ｍ以下の近距離で高精度の２次元もしくは３次元の位置測位が可能となる。 In the above description, the case where radio waves are used as radio signals has been described. However, ultrasonic signals, high-frequency signals, or optical signals can be included as radio signals. In the case of an ultrasonic signal or an optical signal, a transducer is used instead of an antenna. In the case of an optical signal, a subcarrier signal having a frequency higher than a predetermined value or a spreading code having a high chip rate is used. Shall be used.
In addition, by adopting the UWB (ultra-wide band) method, it becomes possible to use a modulation signal having a frequency higher than a predetermined value, and high-precision two-dimensional or three-dimensional positioning at a short distance of 30 m or less. It becomes possible.

また、前記第２の発受信手段が擬似衛星局であり擬似ＧＰＳ信号を発信する場合、従来のＧＰＳと同様なＢＰＳＫ変調の他に任意の変調方式が用いられ、あるいはＣ／ＡコードあるいはＰコード以外にも任意のコード化が可能である。
また、前記ＭＡＣレイヤには、少なくとも前記発信手段の識別符号あるいは識別番号が含まれ、あるいは局情報が含まれ、あるいはテキスト情報が含まれ、あるいは時間率１％を越えない範囲で符号長を選択することができる。
また、前記第２の発受信手段が単一のアンテナを有し、前記第１の発受信手段が複数のアンテナを搭載して周期的に切替えながら受信しあるいは発信することでも同様な効果が得られる。
When the second transmitting / receiving means is a pseudo satellite station and transmits a pseudo GPS signal, an arbitrary modulation method is used in addition to BPSK modulation similar to the conventional GPS, or a C / A code or P code. Arbitrary coding is also possible.
In addition, the MAC layer includes at least the identification code or identification number of the transmission means, includes station information, includes text information, or selects a code length within a range not exceeding 1% of the time rate. can do.
The same effect can also be obtained when the second transmitting / receiving means has a single antenna, and the first transmitting / receiving means is equipped with a plurality of antennas to receive or transmit while switching periodically. It is done.

本発明は上記のように構成されているため、第１の発受信手段を固定局、基地局、あるいは無線マーカとして固定して設置し、第２の発受信手段を移動端末あるいは携帯端末として移動体に設置することで、移動側、固定側、もしくはこれらの両側で高精度な２次元あるいは３次元の無線測位装置を安価に実現できることから、多様なシステムに適用できる。
また、前記第１の発受信手段を擬似衛星局として屋内、屋外、あるいはこれらの両方に設置し、第２の発受信手段をＧＰＳ携帯端末することで、屋外と屋内でＧＰＳをシームレスにつなぐ、高精度な２次元あるいは３次元の無線測位装置を経済的な方法で実現できる。 Since the present invention is configured as described above, the first transmitter / receiver is fixedly installed as a fixed station, base station, or wireless marker, and the second transmitter / receiver is moved as a mobile terminal or portable terminal. By installing on the body, a highly accurate two-dimensional or three-dimensional wireless positioning device can be realized at low cost on the moving side, the fixed side, or both sides thereof, so that it can be applied to various systems.
Further, the first transmitting / receiving means is installed indoors and outdoors as a pseudo satellite station, or both of them, and the second transmitting / receiving means is a GPS mobile terminal, so that GPS can be seamlessly connected outdoors and indoors. A highly accurate two-dimensional or three-dimensional wireless positioning device can be realized in an economical manner.

また、本発明の無線測位装置を物流管理に応用すると、倉庫内の物品管理がどの場所のどの棚の何段目に収納しているが正確に記録できることになり、物流管理の効率化に役立だてることができる。
また、前記第１の発受信手段が、屋外あるいは屋内を問わず離散的に配置され、前記第２の発受信手段が歩行者あるいはロボットなどによって携帯されると、歩行者の自律移動支援システム、あるいは歩行者ナビゲーションシステム、あるいは児童の見守りシステムなどに活用することができる他、ロボットの自律歩行にも応用できる。
また、本発明の高精度測位技術は基盤技術であり、他の多くの分野での活用が期待できる。
In addition, when the wireless positioning device of the present invention is applied to logistics management, the article management in the warehouse can be accurately recorded although it is stored in which shelf on which shelf, which is useful for improving the efficiency of logistics management. I can stand up.
Further, when the first transmission / reception means is discretely arranged regardless of outdoors or indoors, and the second transmission / reception means is carried by a pedestrian or a robot, a pedestrian autonomous movement support system, Alternatively, it can be used for a pedestrian navigation system or a child watching system, and can also be applied to autonomous walking of robots.
In addition, the high-precision positioning technology of the present invention is a basic technology and can be expected to be used in many other fields.

本発明の実施の形態１による無線測位装置の構成図Configuration diagram of a wireless positioning device according to Embodiment 1 of the present invention 本発明の実施の形態２による無線測位装置の他の構成図Another configuration diagram of the wireless positioning device according to the second embodiment of the present invention 本発明の実施の形態３による制御手段の構成図Configuration diagram of control means according to embodiment 3 of the present invention 本発明の実施の形態４による制御手段の他の構成図Another block diagram of the control means by Embodiment 4 of this invention 本発明の実施の形態５による制御手段の他の構成図Another block diagram of the control means by Embodiment 5 of this invention 本発明の無線信号の構成例を示す図The figure which shows the structural example of the radio signal of this invention 本発明の無線測位装置のタイミングチャートTiming chart of the wireless positioning device of the present invention 本発明の無線測位装置の他のタイミングチャートAnother timing chart of the wireless positioning device of the present invention 本発明の無線測位装置の誤差関数生成手段の構成図Configuration diagram of error function generation means of the wireless positioning device of the present invention 本発明の無線測位装置の誤差関数生成手段の他の構成図Another block diagram of the error function generation means of the wireless positioning device of the present invention 従来の実施例を示す構成図Configuration diagram showing a conventional example

１ ＲＴＫ測位システム
２ 発信手段または擬似衛星局
３ 固定基準局受信手段
４ 移動基準局受信手段
５ ローバー受信手段
６ 利用者処理ユニットまたは受信手段
７ データリンク
１０１ 第１の発受信手段
１５ａ−１〜１５ａ−４ 指向性アンテナ
１０３ 第２の発受信手段
１０４ 第１の発受信手段と第２の発受信手段との間の距離
１０５ 第２の発受信手段のアンテナから見た方向
１０６ 第１の発受信手段のアンテナが向いている方向 DESCRIPTION OF SYMBOLS 1 RTK positioning system 2 Transmitting means or pseudo satellite station 3 Fixed reference station receiving means 4 Mobile reference station receiving means 5 Rover receiving means 6 User processing unit or receiving means 7 Data link 101 First transmitting / receiving means 15a-1 to 15a-4 Directional antenna 103 Second transmission / reception means 104 Distance 105 between first transmission / reception means and second transmission / reception means 105 Direction 106 viewed from antenna of second transmission / reception means 106 First transmission / reception means Direction the antenna is facing

Claims (13)

超音波信号あるいは高周波信号あるいは光信号である無線信号を用いる無線測位装置において、
同一の無線周波数を用いて時分割で双方向通信を行うための、第１の発受信手段と、第２の発受信手段とから構成され、
前記第１の発受信手段が、少なくとも、
前記無線信号を、時分割でバースト信号として発信するための第１の発信手段と、
前記無線信号を受信して、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第１の受信手段と、
前記第１の発信手段と前記第１の受信手段とを制御するための第１の制御手段と、
複数のアンテナ又は送受波器を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第１の発信手段と前記第１の受信手段との間で時分割で切替えるための第１のアンテナ切替手段とを有し、
前記第２の発受信手段が、少なくとも、
前記無線信号を、時分割でバースト信号として発信するための第２の発信手段と、
前記無線信号を受信して、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第２の受信手段と、
前記第２の発信手段と前記第２の受信手段とを制御するための第２の制御手段と、
複数のアンテナ又は送受波器を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第２の発信手段と前記第２の受信手段との間で時分割で切替えるための第２のアンテナ切替手段とを有し、
前記第１の制御手段が、少なくとも、
システム同期信号と、識別信号と、起点信号とを生成するための起点信号生成手段と、
前記第１の受信手段によって受信される無線信号から、距離測定信号と方向測定信号とを再生するための位置測位信号再生手段と、
前記再生された距離測定信号と方向測定信号との位相を測定するための位相測定手段と、
前記位相の測定結果から前記第２の発受信手段の位置を測位するための位置測位手段とを有し、
前記第２の制御手段が、少なくとも、
前記第２の受信手段によって時分割で受信される無線信号から、前記起点信号を再生するための起点信号再生手段と、
前記再生された起点信号と高精度でかつ短時間に同期を確立し、同期を保持できる同期発振手段と、
前記同期発振手段の出力信号と同期しあるいは直交する距離測定信号と、前記距離測定信号とは別に、方向を測定するための方向測定信号とを生成するための位置測位信号生成手段とを有し、
前記第１の発受信手段から前記第２の発受信手段に向けて、少なくとも、起点信号を含む無線信号をバースト信号として間欠発信し、
前記起点信号を含む無線信号を受信した前記第２の発受手段が、前記第１の発受信手段に向けて、少なくとも前記位置測位信号を含む無線信号を時分割のタイミングで発信し、
前記第１の発受信手段において、前記生成された起点信号を基準とし前記距離測定信号の位相を測定して第２の発受信手段からの距離を算出し、前記複数のアンテナ又は送受波器に対応した方向測定信号の位相差を測定して第２の発受信手段が位置する方向を算出し、
前記距離の算出結果と、前記方向の算出結果とから、前記第１の発受信手段において、前記第２の発受信手段の２次元もしくは３次元の位置を高精度で測位することを特徴とする無線測位装置。
In a radio positioning device using a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal,
It is composed of a first transmitter / receiver and a second transmitter / receiver for performing bidirectional communication in a time-sharing manner using the same radio frequency,
The first transmission / reception means is at least:
First transmission means for transmitting the radio signal as a burst signal in a time-sharing manner;
First receiving means for receiving the radio signal and converting it directly or into an intermediate frequency signal or baseband signal for amplification;
First control means for controlling the first transmission means and the first reception means;
A first for periodically switching a plurality of antennas or transducers, or for switching a single or a plurality of antennas or transducers between the first transmitting means and the first receiving means in a time division manner. Antenna switching means,
The second transmitting / receiving means is at least
Second transmitting means for transmitting the radio signal as a burst signal in a time-sharing manner;
Second receiving means for receiving the radio signal, converting it directly or into an intermediate frequency signal or baseband signal and amplifying it;
Second control means for controlling the second transmission means and the second reception means;
Second for switching a plurality of antennas or transducers periodically or switching a single or a plurality of antennas or transducers between the second transmitting means and the second receiving means in a time division manner Antenna switching means,
The first control means is at least
A starting point signal generating means for generating a system synchronization signal, an identification signal, and a starting point signal;
A position measurement signal reproducing means for reproducing a distance measurement signal and a direction measurement signal from a radio signal received by the first reception means;
Phase measuring means for measuring the phase of the reproduced distance measurement signal and the direction measurement signal;
Position measuring means for measuring the position of the second transmitting / receiving means from the measurement result of the phase;
The second control means is at least
Origin signal reproduction means for reproducing the origin signal from a radio signal received in a time division manner by the second reception means;
Synchronous oscillation means capable of establishing synchronization with the reproduced starting signal signal with high accuracy and in a short time, and maintaining synchronization;
A position measurement signal generating means for generating a distance measurement signal that is synchronized with or orthogonal to the output signal of the synchronous oscillation means, and a direction measurement signal for measuring a direction separately from the distance measurement signal; ,
From the first transmitting / receiving unit to the second transmitting / receiving unit, at least a radio signal including a starting signal is intermittently transmitted as a burst signal,
The second transmitting / receiving unit that has received the wireless signal including the origin signal transmits the wireless signal including at least the positioning signal to the first transmitting / receiving unit at a time-division timing,
In the first transmitting / receiving unit, the distance from the second transmitting / receiving unit is calculated by measuring the phase of the distance measuring signal with reference to the generated starting point signal, and the plurality of antennas or transducers are transmitted to the first transmitting / receiving unit. Measuring the phase difference of the corresponding direction measurement signal to calculate the direction in which the second transmitting / receiving means is located;
The first transmitter / receiver measures the two-dimensional or three-dimensional position of the second transmitter / receiver with high accuracy from the distance calculation result and the direction calculation result. Wireless positioning device.
超音波信号あるいは高周波信号あるいは光信号である無線信号を用いる無線測位装置において、
同一の無線周波数を用いて時分割で双方向通信を行うための、第１の発受信手段と、第２の発受信手段とから構成され、
前記第１の発受信手段が、少なくとも、
前記無線信号を、時分割でバースト信号として発信するための第１の発信手段と、
前記無線信号を受信して、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第１の受信手段と、
前記第１の発信手段と前記第１の受信手段とを制御するための第１の制御手段と、
複数のアンテナ又は送受波器を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第１の発信手段と前記第１の受信手段との間で時分割で切替えるための第１のアンテナ切替手段とを有し、
前記第２の発受信手段が、少なくとも、
前記無線信号を、時分割でバースト信号として発信するための第２の発信手段と、
前記無線信号を受信して、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第２の受信手段と、
前記第２の発信手段と前記第２の受信手段とを制御するための第２の制御手段と、
複数のアンテナ又は送受波器を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第２の発信手段と前記第２の受信手段との間で時分割で切替えるための第２のアンテナ切替手段とを有し、
前記第１の制御手段が、少なくとも、
前記第１の受信手段によって受信される無線信号から、前記起点信号を再生するための起点信号再生手段と、
前記再生された起点信号と高精度でかつ短時間に同期を確立し、同期を保持できる同期発振手段と、
前記同期発振手段の出力信号と同期しあるいは直交する距離測定信号と、前記距離測定信号とは別に、方向を測定するための方向測定信号を生成するための位置測位信号生成手段とを有し、
前記第２の制御手段が、少なくとも、
システム同期信号と、識別信号と、起点信号とを生成するための起点信号生成手段と、
前記第２の受信手段によって受信される無線信号から、距離測定信号と方向測定信号とを再生するための位置測位信号再生手段と、
前記再生された距離測定信号と方向測定信号との位相を測定するための位相測定手段と、
前記位相の測定結果から自局の位置を測位するための位置測位手段とを有し、
前記第２の発受信手段から前記第１の発受信手段に向けて、少なくとも、起点信号を含む無線信号をバースト信号として間欠発信し、
前記起点信号を含む無線信号を受信した前記第１の発受手段が、前記第２の発受信手段に向けて、少なくとも前記位置測位信号を含む無線信号を時分割のタイミングで発信し、
前記第２の発受信手段において、前記生成された起点信号を基準とし前記距離測定信号の位相を測定して前記第１の発受信手段からの距離を算出し、前記複数のアンテナ又は送受波器を周期的に切り替えながら、前記複数のアンテナ又は送受波器に対応した方向測定信号の位相差を測定して前記第１の発受信手段が位置する方向を算出し、
前記距離の算出結果と、前記方向の算出結果とから、前記第２の発受信手段において、自局の２次元もしくは３次元の位置を高精度で測位することを特徴とする無線測位装置。
In a radio positioning device using a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal,
It is composed of a first transmitter / receiver and a second transmitter / receiver for performing bidirectional communication in a time-sharing manner using the same radio frequency,
The first transmission / reception means is at least:
First transmission means for transmitting the radio signal as a burst signal in a time-sharing manner;
First receiving means for receiving the radio signal and converting it directly or into an intermediate frequency signal or baseband signal for amplification;
First control means for controlling the first transmission means and the first reception means;
A first for periodically switching a plurality of antennas or transducers, or for switching a single or a plurality of antennas or transducers between the first transmitting means and the first receiving means in a time division manner. Antenna switching means,
The second transmitting / receiving means is at least
Second transmitting means for transmitting the radio signal as a burst signal in a time-sharing manner;
Second receiving means for receiving the radio signal, converting it directly or into an intermediate frequency signal or baseband signal and amplifying it;
Second control means for controlling the second transmission means and the second reception means;
Second for switching a plurality of antennas or transducers periodically or switching a single or a plurality of antennas or transducers between the second transmitting means and the second receiving means in a time division manner Antenna switching means,
The first control means is at least
Starting point signal reproducing means for reproducing the starting point signal from a radio signal received by the first receiving means;
Synchronous oscillation means capable of establishing synchronization with the reproduced starting signal signal with high accuracy and in a short time, and maintaining synchronization;
A distance measurement signal that is synchronized with or orthogonal to the output signal of the synchronous oscillation means, and a position measurement signal generation means for generating a direction measurement signal for measuring a direction separately from the distance measurement signal,
The second control means is at least
A starting point signal generating means for generating a system synchronization signal, an identification signal, and a starting point signal;
Position positioning signal reproducing means for reproducing a distance measurement signal and a direction measurement signal from a radio signal received by the second receiving means;
Phase measuring means for measuring the phase of the reproduced distance measurement signal and the direction measurement signal;
Position measuring means for measuring the position of the own station from the measurement result of the phase,
From the second transmitting / receiving unit to the first transmitting / receiving unit, at least a radio signal including a starting signal is intermittently transmitted as a burst signal,
The first transmitting / receiving unit that has received the wireless signal including the origin signal transmits the wireless signal including at least the position positioning signal to the second transmitting / receiving unit at a time-division timing,
In the second transmitting / receiving unit, the distance from the first transmitting / receiving unit is calculated by measuring the phase of the distance measurement signal with reference to the generated starting point signal, and the plurality of antennas or transducers , By periodically measuring the phase difference of the direction measurement signals corresponding to the plurality of antennas or transducers to calculate the direction in which the first transmitting and receiving means is located,
A radio positioning apparatus characterized in that the second transmitter / receiver measures the two-dimensional or three-dimensional position of the own station with high accuracy from the distance calculation result and the direction calculation result.
超音波信号あるいは高周波信号あるいは光信号である無線信号を用いる無線測位装置において、
同一の無線周波数を用いて時分割で双方向通信を行うための、第１の発受信手段と、第２の発受信手段とから構成され、
前記第１の発受信手段が、少なくとも、
前記無線信号を、時分割でバースト信号として発信するための第１の発信手段と、
前記無線信号を時分割で受信して、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第１の受信手段と、
前記第１の発信手段と前記第１の受信手段とを制御するための第１の制御手段と、
複数のアンテナ又は送受波器を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第１の発信手段と前記第１の受信手段との間で時分割で切替えるための第１のアンテナ切替手段とを有し、
前記第２の発受信手段が、少なくとも、
前記無線信号を、時分割でバースト信号として発信するための第２の発信手段と、
前記無線信号を時分割で受信して、直接もしくは中間周波信号もしくはベースバンド信号に変換して増幅するための第２の受信手段と、
前記第２の発信手段と前記第２の受信手段とを制御するための第２の制御手段と、
複数のアンテナ又は送受波器を周期的に切り替え、あるいは単一もしくは複数のアンテナ又は送受波器を前記第２の発信手段と前記第２の受信手段との間で時分割で切替えるための第２のアンテナ切替手段とを有し、
前記第１の制御手段と、前記第２の制御手段とが、少なくとも、
システム同期信号と、識別信号と、起点信号とを生成するための起点信号生成手段と、
前記受信手段が受信した無線信号から、起点信号を再生するための起点信号再生手段と、
前記再生された起点信号、距離測定信号、もしくはこれらの両方の立上がり点、立下がり点、もしくはゼロ交差点のタイミングを高精度で検出するための同期検出手段と、
前記検出されたタイミングで、起点信号、距離測定信号、もしくはこれらの両方と高精度でかつ短時間に同期を確立し、かつ起点信号、距離測定信号、もしくはこれらの両方が消滅した後も、所定期間、同期を保持してクロック信号を生成するための同期発振手段と、
前記クロック信号と同期しあるいは直交する距離測定信号と、前記距離測定信号とは別に、方向を測定するための方向測定信号とを生成するための位置測位信号生成手段と
前記受信した無線信号から位置測定信号を再生するための位置測位信号再生手段と、
前記再生された位置測位信号の位相を、高精度でリアルタイムに測定するための位相測定手段と、
前記測定された位置測位信号の位相から、位置を算出するための位置測位手段とを有し、
前記第２の発受信手段から前記第１の発受信手段に向けて、少なくとも、起点信号を含む無線信号をバースト信号として間欠発信し、
前記起点信号を含む無線信号した受信した前記第１の発受信手段が、前記受信した起点信号と高精度で同期した第１の距離測定信号と、第１の距離測定信号とは別に、方向を測定するための方向測定信号とを含む無線信号を前記第２の発受手段に向けて折返し発信し、
前記無線信号を受信した前記第２の発受信手段において、前記発信された第１の距離測定信号と方向測定信号を再生し、前記第２の発受信手段で生成した起点信号を基準として、前記再生した第１の距離測定信号を位相を測定して前記第１の発受信手段からの距離を算出し、前記複数のアンテナ又は送受波器に対応した方向測定信号の位相差を測定して第１の発受信手段が位置する方向を算出し、
前記距離の算出結果と、前記方向の算出結果とから、前記第２の発受信手段において、自局の２次元もしくは３次元の位置を高精度で測位するとともに、
前記第２の発受信手段から、少なくとも、前記第１の距離測定信号と高精度で同期した第２の距離測定信号と、前記第２の距離測定信号とは別に、方向を測定するための方向測定信号とを含む無線信号を時分割のタイミングで発信し、
前記無線信号を受信した前記第１の発受信手段において、前記第２の発受信手段から発信された第２の距離測定信号と方向測定信号とを再生し、前記第１の発受手段で生成した第１の距離測定信号を基準として前記第２の距離測定信号の位相を測定して前記第２の発受信手段からの距離を算出し、前記複数のアンテナ又は送受波器に対応した方向測定信号の位相から前記第２のと発受信手段の位置する方向を算出し、
前記距離の算出結果と、前記方向の算出結果とから、前記第１の発受信手段において、前記２の発受信手段の２次元もしくは３次元の位置を高精度で測位することを特徴とする無線測位装置。
In a radio positioning device using a radio signal which is an ultrasonic signal, a high frequency signal or an optical signal,
It is composed of a first transmitter / receiver and a second transmitter / receiver for performing bidirectional communication in a time-sharing manner using the same radio frequency,
The first transmission / reception means is at least:
First transmission means for transmitting the radio signal as a burst signal in a time-sharing manner;
First receiving means for receiving the radio signal in a time-sharing manner and converting it directly or into an intermediate frequency signal or a baseband signal;
First control means for controlling the first transmission means and the first reception means;
A first for periodically switching a plurality of antennas or transducers, or for switching a single or a plurality of antennas or transducers between the first transmitting means and the first receiving means in a time division manner. Antenna switching means,
The second transmitting / receiving means is at least
Second transmitting means for transmitting the radio signal as a burst signal in a time-sharing manner;
Second receiving means for receiving the radio signal in a time-sharing manner and converting it directly or into an intermediate frequency signal or a baseband signal;
Second control means for controlling the second transmission means and the second reception means;
Second for switching a plurality of antennas or transducers periodically or switching a single or a plurality of antennas or transducers between the second transmitting means and the second receiving means in a time division manner Antenna switching means,
The first control means and the second control means are at least:
A starting point signal generating means for generating a system synchronization signal, an identification signal, and a starting point signal;
From the radio signal received by the receiving means, starting point signal reproducing means for reproducing the starting point signal;
Synchronization detection means for detecting the timing of the rising point, falling point, or zero crossing of the reproduced starting point signal, distance measurement signal, or both of them with high accuracy;
At the detected timing, synchronization with the origin signal, the distance measurement signal, or both is established with high accuracy and in a short time, and after the origin signal, the distance measurement signal, or both have disappeared Synchronous oscillation means for generating a clock signal while maintaining synchronization for a period of time;
Position measurement signal generating means for generating a distance measurement signal synchronized with or orthogonal to the clock signal and a direction measurement signal for measuring a direction separately from the distance measurement signal, and a position from the received radio signal A positioning signal reproducing means for reproducing the measurement signal;
Phase measurement means for measuring the phase of the reproduced position measurement signal with high accuracy in real time;
Position measuring means for calculating a position from the phase of the measured position positioning signal,
From the second transmitting / receiving unit to the first transmitting / receiving unit, at least a radio signal including a starting signal is intermittently transmitted as a burst signal,
The first transmission / reception means that has received the radio signal including the origin signal has a direction separately from the first distance measurement signal and the first distance measurement signal synchronized with the received origin signal with high accuracy. A radio signal including a direction measurement signal for measurement is sent back to the second transmitting / receiving means;
In the second transmission / reception means that has received the radio signal, the transmitted first distance measurement signal and direction measurement signal are reproduced, and the origin signal generated by the second transmission / reception means is used as a reference. The phase of the reproduced first distance measurement signal is measured to calculate the distance from the first transmitting / receiving means, the phase difference of the direction measurement signals corresponding to the plurality of antennas or transducers is measured, and the first distance measurement signal is measured. Calculate the direction in which one transmitter / receiver is located,
From the calculation result of the distance and the calculation result of the direction, the second transmitter / receiver measures the two-dimensional or three-dimensional position of the own station with high accuracy,
A direction for measuring a direction separately from at least the second distance measurement signal synchronized with the first distance measurement signal with high accuracy from the second transmission / reception means. Transmits radio signals including measurement signals at time-sharing timing,
In the first transmitting / receiving unit that has received the radio signal, the second distance measuring signal and the direction measuring signal transmitted from the second transmitting / receiving unit are reproduced and generated by the first transmitting / receiving unit. Measure the direction corresponding to the plurality of antennas or transducers by measuring the phase of the second distance measurement signal with reference to the first distance measurement signal and calculating the distance from the second transmitter / receiver. The direction in which the second and transmitting / receiving means are located is calculated from the phase of the signal,
A wireless device characterized in that the first transmitter / receiver measures the two-dimensional or three-dimensional position of the second transmitter / receiver with high accuracy from the distance calculation result and the direction calculation result. Positioning device.
前記第１の発受信手段から発信される起点信号、前記第１の発受信手段から発信される距離測定信号と方向測定信号、前記第２の発受信手段から発信される起点信号、前記第２の発受信手段から発信される距離測定信号と方向測定信号、あるいはこれらの組み合わせが、単一もしくは複数の、搬送波信号、副搬送波信号、変調信号、スペクトル拡散符号、もしくはこれらの組み合わせであることを特徴とする請求項第１項から第３項までの何れかに該当する無線測位装置。
A starting signal transmitted from the first transmitting / receiving means, a distance measurement signal and a direction measuring signal transmitted from the first transmitting / receiving means, a starting signal transmitted from the second transmitting / receiving means, the second The distance measurement signal and the direction measurement signal transmitted from the transmitter / receiver means, or a combination thereof, is a single carrier signal, a subcarrier signal, a modulation signal, a spread spectrum code, or a combination thereof. A radio positioning apparatus corresponding to any one of claims 1 to 3.
前記起点信号再生手段、測定信号再生手段、もしくはこれらの両方において、前記再生する信号が、無線信号の搬送波信号あるいは副搬送波信号である場合には、伝達位相誤差の少ない帯域通過フイルタを通し、あるいは無線信号を変調した変調信号である場合には、伝達位相誤差の少ないアナログ復調器あるいは高いサンプリング周波数を用いるデジタル復調器によって復調した後に、前記帯域通過フイルタを通して再生することを特徴とする請求項第１項から第３項までの何れかに該当する無線測位装置。
When the signal to be reproduced is a radio signal carrier signal or subcarrier signal in the origin signal reproduction means, the measurement signal reproduction means, or both of them, a band-pass filter with a small transmission phase error is passed, or The modulated signal obtained by modulating a radio signal is demodulated by an analog demodulator with a small transmission phase error or a digital demodulator using a high sampling frequency, and then reproduced through the band pass filter. A wireless positioning device corresponding to any one of items 1 to 3.
前記第１の制御手段、前記第２の制御信手段、もしくはこれらの両方の同期発振手段が、基準発振器の出力信号を直接もしくは周波数を変換して生成したクロック信号によって駆動される、セットあるいはリセット付きのカウンタあるいは数値制御発振器によって構成され、前記第１の受信手段もしくは前記第２の受信手段によって受信され、起点信号再生手段によって復調されあるいは再生された起点信号の立上がり点、立下がり点、もしくはゼロ交差点のタイミングを、同期検出手段によって所定の値よりも高い周波数のサンプリング信号を用いて検出し、前記検出したタイミングで、前記セットあるいはリセット付きのカウンタあるいは数値制御発振器をセットしもしくはリセットすることによって、前記起点信号と短時間で同期を確立し、前記起点信号が消滅した後も、所定期間、同期を保持できることを特徴とする請求項第１項から第３項までの何れかに該当する無線測位装置。
The first control means, the second control signal means, or both synchronous oscillation means are driven by a clock signal generated by converting the output signal of the reference oscillator directly or by converting the frequency, set or reset A starting point, a falling point of the starting signal received by the first receiving means or the second receiving means, demodulated or reproduced by the starting signal reproducing means, or The timing of the zero crossing is detected using a sampling signal having a frequency higher than a predetermined value by the synchronization detection means, and the counter with the set or reset or the numerically controlled oscillator is set or reset at the detected timing. To synchronize with the origin signal in a short time. And, even after the origin signal has disappeared, the predetermined time period, the radio positioning apparatus satisfying any one of claims the first term, characterized in that to hold the synchronization until the third term.
前記第１の制御手段、前記第２の制御手段、もしくはこれらの両方の同期発振手段と、前記復調されあるいは再生された起点信号との間の同期確立誤差を低減し、高精度でかつ短時間に同期を確立させるために、前記第１の発受信手段、前記第２の発受信手段、もしくはこれらの両方に同期確立誤差関数を付与し、前記同期確立誤差関数が前記同期確立誤差を限りなくゼロに近づける特性を有することを特徴とする請求項第１項から第３項までの何れかに該当する無線測位装置。
The synchronization establishment error between the first control means, the second control means, or both synchronous oscillation means, and the demodulated or reproduced starting signal is reduced, and high accuracy and short time In order to establish synchronization, a synchronization establishment error function is given to the first transmission / reception means, the second transmission / reception means, or both, and the synchronization establishment error function makes the synchronization establishment error infinite. The wireless positioning device according to any one of claims 1 to 3, wherein the wireless positioning device has a characteristic of approaching zero.
前記第１の制御手段、前記第２の制御手段、もしくはこれらの両方の起点信号生成手段、位置測位信号生成手段、もしくはこれらの両方に前記同期確立誤差関数を付与するために、前記起点信号の位相をシフトさせるための移相手段と、前記移相手段によって各々異なった位相にシフトされた複数組の起点信号を選択して外部に出力するためのタイミング制御手段とを設け、前記移相手段の移相量の合計を、前記第１の発受信手段、第２の発受信手段、もしくはこれらの両方の同期発振手段から出力されるクロック信号の一周期の間隔よりも大きく設定することによって、距離の算出精度を向上させることを特徴とする請求項第７項に記載の無線測位装置。
In order to provide the synchronization establishment error function to the first control means, the second control means, or both of the origin signal generation means, the position measurement signal generation means, or both of the origin control signal, A phase shift means for shifting the phase; and a timing control means for selecting and outputting a plurality of sets of starting point signals shifted to different phases by the phase shift means. By setting the sum of the phase shift amounts of the clock signals larger than one cycle interval of the clock signal output from the first transmission / reception means, the second transmission / reception means, or both of these synchronous oscillation means, The wireless positioning device according to claim 7, wherein the distance calculation accuracy is improved.
前記第１の制御手段、前記第２の制御手段、もしくはこれらの両方の同期発振手段に前記同期確立誤差関数を付与するために、前記同期発振手段が複数組のカウンタもしくは数値制御発振器を有し、前記複数組のカウンタもしくは複数組の数値制御発振器が、前記再生された起点信号と各々異なった複数のタイミングで切替手段によって切替えられて同期を確立し、前記複数組のカウンタもしくは複数組の数値制御発振器から出力される出力信号を異なった複数のタイミングで選択手段によって選択し、前記選択された出力信号に同期しあるいは直交した距離測定信号を生成することによって、距離の算出精度を向上させることを特徴とする請求項第項に記載の無線測位装置。
In order to give the synchronization establishment error function to the first control means, the second control means, or both synchronous oscillation means, the synchronous oscillation means has a plurality of counters or numerically controlled oscillators. The plurality of sets of counters or the plurality of sets of numerically controlled oscillators are switched by a switching means at a plurality of timings different from the reproduced starting signal, respectively, to establish synchronization, By selecting the output signal output from the controlled oscillator by a selection means at a plurality of different timings and generating a distance measurement signal synchronized or orthogonal to the selected output signal, the distance calculation accuracy is improved. The wireless positioning device according to claim 1.
前記第１の制御手段、第２の制御手段、もしくはこれらの両方の位相測定手段が、Ｓｉｎのルックアップテーブルが０、１、０、−１、あるいは１、１、−１、−１、あるいはこれらの繰り返しであり、Ｃｏｓのルックアップテーブルが１、０、−１、０あるいは１、−１、−１、１、あるいはこれらの繰り返しであり、前記測定信号と前記ルックアップテーブルとの積和演算を行なう際に−１の乗算は補数を求める積和演算器によって構成されることを特徴とする請求項第１項から第３項までの何れかに該当する無線測位装置。
The first control means, the second control means, or both of the phase measurement means have a Sin lookup table of 0, 1, 0, -1, or 1, 1, -1, -1, or These are repetitions, and the Cos lookup table is 1, 0, −1, 0 or 1, −1, −1, 1, or these repetitions, and the product-sum of the measurement signal and the lookup table The radio positioning apparatus according to any one of claims 1 to 3, wherein multiplication of -1 is performed by a product-sum calculator for obtaining a complement when performing the calculation.
前記第１の発受信手段、前記第２の発受信手段、もしくはこれらの両方のアンテナ又は送受波器が、９０°以上の広い指向性ビーム幅を有する円偏波指向性アンテナであり、前記第２の発受信手段と第１の発受信手段との間で、指向性の方向が、双方向通信の相手方に向けて、お互いに対向して設けられていることを特徴とする請求項第１項から第３項までの何れかに該当する無線測位装置。
The first transmitting / receiving means, the second transmitting / receiving means, or both of these antennas or transducers are circularly polarized directional antennas having a wide directional beam width of 90 ° or more, and 2. The directivity direction is provided between the two transmitting / receiving means and the first transmitting / receiving means so as to face each other toward the other party of bidirectional communication. A wireless positioning device corresponding to any one of items 3 to 3.
前記第１の発受信手段、前記第２の発受信手段、もしくはこれらの両方が、伝搬経路の品質を検知する品質検知手段を有し、前記品質検知手段が、前記受信手段において受信した無線信号の電力あるいは信号対雑音比を測定した結果から回線品質を分析しあるいは統計処理を行い、前記位相測定手段で距離測定信号の位相あるいは方向測定信号の位相差を測定した結果から距離測定精度あるいは方向測定精度を分析しあるいは統計処理を行い、あるいはこれらの両方を行い、前記距離測定処理の結果、方向測定処理の結果、あるいはこれらの両方を補正しあるいは補完することを特徴とする請求項第１項から第１２項までのいずれかに該当する無線測位装置。
The first transmission / reception means, the second transmission / reception means, or both have quality detection means for detecting the quality of a propagation path, and the quality detection means receives a radio signal received by the reception means The line quality is analyzed or statistically processed from the result of measuring the power or signal-to-noise ratio, and the distance measurement accuracy or direction is determined from the result of measuring the phase of the distance measurement signal or the phase difference of the direction measurement signal by the phase measuring means. The measurement accuracy is analyzed or statistical processing is performed, or both are performed, and the result of the distance measurement processing, the result of the direction measurement processing, or both are corrected or supplemented. A wireless positioning device corresponding to any one of items 12 to 12.
前記無線信号の周波数として、ＧＰＳに割当てられた周波数、あるいはその近傍の周波数を割当て、前記前記第１の発受信手段、前記第２の発受信手段、もしくはこれらの両方からバースト信号として発信される無線信号の占有率を２０％以下とすることで、屋外と屋内でＧＰＳをシームレスに接続することを特徴とする請求項第１項から第３項までの何れかに該当する無線測位装置。   A frequency assigned to GPS or a frequency in the vicinity thereof is assigned as the frequency of the radio signal, and is transmitted as a burst signal from the first transmission / reception means, the second transmission / reception means, or both. The wireless positioning device according to any one of claims 1 to 3, wherein a GPS is seamlessly connected indoors and outdoors by setting a radio signal occupation ratio to 20% or less.

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