JP2007298427A

JP2007298427A - Position detector

Info

Publication number: JP2007298427A
Application number: JP2006127280A
Authority: JP
Inventors: Kenji Ogawa; 賢治小川
Original assignee: Toshiba Mitsubishi Electric Industrial Systems Corp
Current assignee: Toshiba Mitsubishi Electric Industrial Systems Corp
Priority date: 2006-05-01
Filing date: 2006-05-01
Publication date: 2007-11-15

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position detector that can measure position with high accuracy by using a low-cost counting device for measuring the position of a radio terminal. <P>SOLUTION: The position detector has a transmitting terminal 10 for transmitting radio waves, and a receiving terminal 20 for receiving transmitted radio waves. The transmitting terminal temporaly changes the transmitting radio waves. The receiving terminal compares reference radio wave, having a smaller change ratio than the transmitting terminal by starting change, at the same timing as the transmitting radio waves of the transmitting terminal with the receiving radio waves from the transmitting terminal; and measuring the distance between the transmitting terminal and the receiving terminal by the time, until the change amount becomes identical. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

この発明は、無線端末より出される電波を元に無線端末の位置を検出する位置検出装置に関するものである。 The present invention relates to a position detection device that detects the position of a wireless terminal based on radio waves emitted from the wireless terminal.

従来の電波信号を利用した位置検出は、電波の伝播時間の差を利用しており、所定周波数の電波信号を発する移動型送信機と、異なる位置に配置されて前記電波信号を受信する受信機を備える少なくとも４個の固定無線局と、少なくとも１個の基地局とを有し、前記電波信号をそれぞれの固定無線局の受信機が受信した後、前記基地局に伝え、前記移動型送信機から各固定無線局までの電波の伝播時間の差を測定し、該測定値から前記移動型無線機の位置を３次元的に算出するように構成されている（例えば、特許文献１参照）。 Conventional position detection using radio signals utilizes the difference in radio wave propagation time, and a mobile transmitter that emits radio signals of a predetermined frequency and a receiver that receives the radio signals placed at different positions. The mobile transmitter has at least four fixed radio stations and at least one base station, and transmits the radio signal to the base station after the radio signal is received by the receiver of each fixed radio station. To a fixed radio station to measure the difference in propagation time of the radio wave, and three-dimensionally calculate the position of the mobile radio from the measured value (see, for example, Patent Document 1).

特開平５−１００００５号公報（図１）Japanese Patent Laid-Open No. 5-100005 (FIG. 1)

従来の電波信号を利用した位置検出装置は以上のように構成されているので、電波の発信局と受信局間の電波の伝播時間の差から発信局と受信局間の距離を求めており、例えば１ｃｍの距離を測定するためには、電波の伝播速度が約３０万ｋｍ／秒であることより、
０.３３３×１０^−１０秒（３０ＧＨｚの周波数計測に相当）の時間差を測定できる時計が必要であり、これを正確に測定するには、例えばルビジウム発信器を用いた時計、恒温槽に入れた水晶発信器、原子時計などの高価な計時装置が必要であることや、もし計時装置の精度が高くない場合には誤差の多い計測になってしまうなどの問題点があった。 Since the conventional position detection device using the radio signal is configured as described above, the distance between the transmitting station and the receiving station is obtained from the difference in the propagation time of the radio wave between the transmitting station and the receiving station. For example, in order to measure a distance of 1 cm, the propagation speed of radio waves is about 300,000 km / second,
A clock that can measure a time difference of 0.333 × 10 ⁻¹⁰ seconds (corresponding to a frequency measurement of 30 GHz) is required. To accurately measure this, a watch using a rubidium transmitter, for example, is placed in a thermostatic chamber. There are problems such as the need for expensive timing devices such as crystal oscillators and atomic clocks, and if the accuracy of the timing device is not high, the measurement becomes error-prone.

この発明は上記のような課題を解決するためになされたものであり、安価な計時装置を使って無線端末の位置を計測したり、より精度の高い位置計測を行える位置検出装置を得ることを目的とする。
また、複数の無線端末の位置を測定できるよう、無線端末が出す位置測定電波に無線端末を識別する信号を対にして出すようにし、複数無線端末にも対応できることを目的とする。 The present invention has been made to solve the above-described problems, and is intended to obtain a position detection device that can measure the position of a wireless terminal using an inexpensive timing device or can perform more accurate position measurement. Objective.
It is another object of the present invention to cope with a plurality of wireless terminals by pairing a signal for identifying the wireless terminal with a position measurement radio wave emitted by the wireless terminal so that the positions of the plurality of wireless terminals can be measured.

この発明に係る位置検出装置は、電波を発信する発信端末と、発信された電波を受信する受信端末を持ち、たとえば、発信端末が発信する電波の周波数を時間的に直線的に増加させるとともに、受信端末は、発信端末の電波発信と同じタイミングで周波数の変化を開始し発信端末の発信電波より少ない変化率で周波数を増加させる参照電波を内部的に発生させ、発信端末からの受信電波と参照電波双方の周波数変化量を比較し、両者が同一変化量になるまでの時間を測定し、この時間が発信端末と受信端末間の距離に比例することを利用して両端末間の距離を測定するものである。 The position detection device according to the present invention has a transmitting terminal for transmitting radio waves and a receiving terminal for receiving the transmitted radio waves, for example, increasing the frequency of the radio waves transmitted by the transmitting terminal linearly in time, The receiving terminal internally generates a reference radio wave that starts a frequency change at the same timing as the radio wave transmission of the transmitting terminal and increases the frequency at a lower rate of change than the outgoing radio wave of the transmitting terminal, and references the received radio wave from the transmitting terminal Compare the frequency change amount of both radio waves, measure the time until both become the same change amount, measure the distance between both terminals using this time proportional to the distance between the sending terminal and receiving terminal To do.

この発明によれば、距離を測定するための時間差を単なる電波の伝播時間差ではなく、伝播時間差による伝達遅れと、参照電波と受信電波の変化率の差から発生する参照電波と受信電波の変化量が一致するまでの時間を利用することにより、距離に比例する時間差を大きくとれるように構成したので、安価な計時装置でも精度の高い測定ができる。 According to the present invention, the time difference for measuring the distance is not a mere propagation time difference of the radio wave, but a change in the reference radio wave and the received radio wave caused by a transmission delay due to the propagation time difference and a difference between the change rates of the reference radio wave and the received radio wave. Since the time difference proportional to the distance can be obtained by using the time until the two coincide, the high-precision measurement can be performed even with an inexpensive timing device.

実施の形態１．
図１はこの発明の実施の形態１における位置検出装置を示すシステム構成図、図２はこの発明の実施の形態１における位置検出装置の動作を説明するための説明図である。
図１において、位置検出装置は発信端末１０と受信端末２０とで構成される。発信端末１０は、周波数が時間的、直線的に変化する電波が生成される送信電波発信回路１１と、生成された電波をアンテナから発射できる状態にする送信回路１２と、電波を送信する送信アンテナ１３とから構成され、受信端末２０に向け電波が発射される。一方、受信端末２０は、送信端末１０からの電波を受信する受信アンテナ２１と、受信した電波から必要な情報を取り出せる状態にする受信回路２２と、受信回路２２で取り出された受信電波信号２３と、送信電波発信回路１１で生成される電波と発生タイミングを合わせ、かつ、発信電波周波数の変化率を少なくした参照電波発信回路２４と、受信電波信号２３と参照電波発信回路２４からの参照電波信号の周波数の変化量が一致するタイミングを計測する信号比較回路２５と、信号比較回路２５の一致信号までの時間を計測する時間計測回路２６と、時間計測回路２６で計測された時間より発信端末１０と受信端末２０の間の距離を演算する距離演算回路２７とから構成され、発信端末１０からの電波を受信するたびに発信端末との距離を演算する。 Embodiment 1 FIG.
FIG. 1 is a system configuration diagram showing a position detection device according to Embodiment 1 of the present invention, and FIG. 2 is an explanatory diagram for explaining the operation of the position detection device according to Embodiment 1 of the present invention.
In FIG. 1, the position detection device includes a transmission terminal 10 and a reception terminal 20. The transmission terminal 10 includes a transmission radio wave transmission circuit 11 that generates a radio wave whose frequency changes linearly and temporally, a transmission circuit 12 that enables the generated radio wave to be emitted from the antenna, and a transmission antenna that transmits the radio wave 13, and a radio wave is emitted toward the receiving terminal 20. On the other hand, the receiving terminal 20 includes a receiving antenna 21 that receives radio waves from the transmitting terminal 10, a receiving circuit 22 that can extract necessary information from the received radio waves, and a received radio signal 23 that is extracted by the receiving circuit 22. A reference radio wave transmission circuit 24 in which the generation timing of the radio wave generated by the transmission radio wave transmission circuit 11 is matched and the rate of change of the transmission radio wave frequency is reduced, and the reference radio wave signal from the reception radio wave signal 23 and the reference radio wave transmission circuit 24 The signal comparison circuit 25 that measures the timing at which the amount of frequency change coincides, the time measurement circuit 26 that measures the time until the coincidence signal of the signal comparison circuit 25, and the transmission terminal 10 based on the time measured by the time measurement circuit 26 And a distance calculating circuit 27 for calculating the distance between the receiving terminal 20 and the distance from the transmitting terminal every time radio waves are received from the transmitting terminal 10. Operation to.

次に動作について図２を用いて説明する。図２は縦軸に周波数、横軸に時間を示す。発信端末１０から出される電波は、図２の発信端末での発信電波の周波数変化３１に示されるように、発信端末１０での電波発信開始時刻３０を基準に周波数が直線的に変わる状態で発信される。この信号は受信端末２０では、発信端末１０と受信端末２０間の距離と電波の伝播速度から求まる遅延時間Ｔ１(受信伝播遅れ３２)だけ遅れて受信され、受信端末２０での電波受信開始時刻３３を基準に受信電波の周波数変化３４で表される形になる。一方、受信端末２０内の参照電波は発信端末１０での電波発信開始時刻３０を基準に参照電波の周波数変化３５で表される形で生成される。受信端末２０内で受信電波の周波数変化３４は参照電波の周波数変化３５を追いかける形で変化し、所定時間Ｔ２(発信後変化量一致時間３７)後に参照電波と受信電波の変化量一致時刻３６となり、両者の周波数変化量は一致する。所定時間Ｔ２(３７)と遅延時間Ｔ１(３２)は比例しており、所定時間Ｔ２(３７)は遅延時間Ｔ１(３２)より大きな値であり、所定時間Ｔ２(発信後変化量一致時間３７)を測定することで発信端末１０と受信端末２０間の距離を遅延時間Ｔ１(３２)の場合より、より高い精度で測定することが可能になる。もしくは、遅延時間Ｔ１(３２)では測定できない程度の分解能の計時装置でも、より大きな値である所定時間Ｔ２(発信後変化量一致時間３７)では測定が可能になり、分解能性能の低い安価な計時装置を使った位置検出装置を得ることができる。 Next, the operation will be described with reference to FIG. FIG. 2 shows frequency on the vertical axis and time on the horizontal axis. The radio wave emitted from the transmission terminal 10 is transmitted in a state where the frequency changes linearly with reference to the radio wave transmission start time 30 at the transmission terminal 10 as shown in the frequency change 31 of the transmission radio wave at the transmission terminal in FIG. Is done. This signal is received at the receiving terminal 20 with a delay of a delay time T1 (reception propagation delay 32) determined from the distance between the transmitting terminal 10 and the receiving terminal 20 and the propagation speed of the radio wave, and the radio wave reception start time 33 at the receiving terminal 20 is received. With the frequency change 34 of the received radio wave as a reference. On the other hand, the reference radio wave in the receiving terminal 20 is generated in the form represented by the frequency change 35 of the reference radio wave with reference to the radio wave transmission start time 30 at the transmitting terminal 10. Within the receiving terminal 20, the frequency change 34 of the received radio wave changes in a manner to follow the frequency change 35 of the reference radio wave, and after a predetermined time T2 (post-transmission change amount matching time 37), the reference radio wave and received radio wave change amount matching time 36 is obtained. The frequency change amounts of both coincide. The predetermined time T2 (37) is proportional to the delay time T1 (32), and the predetermined time T2 (37) is larger than the delay time T1 (32), and the predetermined time T2 (post-transmission change amount matching time 37). Is measured, the distance between the transmitting terminal 10 and the receiving terminal 20 can be measured with higher accuracy than in the case of the delay time T1 (32). Alternatively, even a time measuring device having a resolution that cannot be measured by the delay time T1 (32) can be measured at a predetermined time T2 (post-transmission change matching time 37), which is a larger value, and is inexpensive and has low resolution performance. A position detection device using the device can be obtained.

また、発信端末１０から出される電波は適当な間隔で繰り返し出されるように設定することにより、常に最新の発信端末１０の位置を検出するように構成することが可能である。 Moreover, it is possible to always detect the latest position of the transmitting terminal 10 by setting so that the radio waves transmitted from the transmitting terminal 10 are repeatedly output at appropriate intervals.

なお、ここでは信号の変化を発信電波の周波数を変えることで示したが、発信電波の振幅や位相を変えることでもよく、またこれらを組み合わせて変化させてもよい。 Here, the change of the signal is shown by changing the frequency of the outgoing radio wave, but the amplitude and phase of the outgoing radio wave may be changed or may be changed in combination.

更には発信電波そのものを変えるのではなく、発信電波に別の信号を重畳させる変調波方式でもよく、変調に使う信号の周波数、振幅、位相、あるいはこれらを組み合わせたものを変化させてもよい。 Furthermore, instead of changing the transmitted radio wave itself, a modulated wave system in which another signal is superimposed on the transmitted radio wave may be used, and the frequency, amplitude, phase, or a combination of these may be changed.

信号の変化のさせ方には、ここでは１次関数での変化を示したが、２次関数など数式で表される変化であればどのような方式でも良い。 As a method of changing the signal, a change with a linear function is shown here, but any method may be used as long as the change is expressed by a mathematical expression such as a quadratic function.

実施の形態２．
図３はこの発明の実施の形態２における位置検出装置を示すシステム構成図である。なお、図中、実施の形態１と同一又は相当部分には同一符号を付して説明を省略する。
上記実施の形態１では、発信端末１０と受信端末２０間の距離を測定する場合について説明したが、この実施の形態２においては、図３に示すように、発信端末１０と受信端末２０を同一無線端末１３０内に置き、発信端末１０から電波を出し、距離を測定したい物体１４０から反射して戻ってくる電波を受信端末２０が受信し、参照電波発信回路２４の参照電波と受信電波信号２３の信号変化量が一致する時間から無線端末１３０と物体１４０間の距離を測定することができる。このようにすることにより、送信電波発信回路１１と参照電波発信回路２４のタイミング合わせを容易に行うことができる。 Embodiment 2. FIG.
FIG. 3 is a system configuration diagram showing a position detection apparatus according to Embodiment 2 of the present invention. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.
In the first embodiment, the case where the distance between the transmission terminal 10 and the reception terminal 20 is measured has been described. However, in the second embodiment, as shown in FIG. 3, the transmission terminal 10 and the reception terminal 20 are the same. The receiving terminal 20 receives a radio wave that is placed in the wireless terminal 130, emits a radio wave from the transmitting terminal 10, is reflected from the object 140 whose distance is to be measured, and returns from the reference radio wave transmitting circuit 24. It is possible to measure the distance between the wireless terminal 130 and the object 140 from the time when the signal variation amounts coincide with each other. By doing in this way, the timing adjustment of the transmission radio wave transmission circuit 11 and the reference radio wave transmission circuit 24 can be easily performed.

実施の形態３．
図４はこの発明の実施の形態３における位置検出装置を示すシステム構成図である。なお、図中、実施の形態１と同一又は相当部分には同一符号を付して説明を省略する。
この実施の形態３においては、図４に示すように、発信端末１０と受信端末２２０を同一無線端末２３０内に置くとともに、距離を測定したい位置に無線応答端末２４０を置き、発信端末１０からの電波を受信した無線応答端末２４０が同じ変化率を持つ別の周波数の電波を発信させるようにする。発信端末１０の送信アンテナ１３からの電波を受信する無線応答端末２４０は、送信端末１０からの電波を受信する受信アンテナ２４１と、受信した電波から必要な情報を取り出せる状態にする受信回路２４２と、受信回路２４２で取り出された受信電波信号を送信電波信号に変換する送信変換回路２４３と、変換された電波信号をアンテナから発射できる状態にする送信回路２４４と、電波を送信する送信アンテナ２４５とから構成され、受信端末２２０に向け電波が発射される。一方、受信端末２２０は、無線応答端末２４０からの電波を受信する受信アンテナ２１と、受信した電波から必要な情報を取り出せる状態にする受信回路２２と、受信回路２２で取り出された受信電波信号２２３と、送信電波発信回路１１で生成される電波と発生タイミングを合わせ、かつ、発信電波周波数の変化率を少なくした参照電波発信回路２４と、受信電波信号２２３と参照電波発信回路２４からの参照電波信号の周波数の変化量が一致するタイミングを計測する信号比較回路２２５と、信号比較回路２２５の一致信号までの時間を計測する時間計測回路２６と、時間計測回路２６で計測された時間より無線端末２３０と無線応答端末２４０の間の距離を演算する距離演算回路２２７とから構成される。
以上のように、発信端末１０と受信端末２２０を同一無線端末２３０内に置くとともに、距離を測定したい位置に無線応答端末２４０を置き、発信端末１０からの電波を受信した無線応答端末２４０が同じ変化率を持つ別の周波数の電波を発信させることにより、受信端末２２０にて参照電波と受信電波の変化量が一致するまでの時間より、無線端末２３０と無線応答端末２４０間の距離を測定することができる。
このようにすることにより、上記の実施の形態２において電波を反射しにくい物体の場合でも確実に距離を測定することができる。 Embodiment 3 FIG.
FIG. 4 is a system configuration diagram showing a position detection apparatus according to Embodiment 3 of the present invention. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.
In the third embodiment, as shown in FIG. 4, the transmitting terminal 10 and the receiving terminal 220 are placed in the same wireless terminal 230, and the wireless response terminal 240 is placed at the position where the distance is to be measured. The wireless response terminal 240 that has received the radio wave is caused to transmit a radio wave of another frequency having the same rate of change. A radio response terminal 240 that receives radio waves from the transmission antenna 13 of the transmission terminal 10 includes a reception antenna 241 that receives radio waves from the transmission terminal 10, a reception circuit 242 that can extract necessary information from the received radio waves, A transmission conversion circuit 243 that converts the reception radio signal extracted by the reception circuit 242 into a transmission radio signal, a transmission circuit 244 that enables the converted radio signal to be emitted from the antenna, and a transmission antenna 245 that transmits radio waves The radio wave is emitted toward the receiving terminal 220. On the other hand, the receiving terminal 220 includes a receiving antenna 21 that receives radio waves from the radio response terminal 240, a receiving circuit 22 that can extract necessary information from the received radio waves, and a received radio signal 223 that is extracted by the receiving circuit 22. And the reference radio wave transmission circuit 24 in which the generation timing is matched with the radio wave generated by the transmission radio wave transmission circuit 11 and the rate of change of the transmission radio wave frequency is reduced, and the reference radio wave from the reception radio wave signal 223 and the reference radio wave transmission circuit 24 The signal comparison circuit 225 that measures the timing at which the amount of change in the frequency of the signal matches, the time measurement circuit 26 that measures the time until the match signal of the signal comparison circuit 225, and the wireless terminal based on the time measured by the time measurement circuit 26 230 and a distance calculation circuit 227 for calculating the distance between the wireless response terminal 240 and the wireless response terminal 240.
As described above, the transmitting terminal 10 and the receiving terminal 220 are placed in the same wireless terminal 230, the wireless response terminal 240 is placed at a position where the distance is to be measured, and the wireless response terminal 240 that receives the radio wave from the transmitting terminal 10 is the same. By transmitting a radio wave of another frequency having a rate of change, the distance between the wireless terminal 230 and the wireless response terminal 240 is measured from the time until the reference radio wave and the amount of change of the received radio wave match at the receiving terminal 220. be able to.
In this way, the distance can be reliably measured even in the case of the object that is difficult to reflect radio waves in the second embodiment.

実施の形態４．
図５はこの発明の実施の形態４における位置検出装置を示すシステム構成図である。上記実施の形態１では、発信端末１０と受信端末２０は１対１で対応し、相互の間の距離を測定する場合について説明したが、この実施の形態４においては、図５に示すように、位置情報の明確な第１受信端末３２０、第２受信端末３５０、第３受信端末３６０をそれぞれ離れた３箇所に置き、発信端末１０と各受信端末間を上記実施の形態１の方法により測定することにより、それぞれの間の距離情報を得ることができる。この３箇所の各受信端末の位置情報と、発信端末１０と各受信端末間の距離情報を各受信端末と接続された位置演算装置３７０に集め、演算することにより、発信端末１０の位置を３次元的に測定することができる。なお、上記位置演算装置３７０は、第１受信端末３２０の位置情報３７１、第１受信端末３２０と発信端末１０間の距離情報３７２、第２受信端末３５０の位置情報３７３、第２受信端末３５０と発信端末１０間の距離情報３７４、第３受信端末３６０の位置情報３７５、第３受信端末３６０と発信端末１０間の距離情報３７６、これらの各情報から位置を演算する発信端末位置演算回路３７８を備えている。 Embodiment 4 FIG.
FIG. 5 is a system configuration diagram showing a position detection apparatus according to Embodiment 4 of the present invention. In the first embodiment, the transmitting terminal 10 and the receiving terminal 20 have a one-to-one correspondence and the distance between them has been described. However, in the fourth embodiment, as shown in FIG. The first receiving terminal 320, the second receiving terminal 350, and the third receiving terminal 360 whose position information is clear are placed at three separate locations, and the distance between the transmitting terminal 10 and each receiving terminal is measured by the method of the first embodiment. By doing so, the distance information between each can be obtained. By collecting and calculating the position information of each of these three receiving terminals and the distance information between the transmitting terminal 10 and each receiving terminal in a position calculating device 370 connected to each receiving terminal, the position of the transmitting terminal 10 is calculated as 3 It can be measured dimensionally. The position calculation device 370 includes position information 371 of the first receiving terminal 320, distance information 372 between the first receiving terminal 320 and the transmitting terminal 10, position information 373 of the second receiving terminal 350, and the second receiving terminal 350. The distance information 374 between the transmission terminals 10, the position information 375 of the third reception terminal 360, the distance information 376 between the third reception terminal 360 and the transmission terminal 10, and a transmission terminal position calculation circuit 378 that calculates the position from these pieces of information. I have.

実施の形態５．
図６はこの発明の実施の形態５における位置検出装置を示すシステム構成図である。上記実施の形態４では、位置情報の明確な受信端末を３箇所置き、発信端末１０と各受信端末間の距離を測定することにより、発信端末１０の位置を３次元的に測定したが、受信端末と発信端末の関係を逆転させてもよい。例えば、図６に示すように、位置情報の明確な第１発信端末４１０、第２発信端末４８０、第３発信端末４９０をそれぞれ離れた３箇所置き、受信端末４２０と各発信端末間を上記実施の形態１の方法により測定することにより、それぞれの間の距離情報を得ることができる。この３箇所の各発信端末の位置情報と、受信端末４２０と各発信端末間の距離情報を受信端末内の位置演算装置４７０に集め、演算することにより、受信端末４２０の位置を３次元的に測定することができる。なお、上記位置演算装置４７０は、第１発信端末４１０の位置情報４７１、第１発信端末４１０と受信端末４２０間の距離情報４７２、第２発信端末４８０の位置情報４７３、第２発信端末４８０と受信端末４２０間の距離情報４７４、第３発信端末４９０の位置情報４７５、第３発信端末４９０と受信端末４２０間の距離情報４７６、これらの各情報から位置を演算する受信端末位置演算回路４７８を備えている。 Embodiment 5 FIG.
FIG. 6 is a system configuration diagram showing a position detection apparatus according to Embodiment 5 of the present invention. In the fourth embodiment, the position of the transmitting terminal 10 is measured three-dimensionally by placing three receiving terminals with clear position information and measuring the distance between the transmitting terminal 10 and each receiving terminal. The relationship between the terminal and the calling terminal may be reversed. For example, as shown in FIG. 6, the first transmission terminal 410, the second transmission terminal 480, and the third transmission terminal 490 having clear location information are placed at three locations apart from each other, and the above-described implementation is performed between the reception terminal 420 and each transmission terminal. By measuring by the method of the form 1, the distance information between each can be obtained. The position information of each of the three transmitting terminals and the distance information between the receiving terminal 420 and each transmitting terminal are collected in the position calculation device 470 in the receiving terminal, and the position is calculated in three dimensions. Can be measured. The position calculation device 470 includes position information 471 of the first transmission terminal 410, distance information 472 between the first transmission terminal 410 and the reception terminal 420, position information 473 of the second transmission terminal 480, and the second transmission terminal 480. The distance information 474 between the receiving terminals 420, the position information 475 of the third transmitting terminal 490, the distance information 476 between the third transmitting terminal 490 and the receiving terminal 420, and a receiving terminal position calculating circuit 478 for calculating the position from these pieces of information. I have.

実施の形態６．
図７はこの発明の実施の形態６における位置検出装置を示すシステム構成図、図８はこの発明の実施の形態６における位置検出装置の動作を説明するための説明図である。
上記実施の形態４では、発信端末１０の３次元的な位置を、位置情報の明確な３箇所の受信端末と、これらに接続された位置演算装置３７０により、上記実施の形態１の方法を使い、測定・演算する方法を示したが、これらの実現には受信信号と参照信号のタイミングを合わせねばならなかった。
この実施の形態６においては、図７に示すように、位置基準端末５８０を追加して設け、この位置基準端末５８０は自らの明確な位置情報を持ち、発信端末１０の信号を受信すると、自らすぐに、変化率を発信端末１０より大きくした電波を出す。図７において、５２０は位置情報の明確な第１受信端末、５５０は同じく第２受信端末、５６０は同じく第３受信端末で、それぞれ離れた３箇所に置いている。位置演算装置５７０は、位置基準端末５８０の位置情報５７７、第１受信端末５２０の位置情報５７１、第１受信端末５２０での発信端末１０と位置基準端末５８０の信号検出時間差５７２、第２受信端末５５０の位置情報５７３、第２受信端末５５０での発信端末１０と位置基準端末５８０の信号検出時間差５７４、第３受信端末５６０の位置情報５７５、第３受信端末５６０での発信端末１０と位置基準端末５８０の信号検出時間差５７６、これらの各情報から位置を演算する発信端末位置演算回路５７８を備えている。 Embodiment 6 FIG.
FIG. 7 is a system configuration diagram showing a position detection device according to Embodiment 6 of the present invention, and FIG. 8 is an explanatory diagram for explaining the operation of the position detection device according to Embodiment 6 of the present invention.
In the fourth embodiment, the three-dimensional position of the transmitting terminal 10 is determined by using the method of the first embodiment using three receiving terminals with clear position information and the position calculation device 370 connected thereto. Although the method of measuring and calculating was shown, in order to realize these, the timing of the received signal and the reference signal had to be matched.
In the sixth embodiment, as shown in FIG. 7, a location reference terminal 580 is additionally provided. This location reference terminal 580 has its own clear location information and receives a signal from the originating terminal 10 itself. Immediately, radio waves having a rate of change larger than that of the transmitting terminal 10 are emitted. In FIG. 7, 520 is a first receiving terminal with clear position information, 550 is also a second receiving terminal, and 560 is also a third receiving terminal, which are placed at three separate locations. The position calculation device 570 includes position information 577 of the position reference terminal 580, position information 571 of the first receiving terminal 520, a signal detection time difference 572 between the transmitting terminal 10 and the position reference terminal 580 at the first receiving terminal 520, and a second receiving terminal. 550 position information 573, signal detection time difference 574 between transmitting terminal 10 and position reference terminal 580 at second receiving terminal 550, position information 575 at third receiving terminal 560, transmitting terminal 10 and position reference at third receiving terminal 560 A signal detection time difference 576 of the terminal 580 and a transmission terminal position calculation circuit 578 for calculating a position from these pieces of information are provided.

次に動作について図８を用いて説明する。図８は縦軸に周波数、横軸に時間を示す。発信端末１０から出される電波は、図７の発信端末での発信電波の周波数変化５３１に示されるように、発信端末１０での電波発信開始時刻５３０を基準に周波数が直線的に変わる状態で発信される。この信号は受信端末では、発信端末と受信端末間の距離と電波の伝播速度から求まる遅延時間Ｔ３(受信伝播遅れ５３２)だけ遅れて受信され、受信端末での発信端末からの電波受信開始時刻５３３を基準に受信端末での発信端末からの受信電波の周波数変化５３４で表される形になる。また、受信端末では、受信端末での発信端末を起点にした位置基準端末５８０からの伝播遅れ５３５（遅延時間Ｔ４）で信号が受信され、受信端末での位置基準端末５８０からの電波受信開始時刻５３６を基準に受信端末での位置基準端末５８０からの受信電波の周波数変化５３７（発信端末からよりも周波数変化率が大きい）で表される形になる。受信端末内で位置基準端末５８０からの受信電波の周波数変化５３７は発信端末１０からの受信電波の周波数変化５３４を追いかける形で変化し、所定時間Ｔ５(受信端末での発信端末電波受信から周波数変化量一致までの時間５３９)後に受信端末での発信端末１０からの受信電波と位置基準端末５８０からの受信電波の周波数の変化量が一致した時刻５３８となり、両者の周波数変化量は一致する。
この実施の形態６によれば、３箇所の受信端末５２０、５５０、５６０は、発信端末１０からの電波を受信すると計時を始め（受信端末での発信端末からの電波受信開始時刻５３３）、位置基準端末５８０からの電波の変化量と発信端末１０からの電波の変化量が一致する時点（受信端末での発信端末からの受信電波と位置基準端末からの受信電波の周波数の変化量が一致した時刻５３８）までを計時（所定時間Ｔ５(５３９)）することにより、参照電波を内部的に作り出すこと無く、位置基準端末５８０の位置と、３箇所の受信端末５２０、５５０、５６０の位置を基準として、発信端末１０の３次元的位置を位置演算装置５７０にて求めることができる。 Next, the operation will be described with reference to FIG. FIG. 8 shows frequency on the vertical axis and time on the horizontal axis. The radio wave emitted from the transmission terminal 10 is transmitted in a state where the frequency changes linearly with reference to the radio wave transmission start time 530 at the transmission terminal 10 as indicated by the frequency change 531 of the transmission radio wave at the transmission terminal in FIG. Is done. This signal is received at the receiving terminal with a delay of a delay time T3 (reception propagation delay 532) obtained from the distance between the transmitting terminal and the receiving terminal and the propagation speed of the radio wave, and the radio wave reception start time 533 from the transmitting terminal at the receiving terminal. With the frequency change 534 of the received radio wave from the transmitting terminal at the receiving terminal. Further, the receiving terminal receives a signal with a propagation delay 535 (delay time T4) from the position reference terminal 580 starting from the transmitting terminal at the receiving terminal, and starts receiving radio waves from the position reference terminal 580 at the receiving terminal. With reference to 536, the frequency change 537 of the received radio wave from the position reference terminal 580 at the receiving terminal (the frequency change rate is larger than that from the transmitting terminal) is obtained. In the receiving terminal, the frequency change 537 of the received radio wave from the position reference terminal 580 changes so as to follow the frequency change 534 of the received radio wave from the transmitting terminal 10, and the predetermined time T5 (frequency change from the receiving terminal radio wave reception at the receiving terminal). After the time 539) until the amount coincides, the time 538 when the amount of change in frequency of the received radio wave from the transmitting terminal 10 and the received radio wave from the position reference terminal 580 at the receiving terminal coincides, and the frequency change amount of both coincides.
According to the sixth embodiment, the three receiving terminals 520, 550, and 560 start timing when receiving the radio wave from the transmitting terminal 10 (the radio wave reception start time 533 from the transmitting terminal at the receiving terminal) and the position. When the amount of change in radio waves from the reference terminal 580 matches the amount of change in radio waves from the transmitting terminal 10 (the amount of change in the frequency of the received radio waves from the transmitting terminal at the receiving terminal and the frequency of the received radio waves from the position reference terminal match. By measuring time (predetermined time T5 (539)) until time 538), the position of the position reference terminal 580 and the positions of the three receiving terminals 520, 550, and 560 are used as a reference without internally generating a reference radio wave. As described above, the three-dimensional position of the transmission terminal 10 can be obtained by the position calculation device 570.

実施の形態７．
図９はこの発明の実施の形態７における位置検出装置を示すシステム構成図である。なお、図中、実施の形態１と同一又は相当部分には同一符号を付して説明を省略する。
上記実施の形態１〜６では、受信端末は連続的な受信を行い、位置検出のための変化量の測定も連続的に行うことで示したが、受信端末での受信が間欠的にしか行われない場合でも、図９に示すように、発信電波信号が関数で示される変化を持つため、元信号発生回路６２８と信号補完回路６２９により、関数を利用し、受信されていないタイミングの信号を補完し、再生受信電波信号６２３を得ることができ、どのようなタイミングでも正確な位置を求めることが可能になる。なお、図中、６２０は受信端末、６２２は間欠受信回路、６２３は再生受信電波信号である。 Embodiment 7 FIG.
FIG. 9 is a system configuration diagram showing a position detection apparatus according to Embodiment 7 of the present invention. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.
In the first to sixth embodiments, the receiving terminal performs continuous reception and continuously measures the amount of change for position detection. However, reception at the receiving terminal is performed only intermittently. Even if not, as shown in FIG. 9, since the transmitted radio wave signal has a change indicated by a function, the original signal generation circuit 628 and the signal complement circuit 629 use the function to generate a signal at a timing not received. It is possible to complement and obtain the reproduction reception radio signal 623, and it is possible to obtain an accurate position at any timing. In the figure, 620 is a receiving terminal, 622 is an intermittent receiving circuit, and 623 is a reproduction reception radio wave signal.

実施の形態８．
図１０はこの発明の実施の形態８における位置検出装置を示すシステム構成図である。なお、図中、実施の形態１と同一又は相当部分には同一符号を付して説明を省略する。
上記実施の形態１〜７では、位置検出対象は１台としていたが、図１０に示すように、発信信号に発信端末ごとの識別ができるように端末識別信号７１４を発信させ、複数の発信端末７１０、７１６、７１７がタイミングをずらして発信することにより、受信端末７２０にて個々の発信端末対応に位置検出することができる。なお、図中、７２２は受信回路、７３１は発信端末識別回路である。 Embodiment 8 FIG.
FIG. 10 is a system configuration diagram showing a position detection apparatus according to Embodiment 8 of the present invention. In the figure, the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.
In the first to seventh embodiments, the position detection target is one. However, as shown in FIG. 10, a terminal identification signal 714 is transmitted to the transmission signal so that each transmission terminal can be identified, and a plurality of transmission terminals By transmitting 710, 716, and 717 at different timings, the receiving terminal 720 can detect the position corresponding to each transmitting terminal. In the figure, reference numeral 722 denotes a receiving circuit, and reference numeral 731 denotes a transmitting terminal identification circuit.

この発明の実施の形態１における位置検出装置を示すシステム構成図である。1 is a system configuration diagram illustrating a position detection device according to Embodiment 1 of the present invention. この発明の実施の形態１における位置検出装置の動作を説明するための説明図である。It is explanatory drawing for demonstrating operation | movement of the position detection apparatus in Embodiment 1 of this invention. この発明の実施の形態２における位置検出装置を示すシステム構成図である。It is a system block diagram which shows the position detection apparatus in Embodiment 2 of this invention. この発明の実施の形態３における位置検出装置を示すシステム構成図である。It is a system block diagram which shows the position detection apparatus in Embodiment 3 of this invention. この発明の実施の形態４における位置検出装置を示すシステム構成図である。It is a system block diagram which shows the position detection apparatus in Embodiment 4 of this invention. この発明の実施の形態５における位置検出装置を示すシステム構成図である。It is a system block diagram which shows the position detection apparatus in Embodiment 5 of this invention. この発明の実施の形態６における位置検出装置を示すシステム構成図である。It is a system block diagram which shows the position detection apparatus in Embodiment 6 of this invention. この発明の実施の形態６における位置検出装置の動作を説明するための説明図である。It is explanatory drawing for demonstrating operation | movement of the position detection apparatus in Embodiment 6 of this invention. この発明の実施の形態７における位置検出装置を示すシステム構成図である。It is a system block diagram which shows the position detection apparatus in Embodiment 7 of this invention. この発明の実施の形態８における位置検出装置を示すシステム構成図である。It is a system block diagram which shows the position detection apparatus in Embodiment 8 of this invention.

Explanation of symbols

１０発信端末、１１送信電波発信回路、１２送信回路、１３送信アンテナ、
２０受信端末、２１受信アンテナ、２２受信回路、２３受信電波信号、
２４参照電波発信回路、２５信号比較回路、２６時間計測回路、
２７距離演算回路、
３０電波発信開始時刻、３１発信電波周波数変化、３２受信伝播遅れ
３３電波受信開始時刻、３４受信電波周波数変化、３５参照電波周波数変化、
３６参照電波と受信電波の変化量一致時刻、３７発信後変化量一致時間
１３０同一無線端末、１４０測定物体、２２０受信端末、
２２３受信電波信号、２２５信号比較回路、２２７距離演算回路、
２３０無線端末、２４０無線応答端末、２４１受信アンテナ、
２４２受信回路、２４３送信変換回路、２４４送信回路、２４５送信アンテナ
３２０第１受信端末、３５０第２受信端末、３６０第３受信端末、
３７０位置演算装置、
３７１第１受信端末位置情報、３７２第１受信端末と発信端末間距離情報、
３７３第２受信端末位置情報、３７４第２受信端末と発信端末間距離情報、
３７５第３受信端末位置情報、３７６第３受信端末と発信端末間距離情報、
３７８発信端末位置演算回路
４１０第１発信端末、４２０受信端末、
４７０位置演算装置、
４７１第１発信端末位置情報、４７２第１発信端末と受信端末間距離情報、
４７３第２発信端末位置情報、４７４第２発信端末と受信端末間距離情報、
４７５第３発信端末位置情報、４７６第３発信端末と受信端末間距離情報、
４７８受信端末位置演算回路
４８０第２発信端末、４９０第３発信端末、
５２０第１受信端末、５５０第２受信端末、５６０第３受信端末、
５７０位置演算装置、
５７１第１受信端末位置情報、
５７２第１受信端末での発信端末と位置基準端末の信号検出時間差情報、
５７３第２受信端末位置情報、
５７４第２受信端末での発信端末と位置基準端末の信号検出時間差情報、
５７５第３受信端末位置情報、
５７６第３受信端末での発信端末と位置基準端末の信号検出時間差情報、
５７７位置基準端末位置情報、５７８発信端末位置演算回路、
５８０位置基準端末、
５３０発信端末での発信開始時刻、
５３１発信端末での発信電波周波数変化、
５３２受信端末での発信端末からの伝播遅れ、
５３３受信端末での発信端末からの受信開始時刻
５３４受信端末での発信端末からの受信電波周波数変化、
５３５受信端末での発信端末を起点にした位置基準端末からの伝播遅れ、
５３６受信端末での発信端末を起点にした位置基準端末からの受信開始時刻、
５３７受信端末での位置基準端末からの受信電波周波数変化
５３８受信端末での発信端末からと位置基準端末からの電波周波数変化量一致時刻、
５３９受信端末での発信端末電波受信から周波数変化量一致までの時間、
６２０受信端末、６２２間欠受信回路、６２３再生受信電波信号、
６２８元信号発生回路、６２９信号補完回路、
７１０発信端末、７１４端末識別信号、７１６発信端末、７１７発信端末、
７２０受信端末、７２２受信回路、７３１発信端末識別回路 10 transmitting terminal, 11 transmitting radio wave transmitting circuit, 12 transmitting circuit, 13 transmitting antenna,
20 receiving terminal, 21 receiving antenna, 22 receiving circuit, 23 received radio signal,
24 reference radio wave transmission circuit, 25 signal comparison circuit, 26 time measurement circuit,
27 Distance calculation circuit,
30 radio wave transmission start time, 31 transmission radio frequency change, 32 reception propagation delay 33 radio wave reception start time, 34 reception radio frequency change, 35 reference radio frequency change,
36 Reference signal and received radio wave change amount coincidence time, 37 Change amount coincidence time after transmission 130 Same wireless terminal, 140 Measurement object, 220 Receiving terminal,
223 received radio signal, 225 signal comparison circuit, 227 distance calculation circuit,
230 wireless terminals, 240 wireless response terminals, 241 receiving antennas,
242 reception circuit, 243 transmission conversion circuit, 244 transmission circuit, 245 transmission antenna 320 first reception terminal, 350 second reception terminal, 360 third reception terminal,
370 position calculation device,
371 first receiving terminal position information, 372 distance information between the first receiving terminal and the transmitting terminal,
373 second receiving terminal position information, 374 second receiving terminal and calling terminal distance information,
375 third receiving terminal position information, 376 third receiving terminal and calling terminal distance information,
378 transmitting terminal position calculation circuit 410 first transmitting terminal, 420 receiving terminal,
470 position calculation device,
471 first transmitting terminal location information, 472 distance information between the first transmitting terminal and the receiving terminal,
473 Second transmitting terminal location information, 474 Second transmitting terminal and receiving terminal distance information,
475 Third transmitting terminal location information, 476 Third transmitting terminal and receiving terminal distance information,
478 receiving terminal position calculation circuit 480 second transmitting terminal, 490 third transmitting terminal,
520 first receiving terminal, 550 second receiving terminal, 560 third receiving terminal,
570 position calculation device,
571 first receiving terminal location information,
572 Signal detection time difference information between the transmitting terminal and the position reference terminal at the first receiving terminal,
573 second receiving terminal location information,
574 Signal detection time difference information between the transmitting terminal and the position reference terminal at the second receiving terminal,
575 Third receiving terminal location information,
576 signal detection time difference information between the transmitting terminal and the position reference terminal at the third receiving terminal,
577 position reference terminal position information, 578 transmission terminal position calculation circuit,
580 location reference terminal,
530 Calling start time at the calling terminal,
531 Change in radio wave frequency at the transmitting terminal,
532 Propagation delay from the calling terminal at the receiving terminal,
533 Reception start time from the calling terminal at the receiving terminal 534 Change in received radio frequency from the calling terminal at the receiving terminal,
535 Propagation delay from the location reference terminal starting from the originating terminal at the receiving terminal,
536 reception start time from the position reference terminal starting from the transmitting terminal at the receiving terminal,
537 Received radio frequency change from position reference terminal at receiving terminal 538 Radio frequency change amount coincidence time from transmitting terminal and position reference terminal at receiving terminal,
539 Time from receiving terminal radio wave reception at receiving terminal to frequency change amount matching,
620 receiving terminal, 622 intermittent receiving circuit, 623 reception radio wave signal,
628 original signal generation circuit, 629 signal complement circuit,
710 calling terminal, 714 terminal identification signal, 716 calling terminal, 717 calling terminal,
720 receiving terminal, 722 receiving circuit, 731 transmitting terminal identification circuit

Claims

It has a transmitting terminal that emits radio waves and a receiving terminal that receives the transmitted radio waves. The transmitting terminal changes the radio waves to be transmitted with time, and the receiving terminal starts changing at the same timing as the outgoing radio waves of the transmitting terminal. Compare the reference radio wave with a lower rate of change than the outgoing radio wave of the sending terminal and the received radio wave from the sending terminal, and measure the distance between the sending terminal and the receiving terminal according to the time until the same change amount A position detection device.

Place the sending terminal and the receiving terminal in the same wireless terminal, emit outgoing radio waves from the sending terminal, receive the radio waves reflected back from the object whose distance you want to measure, and receive the measured radio waves from the reference and received radio waves. 2. The position detection apparatus according to claim 1, wherein the distance between the wireless terminal and the measurement object is measured from half the time.

Place the transmitting terminal and the receiving terminal in the same wireless terminal, place the wireless response terminal at the position where you want to measure the distance, emit outgoing radio waves from the transmitting terminal, and receive the radio waves from the transmitting terminal have the same rate of change The radio terminal transmits another radio wave, the radio terminal of the radio response terminal receives the radio wave, and the distance between the radio terminal and the radio response terminal is measured from a time measured from the reference radio wave and the received radio wave. The position detection apparatus according to 1.

2. The position of the transmitting terminal can be measured three-dimensionally from the distance information obtained from the transmitting terminal and the three or more receiving terminals having three or more receiving terminals with clear position information. Position detection device.

The position of a receiving terminal can be measured three-dimensionally from each distance information obtained from three or more transmitting terminals and receiving terminals having three or more transmitting terminals with clear location information. Position detection device.

There are three receiving terminals with clear location information, and a location reference terminal with clear location information that receives radio waves from the sending terminal itself, and as soon as the location reference terminal receives radio waves from the sending terminal , Emits radio waves with a higher rate of change than the transmitting terminal, and the three receiving terminals start timing when receiving radio waves from the transmitting terminal, and the amount of change in radio waves from the position reference terminal and the amount of radio waves from the transmitting terminal By measuring the time until the point of coincidence, the position of the transmitting terminal can be obtained based on the position of the position reference terminal and the positions of the three receiving terminals without internally generating a reference radio wave. The position detection device according to claim 4, wherein

In a device where the receiving terminal performs intermittent reception, a linear function or a trigonometric function such as a sine wave is used for the change given to the transmitted radio wave, and an accurate change is made based on discrete received measurement values at the receiving terminal. The position detection apparatus according to claim 1, further comprising a calculation system that is obtained by calculation and supplements data between intermittent reception intervals.

In order to handle a plurality of transmitting terminals, a signal identifying the transmitting terminal is paired with radio waves emitted from the transmitting terminal, and the receiving terminal can detect the position corresponding to each transmitting terminal. The position detection apparatus in any one of Claims 1-7.