U.S. patent application number 14/300611 was filed with the patent office on 2015-10-15 for system and method for microwave ranging to a target in presence of clutter and multi-path effects.
The applicant listed for this patent is Amtech Systems, LLC. Invention is credited to Kelly Gravelle, Jeremy Landt, Patrick W. Lunsford.
Application Number | 20150293217 14/300611 |
Document ID | / |
Family ID | 45328144 |
Filed Date | 2015-10-15 |
United States Patent
Application |
20150293217 |
Kind Code |
A1 |
Gravelle; Kelly ; et
al. |
October 15, 2015 |
SYSTEM AND METHOD FOR MICROWAVE RANGING TO A TARGET IN PRESENCE OF
CLUTTER AND MULTI-PATH EFFECTS
Abstract
A system for measuring the range to an RFID tag including
situations containing high clutter and multi-path signals is
disclosed. The system includes an RFID reader; an RFID tag; and a
coordinated pulse compression radar system. In the system the RFID
reader causes the tag to respond to received signals in a first
backscatter state at a first time and a second backscatter state at
a second time. The pulse compression radar system transmits short
pulses coordinated by the backscatter state of the RFID tag and the
system creates a differential signal comprised of the differences
between radar signals obtained during the first and second states
of the tag to obtain an uncorrupted measure of a round trip time of
flight of said radar pulses between the pulse radar system and the
RFID tag.
Inventors: |
Gravelle; Kelly; (Poway,
CA) ; Landt; Jeremy; (Santa Fe, NM) ;
Lunsford; Patrick W.; (Rio Rancho, NM) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Amtech Systems, LLC |
Albuquerque |
NM |
US |
|
|
Family ID: |
45328144 |
Appl. No.: |
14/300611 |
Filed: |
June 10, 2014 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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13163005 |
Jun 17, 2011 |
8786488 |
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14300611 |
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13095296 |
Apr 27, 2011 |
8779968 |
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13163005 |
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61355824 |
Jun 17, 2010 |
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Current U.S.
Class: |
342/132 ;
342/145 |
Current CPC
Class: |
G01S 13/765 20130101;
G01S 7/2813 20130101; G01S 13/751 20130101; G01S 13/28 20130101;
G01S 7/023 20130101; G06K 7/10297 20130101; G01S 13/20 20130101;
G01S 7/285 20130101 |
International
Class: |
G01S 13/20 20060101
G01S013/20; G01S 13/28 20060101 G01S013/28; G01S 7/285 20060101
G01S007/285; G06K 7/10 20060101 G06K007/10; G01S 7/28 20060101
G01S007/28 |
Claims
1. A system for measuring distance between an RFID tag reader and
an RFID tag, the RFID tag having a plurality of backscatter
reflection states; the system mitigating detrimental effects of
noise, clutter and multi-path signals, the system comprising: an
RFID tag reader comprising a transmitter configured to transmit an
RF signal to the tag and to transmit a timing signal indicating
backscatter reflection states of the tag; a pulse radar configured
to receive said timing signal from said RFID tag reader indicating
backscatter reflection states of the tag; to transmit a first radar
signal during a first backscatter reflection state of the tag; to
transmit a second radar signal during a second backscatter
reflection state of the tag and to receive a first reflected radar
signal from the tag during said first backscatter reflection state
of the tag and a second reflected radar from the tag signal during
said second backscatter reflection state of the tag; said pulse
radar further configured to: compress said first and second
received reflected radar signals using a signal compression
process; the system further comprising a signal processor
configured to: process each of said received reflected radar
signals using a fast Fourier transform (FFT) to produce complex
signal spectrums; form a complex conjugate of the FFT of one of
said transmitted radar signals: multiply said complex conjugate of
the transmit signal with the FFT of each received signal
individually to create first and second products; produce a
correlation for each received signal individually by performing an
inverse FFT of each of said first and second products; subtract the
correlation obtained with the tag in said first backscatter
reflection state from the correlation with the tag in said second
backscatter reflection state to produce a signal having a peak;
determine a round trip time delay to the RFID tag from the time of
said peak; and calculate the distance between the RFID tag and the
reader based on said round trip time delay.
2. The system of claim 1, wherein said processor is further
configured to calculate distance based on a plurality of said
determined round trip time delays.
3. The system of claim 1 wherein said transmitter is further
configured to command all but one RFID tag to be silent.
4. The system of claim 1, wherein said first and second radar
signals are chirp radar signals.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This utility application claims the benefit under 35 U.S.C.
.sctn.119(e) of Provisional Application Ser. No. 61/355,824, filed
on Jun. 17, 2010, entitled System and Method for Microwave Ranging
to a Target in Presence of Clutter and Multi-path Effects, and also
claims benefit under 35 U.S.C. .sctn.120 as a continuation of
Utility application Ser. No. 13/163,005 System and Method for
Microwave Ranging to a Target in Presence of Clutter and Multi-path
Effects filed on Jun. 17, 2011; and also claims benefit under 35
U.S.C. .sctn.120 as a continuation-in-part of Utility application
Ser. No. 13/095,296 filed on Apr. 27, 2011, also entitled System
and Method for Microwave Ranging to a Target in Presence of Clutter
and Multi-path Effects. The entire disclosures of these
applications are incorporated by reference herein.
FIELD OF INVENTION
[0002] This invention relates to the field of electromagnetic
distance measurement and, in particular, distance measurement to an
RFID device.
BACKGROUND OF THE INVENTION
[0003] A radar system may measure the distance to a target through
measurement of the round-trip time-of-flight of the radar signal to
a target and return. The one-way distance, d, to a target is
computed from the equation 2d=ct where c is the velocity of light
and where t is the time between transmitted signals and received
signals reflected from a target. Radar technology is well
developed. However, an individual target may be difficult to
isolate if there are many reflectors in the field of the radar
system. Also, the distance calculation may be corrupted by
multipath effects and limited bandwidth of the transmitted pulse.
Multipath effects may be mitigated by using the time of the first
return signal from a target. However, this technique is fraught
with problems if the reflected signal from the desired target is
hidden by signals reflected from other objects in the field of the
radar system.
[0004] RFID systems are well known in the art and are used to
monitor objects and places by attaching tags to objects and places
to be monitored. These objects may be large and in the presence of
many other reflecting objects. RF signals from a tag may be hidden
by noise and larger signals reflected from other reflecting
objects. Backscatter RFID readers transmit CW signals while
acquiring data from tags, and thus lack the capability of ranging
using measurement of time-of-flight methods. RFID tags used in
modulated backscatter RFID systems are often referred to as
`passive` (without an internal source of power) or `semi-passive`
(with an internal source of power) since modulated backscatter tags
do not generate radio signals and only reflect radio signals. RFID
tags may also send data to a RFID reader by generating and sending
radio signals. These types of RFID tags are often referred to as
`active` tags since they generate radio signals and contain an
internal source of power. The phase of the backscattered signals
from a modulated backscatter tag can be used to calculate the
distance to a tag in the presence of other reflecting objects, as
disclosed in U.S. patent application Ser. No. 12/840,587, titled
SYSTEM AND METHOD FOR MEASUREMENT OF DISTANCE TO A TAG BY A
MODULATED BACKSCATTER RFID READER, but accuracy may be degraded in
a highly reflecting environment due to multipath effects. Many
types of RFID systems use modulation signals with frequencies on
the order of a megahertz or less and often shape waveforms to
comply with radio regulations. These modulation waveforms lack
nanosecond precision needed to use time-of-flight methods to
measure distance to a resolution on the order of a meter or less
between tags and readers.
[0005] RFID systems using time-of-flight methods to determine
object location may be found in the art but these types of systems
are expensive, require careful installation, use expensive tags and
require precise positioning of the system components. Signal
strength methods to determine tag location may also be found in the
art, but these types of systems lack accuracy and precision.
[0006] Many tens of millions of RFID tags are presently in use and
installations would benefit if the distance to these tags could be
measured accurately in a complex radio environment.
[0007] Modulated Backscatter RFID System of the Prior Art
[0008] A modulated backscatter RFID tag transfers data from its
memory to a remote reader by modulating the backscatter cross
section of the tag antenna in a coded fashion, changing at a
minimum from one reflecting state to another reflecting state (or
between several reflecting states) in a time-wise fashion, thus
coding the tag data on the time-varying backscatter cross section
of the tag. A continuous wave (CW) radio signal is transmitted
toward a tag by a reader. The tag modulates the reflected signal
sent back to the reader thus producing a time-varying signal
encoded with data from the tag. The reader then receives and
decodes the modulated signal from the tag to extract the
information sent by the tag. The decoding process recovers the
timing of the changes in modulation states of the tag. These
timings cannot be used for time-of-flight calculations since there
is no absolute time reference to establish a time base for
calculation. Another practical problem is that the transitions from
one modulation state to the other lack the bandwidth, precision and
definition in timing required for nanosecond resolution required
for ranging. For example, a resolution of 1 meter in tag location
requires a timing resolution of 7 nanoseconds or better. Typical
RFID systems such as specified by ISO/IEC 18000-6: 2004(E) and
ISO/IEC 18000-6:2004/FDAM 1:2006(E) require timings, such as rise
and fall times, on the order of microseconds and are thus over 1000
times to slow. The reader also decodes the states of modulation as
a function of time. The reader uses these states to recover the bit
pattern, and thus data, sent by the tag.
Pulse Radar System of the Prior Art
[0009] An example of the geometry of a conventional radar system is
shown in FIG. 1. The radar system transmits a RF signal which is
reflected from the objects in the field of the radar and are
received by the radar system. Strong multipath signals may occur
from a radio path bounced from the radar system to a flat surface
(ground for example), to targets, and return. A sample plot of
signals is shown in FIG. 2. To measure the distance to a single
desired target, the correct return signal of the many in FIG. 2 is
required.
[0010] All references cited herein are incorporated herein by
reference in their entireties.
BRIEF SUMMARY OF THE INVENTION
[0011] Objects of the invention include: [0012] Measuring distance
to RFID tags that are already in use [0013] Measuring distance to a
RFID tag with an accuracy of 1 meter or better [0014] Measuring
distance to a RFID tag in the presence of multipath effects [0015]
Measuring distance to a RFID tag within a cluttered RF environment
[0016] Measuring distance to a RFID tag in close proximity to other
reflecting objects [0017] Reducing bandwidth requirements of
signals transmitted to measure distance to a RFID tag while
improving accuracy [0018] Improving signal to noise ratio to
enhance measurement accuracy of distance to a tag while reducing
bandwidth and transmit RF power [0019] Reducing or eliminating the
effects of self-jamming by the signal transmitted by a reader to
read a tag while simultaneously determining the distance to a tag
[0020] Enabling a wide dynamic range to resolve weak signals in the
presence of noise, interference and other strong RF signals [0021]
Measuring distance to a moving RFID tag avoiding averaging signals
for long periods of time [0022] Shortening the minimum range
distance due to self jamming of the transmit radar signal [0023]
Measuring distance to a MD tag while simultaneously in data
communication with the tag
[0024] The present invention achieves the stated objectives as well
as others while overcoming difficulties of the prior art. The
techniques of the present invention can be applied to other radar
systems using the principles described below.
[0025] In an embodiment of the invention, there is a system for
measuring the range to an RFID tag including situations containing
high clutter and multi-path signals, is disclosed. The system
includes an RFID reader; an RFID tag; and a coordinated pulse radar
system. In the system, the RFID reader causes the tag to respond to
received signals in a first backscatter state at a first time and a
second backscatter state at a second time. The pulsed radar system
transmits short pulses coordinated by the backscatter state of the
RFID tag and the system creates a differential signal comprised of
the differences between radar signals obtained during the first and
second states of the tag to obtain an uncorrupted measure of a
round trip time of flight of the radar pulses between the pulse
radar system and the RFID tag.
BRIEF DESCRIPTION OF SEVERAL VIEWS OF THE DRAWINGS
[0026] FIG. 1 is a schematic of a radar system of the prior art
including a target, multipath and clutter.
[0027] FIG. 2 shows a transmit and a receive signal of the radar
system of FIG. 1.
[0028] FIG. 3 is a schematic of a combined RFID system and radar
system of the present invention.
[0029] FIG. 4 shows signals of the system of FIG. 3.
[0030] FIG. 5a is a graph of a transmit radar signal.
[0031] FIG. 5b is a graph of a return radar signal from a single
source of clutter while a tag is not reflecting.
[0032] FIG. 5c is a graph of a correlation of the transmit radar
signal with the return radar signal of FIG. 5b.
[0033] FIG. 5d is a graph of a of a return radar signal from the
single source of clutter and a tag that is reflecting.
[0034] FIG. 5e is a graph of a correlation of the transmit radar
signal with the return radar signal of FIG. 5d.
[0035] FIG. 5f is a graph of a correlation of the transmit radar
signal with the return radar signal from the tag alone.
[0036] FIG. 6a is a graph of a transmit radar signal.
[0037] FIG. 6b is a graph of a return radar signal from two sources
of clutter while a tag is not reflecting.
[0038] FIG. 6c is a graph of a correlation of the transmit radar
signal with the return radar signal of FIG. 6b.
[0039] FIG. 6d is a graph of a return radar signal from two sources
of clutter and a tag that is reflecting.
[0040] FIG. 6e is a graph of a correlation of the transmit radar
signal with the return radar signal of FIG. 6d.
[0041] FIG. 6f is a graph of a correlation of the transmit radar
signal with the return radar signal from the tag alone.
[0042] FIG. 6g is a graph of a return radar signal from the tag
alone.
[0043] FIG. 7 is a block diagram of an exemplary mono-static radar
system.
[0044] FIG. 8 is a block diagram of an exemplary bi-static radar
system.
[0045] FIG. 9a is a plot of transmit signal for a vehicle at 14
feet.
[0046] FIG. 9b is a plot of a receive signal state A for a vehicle
at 14 feet.
[0047] FIG. 9c is a plot of a receive signal state B for a vehicle
at 14 feet.
[0048] FIG. 9d is a plot of a compressed receive signal state A for
a vehicle at 14 feet.
[0049] FIG. 9e is a plot of a compressed receive signal state B for
a vehicle at 14 feet.
[0050] FIG. 9f is a plot of a differential compressed receive
signal for a vehicle at 14 feet.
[0051] FIG. 9g is a plot of power of a differential compressed
receive signal for a vehicle at 14 feet.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION
[0052] The RFID Ranging system of the present invention is shown in
FIG. 3. Clutter and multipath effects are not shown for clarity and
to simplify the explanation of the operation of the invention. The
signals of the system of FIG. 3 are shown in FIG. 4. FIG. 4
includes signals due to multiple targets and multipath, although
the objects producing these signals are not shown in FIG. 3.
System Operation
[0053] The RFID reader and RFID tag shown in FIG. 3 operate in a
normal fashion. The RFID reader sends several signals to the radar
system as described below. During times that the MD reader is
sending continuous wave (CW) signals to the tag, and the tag is
simultaneously changing modulation states, the radar system
transmits RF radar signals to the tag at coordinated times and
receives RF radar return signals from the tag (shown as pulses for
illustration in FIG. 4). On occasion, the RFID reader may send
modulated signals to the tag to control tag operation and send data
to the tag (not shown in FIG. 4). During these times, the radar
system is not required to transmit signals since the tag may not be
modulating. While the RF carrier frequencies of the two systems may
be the exactly same, there may be advantages if the RF carrier
frequencies of the two systems are different from each other. The
RF frequencies of the RFID system and the radar system may be in
the same RF band or may be in different RF bands. For example, the
RFID frequency may be 915 MHz and the radar frequency may be 10
GHz. A requirement is that the tag modulate its backscatter cross
section with synchronized timing in the two bands.
[0054] The RFID reader decodes the information from the tag and
produces a clock signal and synchronized signals indicating the
state of modulation of the tag. The clock signal may be generated
in the tag and recovered by the reader, or the reader may control
the clock signal. Both of these methods and others are compatible
with the present invention. The requirement is that the radar
system know the modulation state of the tag and the times when the
modulation state changes. The RFID reader recovers the modulation
state to decode the data sent by the tag. The RFID reader sends the
clock and modulation state signals to the radar system to be used
for timing. An example of a "Clock Signal" of 160 kHz is shown in
FIG. 4. The reader generates the TAG MODUATION STATE which is shown
in FIG. 4. The reader produces a signal to indicate when the tag is
in "STATE A" and may produce an additional signal to indicate when
the tag is in "STATE B". These signals are shown in FIG. 4. The
reader sends these signals to the radar and/or processing sections
of the system as shown in FIG. 3. The signals sent from the RFID
Reader to the radar system may be of normal bandwidth and jitter
for signals in the RFID system. High bandwidth and low jitter is
only required for the radar ranging signals shown in FIG. 4.
[0055] The radar system shown in FIG. 3 transmits a RF signal to
the tag during a convenient time when the tag is in modulation
State A (example of the time labeled tA1, and receives a return
signal VA (labeled with the circled numeral 1, FIG. 4). The signal
VA is delayed or stored for later processing. Subsequently, the
radar system transmits a signal to the tag during a convenient time
when the tag is in modulation State B (example of the time labeled
tB1, and receives a return signal VB (labeled with the circled
numeral 2, FIG. 4). A difference signal is produced by subtracting
the stored and/or delayed signal VA from the signal VB (or vice
versa) using a common time reference such as time measured from the
time of the transmit radar signal in each case. The output signal
is V3=VB-VA (shown as "DIFFERENCE RECEIVED SIGNAL" in FIG. 4). The
timings of signals VB and VA are referenced to the time of the
beginning of the transmission of each individual RF signal
transmitted by the radar. Thus, in the example, the timing of
signal VA is delayed. The delay may be accomplished, for example,
by sampling the signal and storing in a shift register, random
access memory, or other methods such as a delay line. The
subtraction of stored signals can be done by a microprocessor, a
digital signal processor, or other computing device at normal
computing speeds or by an analog subtraction. Accurate, low jitter
and repeatable timing is required referenced to the timing of the
particular transmit radar signal for each received radar return
signal from the tag. Alternatively, a delay line such as a SAW
delay line could be used to delay the radar return signal from a
tag in one modulation state to a time when the modulation state of
the tag changes to another state for direct analog subtraction.
This option requires nanosecond accuracy in delay and launch of the
second transmit radar signal (B) referenced from the time the first
transmitted radar signal (A).
[0056] The shortest time between the start of signal VA and the end
of signal VB may be about 8 microseconds for the type of RFID
systems referenced above. For example, the first transmit radar
signal (A) may start 4 microseconds before a transition between
states and be 2 microseconds long. The second transmit radar signal
(B) may start 2 microseconds after the transition between states
and be 2 microseconds long, resulting in a total time of 8
microseconds between the beginning and end of a set of the radar
signals. If a tag is traveling at 200 kilometers per hour, the tag
will move 0.44 mm during this time, resulting in insignificant
error or jitter in measurement of distance compared to the desired
precision. The doppler shift of a 1 GHz radar signal for an object
speed of 200 kilometers per hour is 370 Hz, or 0.37 ppm. Thus, the
distance to tags moving at high rates of speed can be measured with
the methods of the present invention.
[0057] The only change between VA and VB of the targets in the
field of the radar system is the modulation state of the tag. V3
contains only a signal (or signals if there is multipath from the
tag) arising from the difference in modulation state of the tag.
The time of the first signal observed in the difference signal V3
is due to the direct (shortest) distance between the radar system
and the tag. Latter signals are due to multipath, as shown in FIG.
4. In this example, the round trip travel time of the radar signal
to the tag and return is 65 nanoseconds, which corresponds to a
one-way distance of 9.8 meters between the radar system and the
tag. The system may be calibrated to remove delays due to constant
distances such as the lengths of coaxial cables and the like in the
radar system. The difference signals may be accumulated, averaged,
or otherwise processed to improve signal to noise and resolution of
timing. FIG. 4 shows radar signals as pulses for clarity of
illustration but various types of signals may be used. The choice
of radar signals is discussed below.
[0058] Thus, the distance to an individual tag can be found in the
presence of clutter and multipath. The RFID reader may read the tag
identification number or other data stored in the tag
simultaneously as the radar system measures the distance to the
tag.
[0059] Distance to an individual tag may be determined in the
presence of multiple tags in the field by several methods. If the
system uses tags that can be controlled, then all tags may be
commanded to be silent except for the desired tag. If several tags
are in the field and cannot be commanded on or off, then the
difference signal V3 may be averaged. Only the modulation of the
desired tag will be in synchronous with the radar signals. The
radar return signals from other than the desired tag will diminish
with averaging since these other signals occur at random times.
[0060] The radar system may operate with higher bandwidth and lower
power than the RFID system to provide the required bandwidth needed
for timing and also to comply with regulatory requirements.
[0061] The invention may be applied to other applications and
implementations. For example, a target switching between modulation
states at a constant rate may be used in place of a tag. A tag may
use a second channel for radar ranging at a much different
frequency than the RFID system. For example, the RFID system may
operate at 915 MHz and the radar system at 5.8 GHz.
Detailed Description of Implementations
[0062] The present invention may be implemented using several
approaches to improve performance of the basic ranging system
outlined above.
[0063] Since a homodyne-type receiver is not required by the radar
system, the radar return signals may be down converted to a
convenient IF frequency for measurement and processing. The effects
of self jamming and solution for a modulated backscatter RFID
system using a quadrature homodyne receiver are well known in the
art and consist of downconverting to baseband and filtering which
achieves RF frequency stability and accuracy between transmitted
and received signals economically with normal homodyne receiver
designs to filter unwanted signals. However, the radar system of
the present invention reduces or eliminates signals from unwanted
sources (clutter) with a subtraction process outlined above.
Further, a downconverting process can preserve information of RF
frequency, modulation and timing, thus permitting reduced demands
on the processing operations by operating at lower frequencies.
(Indeed, the techniques of the present invention may be applied to
a new type of modulated backscatter RFID reader with improved
performance. If the radar pulses were transmitted several times
during Modulation States A and B, the difference technique
described above may determine the timings of the transitions
between Modulation States A and B and thus enable decoding of the
data sent by the tag without need for a homodyne receiver.)
[0064] The radar signals may be modulated in ways to improve
performance. The modulation may be in the form of a chirp
(increasing the RF frequency during the signal), phase modulation
using direct sequence or other techniques, frequency modulation
using direct sequence or other techniques, amplitude modulation
using direct sequence or other techniques, or others. The
modulations may be chosen to improve the power within a radar
signal, improve the signal to noise ratio, improve the resolution
of timing, reduce noise, and for other reasons. For example, the
subtraction process outlined above may increase the noise level
since each signal may contain uncorrelated noise. Thus, the
subtraction process will benefit from noise reduction
techniques.
[0065] The fine measurement of distance to the tag (A. R. Koelle
and S. W. Depp, "Doppler radar with cooperative target measures to
zero velocity and senses the direction of motion", Proc. of IEEE,
V10, pp 492-493, March 1977) may be used with the present invention
to produce an enhanced measurement of distance to a tag to enhance
a coarser measurement of distance using round trip timing of radar
signals.
[0066] Implementation of the present invention consists of the
following subsystems, components, processes and steps: [0067] 1. An
RFID reader acquires a tag and produces signals that indicate
modulation states of the tag and optionally the clock and/or
timings of the changes of a modulation states of the tag. [0068] 2.
A radar system transmits and receives signals coordinated with the
state and timing of modulation states of the tag. [0069] 3. The
signals received by the radar system are processed to determine the
distance to the tag by: [0070] a. Subtracting the received radar
signal while the tag is modulating in one state from the radar
signal while the tag is modulating in another state producing a
difference signal. One of the states may be when the tag is not
returning a backscattered signal. The subtraction process
eliminates radar returns uncoordinated with the timing of
modulation states of the tag. Thus only signals from the tag
remain. The subtraction process may increase the noise level.
[0071] b. Calculating the distance, d, to a tag by determining the
smallest time delay between the transmit and receive radar signals
of the difference signal with the formula d=et/2 where c is the
speed of light and t is the smallest time delay. Later signals may
be due to multipath propagation and thus are rejected. Signal
correlation techniques may be used to process the received signals
to automate and/or improve performance.
[0072] Various methods may be used to implement these steps and
improve performance. Pulse compression techniques may be used to
improve range resolution, reduce noise and improve signal to noise
ratios. Pulse compression techniques may use frequency modulation,
phase modulation or amplitude modulation followed by matched
filtering in the receiver processing. Downconversion of the signals
to intermediate frequencies may be used. These and other processes
may be performed in various sequences. The sequence chosen may
depend on selection of the importance of other measures such as
complexity, cost, ease of implementation, reduction of noise, range
resolution, bandwidth, transmitted power, etc. The operations
discussed above may be performed in various sequences for linear
processes and may be found useful for nonlinear processes. For
example, the subtraction process may be done on the raw received
signal, downconverted signals, before or after filtering with
matched filters, in the time domain, in the frequency domain for
signals processed by Fast Fourier Transform (FFT), and the like.
Weighing of transmitted and received signals may be performed to
reduce the bandwidth of the signals or side lobes in signal
correlations.
[0073] Examples are presented here to illustrate several techniques
and results using methods and processes of the present
invention.
Example 1
[0074] The following simulation illustrates the process of ranging
to a tag using the process outlined above.
[0075] The radar ranging process used in this example performs a
subtraction of processed signals: [0076] Transmit radar signals
coordinated with the modulation state of the tag [0077] Receive
reflected radar signals for each of the modulation states of the
tag [0078] Use an analog to digital converter (A/D) or equivalent
to sample the signals [0079] Process each of the sampled signals
using a fast Fourier transform (FFT) to produce complex signal
spectrums [0080] Form the complex conjugate of the FFT of the
transmit signal [0081] Form products by multiplying the complex
conjugate of the transmit signal with the FFT of each received
signal individually [0082] Produce a correlation for each received
signal individually by performing an inverse FFT of each product
[0083] Subtract the correlation obtained with the tag modulation in
one state from the correlation with the tag modulation in the other
state [0084] Determine the round trip time delay from the time of
the peak in the difference of the correlations
[0085] A transmit radar signal that is unmodulated with a RF
frequency of 1 GHz and a duration of 20 ns is shown in FIG. 5a. A
return signal from a single target (clutter) is shown in FIG. 5b,
normalized to the same amplitude as the signal in FIG. 5a
(propagation would diminish the amplitude of the return signal but
this effect is important only in signal to noise considerations and
not timing). For this example, it is assumed that this signal
arises from a stationary target while the tag is not modulating.
The state of the tag may be assigned to Modulation State A. The
correlation of the return signal with the transmitted signal is
shown in FIG. 5c and was found using the Fast Fourier Transform
process outlined above. The distance to this stationary target can
be calculated from the time of the peak of the correlation, ie at a
time of 60 ns. The peak of this correlation is broad and not well
defined. The correlation is greater than 50% from 50 ns to 70 ns,
which could lead to uncertainty of accuracy if the signal contains
noise. (These data are simulations using Microsoft.RTM. Excel.RTM.
fast Fourier transforms, FFT, and complex arithmetic without
adjustments of scale.)
[0086] The return signal is shown in FIG. 5d when the tag is
modulating in State B in addition to the return from the stationary
target. This example shows the results if the delay to the tag is
10 ns greater than the delay to the stationary target, and if the
strength of the return signal produced by State B is 30% of the
strength of the return signal produced by the stationary target.
The correlation of the signal of FIG. 5d with the transmitted
signal is shown in FIG. 5e.
[0087] The correlation of FIG. 5c is subtracted from the
correlation of FIG. 5e and is shown in FIG. 5f. In this example,
the subtraction of signals when the tag is in different modulation
states is done after correlations have been performed using FFT
techniques. Only signals originating from the tag remain in FIG.
5f. From the peak of the correlation, the round trip time to the
tag is 70 ns and the distance to the tag is 10.5 m. The correlation
is greater than 50% from 60 ns to 80 ns, which leads to uncertainty
of accuracy if the signal contains noise.
[0088] Alternatively, the unprocessed signal of FIG. 5b may be
subtracted from the unprocessed signal of FIG. 5d leaving only the
signal due to the tag (result not shown), and distance determined
by correlation or best fit of a 20 ns pulse to the result. This
direct subtraction may not be useful if the signals are noisy since
the subtraction may increase the noise level. This is illustrated
by the subtraction of unprocessed noisy signals is shown for
another example in FIG. 6g. The example illustrates an embodiment
of the invention and shows that the subtraction process may be
performed on signals that are processed before the subtraction.
[0089] This radar signal of this example is not efficient with
bandwidth nor will provide an accurate time delay if the signals
are noisy. The -20 dBc bandwidth is about 350 MHz and the
correlation is above 50% within a 20 ns time window. This example
illustrates that the invention is capable of ranging to a tag that
is in the presence of a nearby interfering reflecting target and a
for a tag that produces a reflection smaller than the nearby
interfering target. Comparison of FIG. 5c to FIG. 5f shows that the
tag return occurs 10 ns after the return from the fixed target, and
is 0.3 times the magnitude of the fixed target or 10.5 dB
smaller.
Example 2
[0090] A second example follows the process of Example 1 with
several modifications. In this example, parameters and modulations
are chosen to improve performance.
[0091] Example 2 uses the following parameters: [0092] A transmit
chirp radar signal with constant amplitude (other than limited rise
and fall times) with a frequency that increases linearly by 100 MHz
in 2048 ns [0093] Rise and fall times limited to 100 ns to reduce
out of band emissions [0094] Downconvert the received signals into
the band from 50 MHz to 150 MHz [0095] Clutter consisting of two
stationary targets, the return radar signal from the first has a
round trip time delay of 60 ns and a relative strength of 1, and
the return radar signal from the second has a round trip time delay
of 70 ns and a relative strength of 0.3 [0096] A radar return
signal from a tag with a round trip time delay of 65 ns and a
relative strength of 0.2 when modulating in Mode B and 0.0 when
modulating in Mode A [0097] Uncorrelated white Gaussian noise with
a relative strength of -3 dB from the signal produced by the tag
modulating in Mode B is added to each return radar signal. The
correlation between noise signals in different return radar signals
is less than 0.01 (i.e. the noise in one return radar signal is
uncorrelated with the noise signal in another return radar
signal).
[0098] Thus, the returned signals contain significant noise and the
tag produces a signal significantly smaller signal than the
stationary targets and has a round trip time delay within 5 ns of
the other targets. The duration of the radar signal is 410 times
larger than the time delay between the tag and interfering
reflecting targets. This example illustrates several features of
using pulse compression techniques of the present invention. These
features may be used together or in various combinations. The
techniques of the example may be altered to use coded phase and/or
amplitude modulation common to CDMA (code division multiple access)
pulse compression methods.
[0099] The transmit radar signal is shown in FIG. 6a. The return
radar signal from the two targets alone is shown in FIG. 6b. The
correlation of the return radar signal without the tag with the
transmit radar signal is shown in FIG. 6c. The return radar signal
from all three targets is shown in FIG. 6d. The correlation of the
return radar signal from all three targets is shown in FIG. 6e. The
correlation of the radar return signal from the tag is calculated
from the subtraction of the correlation of FIG. 6c from the
correlation of FIG. 6e and is shown in FIG. 6f. For illustrative
purposes, the radar return signal from the tag can be calculated
from the subtraction of the signal shown in FIG. 6b from the signal
shown in FIG. 6d. This signal is shown in FIG. 6g and was not used
directly in the process outlined here. FIG. 6g illustrates that the
subtraction process increases the noise level since the noise
levels in FIG. 6b and FIG. 6d are uncorrelated. The tag signal is
not discernable by casual inspection of FIG. 6g, but the pulse
compression process improves the signal to noise ratio
significantly, and the subtraction of the correlations revels the
time delay of the tag radar return signal clearly (FIG. 6f). The
-20 dBc bandwidth of the transmitted pulse is about 108 MHz, much
less than Example 1 with much improved accuracy. (For ease of
viewing, all figures, the plots were drawn using the Excel
smoothing option.) The peak of the correlation is at a time of 65
ns, and thus, the one way distance to the tag is 9.75 m.
[0100] In this example, the side lobes of the correlation extend
over a span of about 10 ns to 15 ns. Thus, targets (either
individual stationary or due to multipath) will be detected but not
completely resolved in timing if the returns occur within about 10
ns of each other. Inspection of FIG. 6c shows that the time delay
of the larger target is determined correctly (60 ns) but the time
delay of the smaller target, while its effects are visible, are not
readily discernable. The correlation function is known, so curve
fitting techniques may prove useful in resolving the two targets
individually from the data shown in FIG. 6c.
[0101] This example has illustrated a preferred embodiment of the
present invention. The self jamming effect in conventional radar is
eliminated with the present invention since these self jamming
signals appear as another stationary target and are eliminated by
the subtraction process between radar returns when the tag is in
different modulation states. Thus the distance to a tag may be
found in cases where the first return from a tag occurs during the
transmit signal. The radar system may include separate transmit and
receive antennas to reduce the effects of the transmit radar signal
entering the received signal channel.
[0102] Simulations show that a pulse compression process outlined
here successfully suppresses RF signals uncoordinated with the tag
modulation including CW signals with frequencies in the band of the
radar signal, can resolve multipath signals from the tag, and
parameters can be chosen to optimize the system for various
conditions. The examples provided here use a chirp radar signal and
matched filtering. The invention may also be implemented with phase
modulation, Barker codes, pseudo random modulations, and other like
forms of modulation to improve performance and accuracy.
Example 3
[0103] Methods shown in Example 1 and Example 2 illustrate the
technique of differential pulse compression radar to measure the
distance to a tag in the presence of clutter and multipath. Example
2 also shows the ability of the methods to suppress amplitude noise
as shown in FIG. 6b through FIG. 6g. Implementation of the methods
are improved by consistency in timing, frequency and amplitude and
minimizing jitter of the transmitted radar pulses and subsequent
data processing. An improved differential pulse compression radar
is shown in FIG. 7. The MD Reader, Host and data processing
sections of FIG. 3 have been omitted for clarity.
[0104] Operation is performed using a minimum set of signals.
First, timing is derived from a signal (from a reader or other
source) indicting the modulation state of the tag being read. An
example of such a signal is the "TAG MODULATION STATE" of FIG. 4
and "Modulation State from Reader" on FIG. 7. Further referring to
FIG. 7, Signal Generator 1 (Agilent MXG N5182a) provides a
reference RF signal of 850 MHz in this example although other
suitable frequencies could be used. An arbitrary wave form
generator ARB 2, (Tektronix AWG5002B) is programmed with the
desired waveform to be used in the pulse compression technique. In
this example, the arbitrary waveform is a linear sweep from 52 MHz
to 78 MHz in a period of 2 microseconds, also referred to as a
`chirp` signal. The start of the sweep is controlled by the Control
and Data Acquisition module 3 (LeCroy LT-354ML). The trigger to
start the transmitted chirp signal and the trigger to begin data
acquisition are both synchronized to the Tag Modulation State
signal.
[0105] Control and Data Acquisition module 3 is used to coordinate
timing and acquire, digitize, record and display data. Control and
Data Acquisition module 3 receives the Modulation State Signal of
Tag 20 and generates a trigger signal to control the timing of a
chirp signal produced by ARB 2.
[0106] ARB 2 generates a chirp signal with a duration of 2
microseconds that starts at 52 MHz and increases linearly to 78
MHz. The chirp signal from ARB 2 is sent to Splitter 4
(Mini-Circuits ZAPD-1) and then to the local oscillator port of
Mixer 6 (Anzac MDC-149). The parameters of the chirp could be
tailored for the modulation used by the RFID system of interest.
Here, the values are suitable for the signals specified in ISO
10374 or other RFID systems for use in the 915 MHz ISM band in the
United States. Other choices could be made and would be within the
scope of the invention.
[0107] Signal Generator 1 produces a constant 850 MHz signal which
is split into two signals by Splitter 4. One of the signals from
Splitter 4 is sent to the RF port of Mixer 6. Attenuator 9 FW
50R-102) is adjusted to provide the desired signal level to Mixer
6. The other part of the 850 MHz signal produced by Signal
Generator 1 is further split by Splitter 5 (Mini-Circuits ZAPD-1)
and feeds the LO ports of both Mixer 7 (Mini-Circuits ZP-2MH) and
Mixer 8 (Anzac MDC-149).
[0108] Mixer 6 multiplies the signals input to its RF and LO ports
producing an up-converted output signal at the IF port. The output
signal contains an RF chirp signal with a duration of 2
microseconds that starts at 902 MHz and increases linearly to 928
MHz. Other unwanted signals are removed by Filter 12 (Cir-Q-TEL
21377). The desired chirp signal travels through Attenuator 11 (JFW
50R-102), amplifier AMP 10 (Mini-Circuits ZKL-2R7), Filter 12, AMP
13 (Amplifier Research 1W1000B), Splitter 14 (Mini-Circuits
ZAPD-1), Isolator 15 (MA-COM 7N-195), Circulator 16 (MA-COM 7N195)
and is transmitted to the Tag Antenna 19 by Antenna 18. Various
suitable antennas may be used depending on the desired gain pattern
and other requirements for mounting and environment. The other
output of the Splitter 14 is sent to attenuator 17 (Agilent 849513)
and then to the RF port of Mixer 7. The down-converted transmitted
signal is sent to the Control and Data Acquisition module 3 to be
used in the pulse compression process.
[0109] The signal received by Tag Antenna 19 is modulated by Tag
circuitry 20, backscattered, and received by Antenna 18, then sent
to Mixer 8 by Circulator 16. The IF outputs of Mixer 7 and Mixer 8
are the down converted transmitted and received signals
respectively. These down converted signals are sent to Control and
Data Acquisition module 3 for data acquisition, digitization,
display and recording.
[0110] The recorded signals are processed to compress the signals
using the FFT method of the invention described here in and in
Example 1 and Example 2 to determine the round trip time delay to
the tag. Measurements were taken for various fixed distances D.
Calculations were performed using Microsoft's Excel.RTM.
spreadsheet program. Calculations could be made by various methods
including microprocessor, DSP, or equivalent.
[0111] The approach of FIG. 7 results in consistent transmitted and
received signals although the monostatic radar system has several
limitations. Leakage of RF signals in Circulator 16 and unmodulated
reflections from radar antenna 18 produce signals that are much
higher than the modulated signals received from the tag 20,
resulting in a diminished sensitivity. Sensitivity is improved by
the bistatic system of FIG. 8 that eliminates circulator 16 of FIG.
7. Signals from the tag are received by antenna 21, amplified by
amplifier 22, and down-converted by mixer 8. Data acquisition and
processing may be accomplished as with the system of FIG. 7. The
system of FIG. 8 decreases the signal levels of unmodulated signals
not originating with the tag and allow amplification of the small
received signals without resulting in signal compression. Noise in
the system is also due to the quantization of time and amplitude by
the analog to digital converters in the Control and Data
Acquisition module 3. The bistatic architecture of FIG. 8 also
helps decrease the unwanted effects in the A/D converters without
resulting to converters operating at faster speeds and with higher
resolution.
[0112] FIG. 9 shows the signals resulting for a vehicle 14 feet
from the RFID and radar antennas. The bistatic differential pulse
compression radar transmitted a chirp signal beginning at 902 MHz
and ending at 928 MHz with a duration of 2 microseconds for each
modulation state of the tag. A down-converted transmitted signal is
shown in FIG. 9a. The down-converted received reflected signals are
shown in FIG. 9b for the tag in modulation state A, and in FIG. 9c
for the tag in modulation state B. The Fast Fourier Transform
method of implementing a matched filter produces the compressed
signals shown in FIG. 9d for the tag in modulation state A, and in
FIG. 9e for the tag in modulation state B. The differential
compressed signal from the tag is shown in FIG. 9f which is the
subtraction of the signals of FIGS. 9b and 9c, thus removing
constant reflections leaving the signal originating from the
modulation produced by the tag. The power in the compressed signal
from the tag is shown in FIG. 9g. The peak of the signal of FIG. 9g
occurs at 185.5 nanoseconds. It is convenient to use the power of
the compressed signal to identify the peak of the correlation since
it is not know apriori which of the modulation states of the tag
will produce higher signals (eg. should A-B or B-A be used? Either
will eliminate the constant background leaving a signal produced by
tag modulation). Alternately, the amplitude of the correlation
signal may be used.
[0113] The long delay time is due to the delay resulting from the
cables connecting the roadside radar system to the radar antennas.
The system can be calibrated noting the delay time for a tag at a
particular location. Then the delay for a tag at an unknown
location can be compared with that for the known location. The
difference in timing is then used to calculate the location of the
tag with respect to the tag location corresponding to the known
delay.
[0114] This example uses a chirp signal with a linear sweep and
constant amplitude. The methods may also be used for other
modulations including but not limited by CDMA, non-linear chirp,
AM, FM, phase modulation. Barker codes, and other modulation
codes.
Active Transmitter Tag RFID Systems
[0115] Active RFID tags transmit data to readers by generating and
modulating RF signals sent to a reader. Various modulation
waveforms and codes may be used. A common modulation is amplitude
on/off keying using Manchester coding. The reader recovers the
clock frequency and decodes the Manchester modulation to recover
the data sent by the tag. The following approach may also be used
with other forms of modulation and coding.
[0116] Tags are relatively simple and inexpensive devices. As such,
an on/off keying may be accomplished by switching a source of RF
signal within a tag on and off to a tag antenna. This switching
changes the load impedance connected to the antenna, and thus may
change the backscatter cross section of the tag antenna as the RF
source is switched on and off. Thus, the methods of this invention
may be used to measure the distance to RFID systems using active
(transmitter) tags. The sensitivity of the radar system will be
good because of the ability to use a super heterodyne receiver and
pulse compression techniques. Thus, active transmitter tags may be
designed to enhance the modulated backscatter cross section of the
tag antenna, or the residual modulated backscatter cross section
may used, either method may use the present invention to measure
the distance to an active RFID tag in the presence of other RF
signals, clutter, multipath and noise.
[0117] Those skilled in the art will recognize other detailed
designs and methods that can be developed employing the teachings
of the present invention. The examples provided here are
illustrative and do not limit the scope of the invention, which is
defined by the attached claims. For example, disclosure with
respect to waveforms for encoding or representing data can apply
equally well to the inverses of the waveforms used as examples.
* * * * *